diff --git a/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp b/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp
new file mode 100644
index 0000000..04d1af5
--- /dev/null
+++ b/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;
+}
\ No newline at end of file
diff --git a/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp b/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp
new file mode 100644
index 0000000..997c48d
--- /dev/null
+++ b/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;
+};
\ No newline at end of file
diff --git a/ASIFT_tests/demo_ASIFT_src/CMakeCache.txt b/ASIFT_tests/demo_ASIFT_src/CMakeCache.txt
new file mode 100644
index 0000000..e3f3777
--- /dev/null
+++ b/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.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//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.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//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.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//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.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//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
+libNumerics_BINARY_DIR:STATIC=/home/harle/catkin_ws/src/demo_ASIFT_src/libNumerics
+
+//Value Computed by CMake
+libNumerics_SOURCE_DIR:STATIC=/home/harle/catkin_ws/src/demo_ASIFT_src/libNumerics
+
+//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
+CMAKE_BUILD_TOOL-ADVANCED:INTERNAL=1
+//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
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/harle/catkin_ws/src/demo_ASIFT_src
+//Major version of cmake used to create the current loaded cache
+CMAKE_CACHE_MAJOR_VERSION:INTERNAL=2
+//Minor version of cmake used to create the current loaded cache
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=8
+//Patch version of cmake used to create the current loaded cache
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=12
+//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE
+CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1
+//Path to CMake executable.
+CMAKE_COMMAND:INTERNAL=/usr/bin/cmake
+//Path to cpack program executable.
+CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack
+//Path to ctest program executable.
+CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest
+//ADVANCED property for variable: CMAKE_CXX_COMPILER
+CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS
+CMAKE_CXX_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_DEBUG
+CMAKE_CXX_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_MINSIZEREL
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+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELEASE
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+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELWITHDEBINFO
+CMAKE_CXX_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_COMPILER
+CMAKE_C_COMPILER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS
+CMAKE_C_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_C_FLAGS_DEBUG
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+//ADVANCED property for variable: CMAKE_C_FLAGS_RELWITHDEBINFO
+CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//Executable file format
+CMAKE_EXECUTABLE_FORMAT:INTERNAL=ELF
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS
+CMAKE_EXE_LINKER_FLAGS-ADVANCED:INTERNAL=1
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+//Name of generator.
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+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdC/a.out
new file mode 100755
index 0000000..8092459
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdC/a.out differ
diff --git a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..e8220b2
--- /dev/null
+++ b/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;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out
new file mode 100755
index 0000000..ef48fd7
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out differ
diff --git a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/CMakeDirectoryInformation.cmake b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644
index 0000000..da0711c
--- /dev/null
+++ b/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})
diff --git a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/CMakeOutput.log b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/CMakeOutput.log
new file mode 100644
index 0000000..941755c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/CMakeOutput.log
@@ -0,0 +1,313 @@
+The system is: Linux - 4.4.0-130-generic - x86_64
+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"
+
+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
+
+Run Build Command:/usr/bin/make "cmTryCompileExec3822325258/fast"
+/usr/bin/make -f CMakeFiles/cmTryCompileExec3822325258.dir/build.make CMakeFiles/cmTryCompileExec3822325258.dir/build
+make[1]: Entering directory `/home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles/CMakeTmp'
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index 0000000..3be9754
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+++ b/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 ${ASIFT_srcs})
+TARGET_LINK_LIBRARIES(test_ASIFT png zlib Match Numerics)
+
diff --git a/ASIFT_tests/demo_ASIFT_src/CMakeLists.txt~ b/ASIFT_tests/demo_ASIFT_src/CMakeLists.txt~
new file mode 100755
index 0000000..822dcb8
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/CMakeLists.txt~
@@ -0,0 +1,53 @@
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+# Author : Pierre Moulon
+# Date : December 2010.
+# README :
+#          The following cmake works for windows.
+#	Openmp is accessible only on the professionnal version of Visual Studio.
+# 	In order to use OPENMP in visual your have to add the preprocessor _OPENMP
+# 	and enable OPENMP library in C/C++/Language.
+PROJECT(ASIFT)
+
+ADD_SUBDIRECTORY(io_png)
+ADD_SUBDIRECTORY(libMatch)
+ADD_SUBDIRECTORY(libNumerics)
+
+FIND_PACKAGE(OpenMP) 
+if (OPENMP_FOUND) 
+  SET(CMAKE_CXX_FLAGS "${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)
diff --git a/ASIFT_tests/demo_ASIFT_src/LICENSE.txt b/ASIFT_tests/demo_ASIFT_src/LICENSE.txt
new file mode 100755
index 0000000..ff52784
--- /dev/null
+++ b/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.
diff --git a/ASIFT_tests/demo_ASIFT_src/Makefile b/ASIFT_tests/demo_ASIFT_src/Makefile
new file mode 100644
index 0000000..5035eb6
--- /dev/null
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+	$(MAKE) -f CMakeFiles/test_ASIFT.dir/build.make CMakeFiles/test_ASIFT.dir/splines.cpp.s
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+test_ASIFT.o: test_ASIFT.cpp.o
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+# target to build an object file
+test_ASIFT.cpp.o:
+	$(MAKE) -f CMakeFiles/test_ASIFT.dir/build.make CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.o
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+test_ASIFT.i: test_ASIFT.cpp.i
+.PHONY : test_ASIFT.i
+
+# target to preprocess a source file
+test_ASIFT.cpp.i:
+	$(MAKE) -f CMakeFiles/test_ASIFT.dir/build.make CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.i
+.PHONY : test_ASIFT.cpp.i
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+test_ASIFT.s: test_ASIFT.cpp.s
+.PHONY : test_ASIFT.s
+
+# target to generate assembly for a file
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+	$(MAKE) -f CMakeFiles/test_ASIFT.dir/build.make CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.s
+.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
+
diff --git a/ASIFT_tests/demo_ASIFT_src/README.txt b/ASIFT_tests/demo_ASIFT_src/README.txt
new file mode 100755
index 0000000..e6b8b8a
--- /dev/null
+++ b/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.
diff --git a/ASIFT_tests/demo_ASIFT_src/adam1.png b/ASIFT_tests/demo_ASIFT_src/adam1.png
new file mode 100755
index 0000000..5b76b13
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/adam1.png differ
diff --git a/ASIFT_tests/demo_ASIFT_src/adam2.png b/ASIFT_tests/demo_ASIFT_src/adam2.png
new file mode 100755
index 0000000..7216e6d
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/adam2.png differ
diff --git a/ASIFT_tests/demo_ASIFT_src/cmake_install.cmake b/ASIFT_tests/demo_ASIFT_src/cmake_install.cmake
new file mode 100644
index 0000000..c5cd2a1
--- /dev/null
+++ b/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)
diff --git a/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.cpp b/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.cpp
new file mode 100755
index 0000000..804d348
--- /dev/null
+++ b/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;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h b/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.h
new file mode 100755
index 0000000..d05648c
--- /dev/null
+++ b/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);
diff --git a/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.o b/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.o
new file mode 100644
index 0000000..36cb949
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/compute_asift_keypoints.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.cpp b/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.cpp
new file mode 100755
index 0000000..70a0cb1
--- /dev/null
+++ b/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();
+
+}
+
diff --git a/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.cpp~ b/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.cpp~
new file mode 100755
index 0000000..11d4805
--- /dev/null
+++ b/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();
+
+}
+
diff --git a/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.h b/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.h
new file mode 100755
index 0000000..2aa24a3
--- /dev/null
+++ b/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);
+
diff --git a/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.o b/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.o
new file mode 100644
index 0000000..76f0b03
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/compute_asift_matches.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/demo_ASIFT b/ASIFT_tests/demo_ASIFT_src/demo_ASIFT
new file mode 100755
index 0000000..8eeb163
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/demo_ASIFT differ
diff --git a/ASIFT_tests/demo_ASIFT_src/demo_ASIFT.cpp b/ASIFT_tests/demo_ASIFT_src/demo_ASIFT.cpp
new file mode 100755
index 0000000..ea1060a
--- /dev/null
+++ b/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;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/demo_ASIFT.m b/ASIFT_tests/demo_ASIFT_src/demo_ASIFT.m
new file mode 100755
index 0000000..651a64b
--- /dev/null
+++ b/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);
diff --git a/ASIFT_tests/demo_ASIFT_src/demo_ASIFT.o b/ASIFT_tests/demo_ASIFT_src/demo_ASIFT.o
new file mode 100644
index 0000000..ed7eec3
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/demo_ASIFT.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.cpp b/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.cpp
new file mode 100755
index 0000000..76058bb
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.cpp
@@ -0,0 +1,1222 @@
+// 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.
+
+
+#include "demo_lib_sift.h"
+
+#define DEBUG 0
+
+#define ABS(x)    (((x) > 0) ? (x) : (-(x)))
+
+
+void default_sift_parameters(siftPar &par)
+{
+	par.OctaveMax=100000;
+	par.DoubleImSize = 0;
+	par.order = 3;
+	par.InitSigma = 1.6;
+	par.BorderDist = 5; 
+	par.Scales = 3;
+	par.PeakThresh = 255.0 * 0.04 / 3.0;
+	par.EdgeThresh = 0.06; 
+	par.EdgeThresh1 = 0.08; 
+	par.OriBins  = 36;
+	par.OriSigma = 1.5;
+	par.OriHistThresh = 0.8;
+	par.MaxIndexVal = 0.2;
+	par.MagFactor  = 3;
+	par.IndexSigma  = 1.0;
+	par.IgnoreGradSign = 0;
+//	par.MatchRatio = 0.6;
+//	par.MatchRatio = 0.75; // Guoshen Yu. Since l1 distance is used for matching instead of l2, a larger threshold is needed. 
+	par.MatchRatio = 0.73; // Guoshen Yu. Since l1 distance is used for matching instead of l2, a larger threshold is needed. 
+	par.MatchXradius = 1000000.0f;
+	par.MatchYradius = 1000000.0f;
+
+	par.noncorrectlylocalized = 0;
+
+};
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// SIFT Keypoint detection 
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+
+
+
+void OctaveKeypoints(flimage & image, float octSize, keypointslist& keys,siftPar &par);
+
+void FindMaxMin(  flimage* dogs,  flimage* blur, float octSize ,keypointslist& keys,siftPar &par);
+
+bool LocalMax(float val, flimage& dog, int y0, int x0);
+
+bool LocalMin(float val, flimage& dog, int y0, int x0);
+
+bool LocalMaxMin(float val, const flimage& dog, int y0, int x0);
+
+int NotOnEdge( flimage& dog, int r, int c, float octSize,siftPar &par);
+
+float FitQuadratic(float offset[3],  flimage* dogs, int s, int r, int c);
+
+void InterpKeyPoint(
+	flimage* dogs, int s, int r, int c,
+	const flimage& grad, const flimage& ori, flimage& map,
+	float octSize, keypointslist& keys, int movesRemain,siftPar &par);
+
+void AssignOriHist(
+	const flimage& grad, const flimage& ori, float octSize,
+	float octScale, float octRow, float octCol, keypointslist& keys,siftPar &par);
+
+void SmoothHistogram(
+	float* hist, int bins);
+	
+float InterpPeak(
+	float a, float b, float c);
+
+void MakeKeypoint(
+	const flimage& grad, const flimage& ori, float octSize, float octScale,
+	float octRow, float octCol, float angle, keypointslist& keys,siftPar &par);
+
+void MakeKeypointSample(
+	keypoint& key, const flimage& grad, const flimage& ori,
+	float scale, float row, float col,siftPar &par);
+	
+void NormalizeVec(
+	float* vec);
+	
+void KeySampleVec(
+	keypoint& key, const flimage& grad, const flimage& ori,
+	float scale, float row, float col,siftPar &par);
+	
+void KeySample(
+	float index[IndexSize][IndexSize][OriSize], keypoint& key,
+	const flimage& grad, const flimage& ori,
+	float scale, float row, float col,siftPar &par);
+
+void AddSample(
+	float index[IndexSize][IndexSize][OriSize], keypoint& key,
+	const flimage& grad, const flimage& orim,
+	float r, float c, float rpos, float cpos, float rx, float cx,siftPar &par);
+
+void PlaceInIndex(
+	float index[IndexSize][IndexSize][OriSize],
+	float mag, float ori, float rx, float cx,siftPar &par);
+
+
+
+
+void compute_sift_keypoints(float *input, keypointslist& keypoints, int width, int height, siftPar &par)
+{
+
+	flimage image;
+
+	/// Make zoom of image if necessary
+	float octSize = 1.0;
+	if (par.DoubleImSize){
+
+		//printf("... compute_sift_keypoints :: applying zoom\n");
+//		image.create(2*width, 2*height);
+//		apply_zoom(input,image.getPlane(),2.0,par.order,width,height);
+//		octSize *= 0.5;
+		
+		printf("Doulbe image size not allowed. Guoshen Yu\n");
+		exit(-1);
+		
+
+		
+	} else
+	{
+
+		image.create(width,height,input);
+	}
+
+// 	 printf("Using initial Dog value: %f\n", par.PeakThresh);
+//    	 printf("Double image size: %d\n", par.DoubleImSize);
+//    	 printf("Interpolation order: %d\n", par.order);
+
+
+	/// Apply initial smoothing to input image to raise its smoothing to par.InitSigma.  
+	/// We assume image from camera has smoothing of sigma = 0.5, which becomes sigma = 1.0 if image has been doubled. 
+	/// increase = sqrt(Init^2 - Current^2)
+	float	curSigma;
+	if (par.DoubleImSize) curSigma = 1.0; else curSigma = 0.5;
+
+
+	if (par.InitSigma > curSigma ) {
+
+		if (DEBUG) printf("Convolving initial image to achieve std: %f \n", par.InitSigma);
+
+		float sigma = (float) sqrt((double)(par.InitSigma * par.InitSigma - curSigma * curSigma));
+
+		gaussian_convolution( image.getPlane(), image.getPlane(), image.nwidth(), image.nheight(), sigma);
+
+	}
+
+
+
+	/// Convolve by par.InitSigma at each step inside OctaveKeypoints by steps of 
+	/// Subsample of factor 2 while reasonable image size 
+
+	/// Keep reducing image by factors of 2 until one dimension is
+	/// smaller than minimum size at which a feature could be detected.
+	int 	minsize = 2 * par.BorderDist + 2;
+	int     OctaveCounter = 0;
+	//printf("... compute_sift_keypoints :: maximum number of scales : %d\n", par.OctaveMax);
+
+	while (image.nwidth() > minsize &&  image.nheight() > minsize && OctaveCounter < par.OctaveMax) {
+
+		if (DEBUG) printf("Calling OctaveKeypoints \n");
+
+		OctaveKeypoints(image, octSize, keypoints,par); 
+
+		// image is blurred inside OctaveKeypoints and therefore can be sampled
+		flimage aux( (int)((float) image.nwidth() / 2.0f) , (int)((float) image.nheight() / 2.0f)); 
+
+		if (DEBUG) printf("Sampling initial image \n");
+
+		sample(image.getPlane(), aux.getPlane(), 2.0f, image.nwidth(), image.nheight());
+
+		image = aux;
+
+		octSize *= 2.0;
+
+		OctaveCounter++;
+
+	}
+
+
+/*	printf("sift::  %d keypoints\n", keypoints.size());
+	printf("sift::  plus non correctly localized: %d \n", 	par.noncorrectlylocalized);*/
+	
+}
+
+
+
+/////////////////////////////////////////////////
+/// EXTREMA DETECTION IN ONE SCALE-SPACE OCTAVE:
+/////////////////////////////////////////////////
+
+/// par.Scales determine how many steps we perform to pass from one scale to the next one:  sigI --> 2*sigI
+/// At each step we pass from    sigma_0 --> sigma0 * (1 + R)
+/// At the last step  sigI * (1 + R)^par.Scales = 2 * sigI
+/// (1+R) = 2 ^(1 / par.Scales)  it is called sigmaRatio
+
+/// It seems that blur[par.Scales+1] is compared in two succesive iterations
+void OctaveKeypoints(flimage & image, float octSize, keypointslist& keys,siftPar &par)
+{
+	// Guoshen Yu, 2010.09.21, Windows version
+   // flimage blur[par.Scales+3], dogs[par.Scales+2];
+	int size_blur = par.Scales+3;
+	int size_dogs = par.Scales+2;	  
+    flimage *blur = new flimage[size_blur];
+	flimage *dogs = new flimage[size_dogs];
+
+ 	float sigmaRatio = (float) pow(2.0, 1.0 / (double) par.Scales);
+
+
+	/* Build array, blur, holding par.Scales+3 blurred versions of the image. */
+	blur[0] = flimage(image);	/* First level is input to this routine. */ 
+	float prevSigma = par.InitSigma;	/* Input image has par.InitSigma smoothing. */
+
+
+	/* Form each level by adding incremental blur from previous level.
+	Increase in blur is from prevSigma to prevSigma * sigmaRatio, so
+	increase^2 = (prevSigma * sigmaRatio)^2 - prevSigma^2 
+ 	*/
+	for (int i = 1; i < par.Scales + 3; i++) {
+
+		if (DEBUG) printf("Convolving scale: %d \n", i);
+
+		blur[i] = flimage(blur[i-1]);
+
+		float increase = prevSigma*(float)sqrt((double)(sigmaRatio*sigmaRatio-1.0));
+
+		gaussian_convolution( blur[i].getPlane(), blur[i].getPlane(), blur[i].nwidth(), blur[i].nheight(), increase);
+
+		prevSigma *= sigmaRatio;
+
+	}
+	
+
+	/* Compute an array, dogs, of difference-of-Gaussian images by
+	subtracting each image from its next blurred version. */
+	for (int i = 0; i < par.Scales + 2; i++) {
+
+		dogs[i] = flimage(blur[i]);
+
+		/// dogs[i] = dogs[i] - blur[i+1]
+		combine(dogs[i].getPlane(),1.0f, blur[i+1].getPlane(),-1.0f, dogs[i].getPlane(),  dogs[i].nwidth() * dogs[i].nheight()); 
+	}
+
+
+	// Image with exact blur to be subsampled is blur[scales]
+	image = blur[par.Scales];
+
+	/* Scale-space extrema detection in this octave	*/
+	if (DEBUG) printf("Looking for local maxima \n");
+
+	FindMaxMin(dogs, blur, octSize, keys,par);
+	
+	// Guoshen Yu, 2010.09.22, Windows version
+    delete [] blur;
+	delete [] dogs;
+}
+	
+
+/////////////////////////////////////////////////
+///Find the local maxima and minima of the DOG images in scale space.  Return the keypoints for these locations.
+/////////////////////////////////////////////////
+
+/// For each point at each scale we decide if it is a local maxima:
+/// - |dogs(x,y,s)| > 0.8 * par.PeakThresh
+/// - Local maximum or minimum in s-1,s,s+1
+/// - NotonEdge:  ratio of the two principle curvatures of the DOG function at this point be below a threshold.
+
+
+/// blur[par.Scales+1] is not used in order to look for extrema
+/// while these could be computed using avalaible blur and dogs
+void FindMaxMin(
+	flimage* dogs,  flimage* blur,
+	float octSize, keypointslist& keys,siftPar &par)
+{
+
+	int width = dogs[0].nwidth(), height = dogs[0].nheight();
+
+	/* Create an image map in which locations that have a keypoint are
+	marked with value 1.0, to prevent two keypoints being located at
+	same position.  This may seem an inefficient data structure, but
+	does not add significant overhead.
+	*/
+	flimage map(width,height,0.0f);
+	flimage grad(width,height,0.0f);
+	flimage ori(width,height,0.0f);
+	
+	/* Search through each scale, leaving 1 scale below and 1 above.
+		There are par.Scales+2 dog images.
+	*/
+	for (int s = 1; s < par.Scales+1; s++) {
+
+		if (DEBUG) printf("************************scale: %d\n", s);
+
+		//getchar();
+
+		/* For each intermediate image, compute gradient and orientation
+		images to be used for keypoint description.  */
+		compute_gradient_orientation(blur[s].getPlane(), grad.getPlane(), ori.getPlane(), blur[s].nwidth(), blur[s].nheight());
+
+	
+		/* Only find peaks at least par.BorderDist samples from image border, as
+		peaks centered close to the border will lack stability. */
+		assert(par.BorderDist >= 2);
+		float val;
+		int partialcounter = 0;
+		for (int r = par.BorderDist; r < height - par.BorderDist; r++) 
+			for (int c = par.BorderDist; c < width - par.BorderDist; c++) {
+			
+				/* Pixel value at (c,r) position. */
+				val = dogs[s](c,r);	
+	
+				/* DOG magnitude must be above 0.8 * par.PeakThresh threshold
+				(precise threshold check will be done once peak
+				interpolation is performed).  Then check whether this
+				point is a peak in 3x3 region at each level, and is not
+				on an elongated edge.
+				*/
+
+				if (fabs(val) > 0.8 * par.PeakThresh)
+				{
+
+/*
+
+					// If local maxima
+					if (LocalMax(val, dogs[s-1], r, c,par) && LocalMax(val, dogs[s], r, c, par) && LocalMax(val, dogs[s+1], r, c,par) && NotOnEdge(dogs[s], r, c, octSize,par))
+					{
+						if (DEBUG) printf("Maximum Keypoint found (%d,%d,%d)  val: %f\n",s,r,c,val);
+						InterpKeyPoint(
+							dogs, s, r, c, grad, ori,
+							map, octSize, keys, 5,par);	
+
+					} else  if (LocalMin(val, dogs[s-1], r, c,par) && LocalMin(val, dogs[s], r, c,par) && LocalMin(val, dogs[s+1], r, c,par) && NotOnEdge(dogs[s], r, c, octSize,par))
+					{
+						if (DEBUG) printf("Minimum Keypoint found (%d,%d,%d)  val: %f\n",s,r,c,val);
+						InterpKeyPoint(
+							dogs, s, r, c, grad, ori,
+							map, octSize, keys, 5,par);	
+					}
+*/
+					if (LocalMaxMin(val, dogs[s-1], r, c) && LocalMaxMin(val, dogs[s], r, c) && LocalMaxMin(val, dogs[s+1], r, c) && NotOnEdge(dogs[s], r, c, octSize,par))
+					{
+						partialcounter++;
+						if (DEBUG) printf("%d:  (%d,%d,%d)  val: %f\n",partialcounter, s,r,c,val);
+						
+						InterpKeyPoint(
+							dogs, s, r, c, grad, ori,
+							map, octSize, keys, 5,par);	
+
+						//getchar();
+					} 
+
+
+				}
+
+		}
+	}
+
+}
+
+
+//bool LocalMax(float val, flimage& dog, int y0, int x0, siftPar &par)
+bool LocalMax(float val, flimage& dog, int y0, int x0)
+{
+	for (int x = x0 - 1; x <= x0 + 1; x++)
+		for (int y = y0  - 1; y <= y0 + 1; y++){
+			//printf("%f \t", dog(x,y));
+			if (dog(x,y) > val) return 0;
+		}
+
+	return 1;
+}
+
+bool LocalMin(float val,  flimage& dog, int y0, int x0)
+{
+	for (int x = x0 - 1; x <= x0 + 1; x++)
+		for (int y = y0  - 1; y <= y0 + 1; y++){
+			//printf("%f \t", dog(x,y));
+			if (dog(x,y) < val) return 0;
+		}
+
+	return 1;
+}
+
+
+/* Return TRUE iff val is a local maximum (positive value) or
+   minimum (negative value) compared to the 3x3 neighbourhood that
+   is centered at (row,col).
+*/
+bool LocalMaxMin(float val, const flimage& dog, int y0, int x0)
+{
+	// For efficiency, use separate cases for maxima or minima, and
+	// return as soon as possible
+	if (val > 0.0) {
+		for (int x = x0 - 1; x <= x0 + 1; x++)
+			for (int y = y0  - 1; y <= y0 + 1; y++){
+				if (dog(x,y) > val) return false;
+			}
+	} else {
+		for (int x = x0 - 1; x <= x0 + 1; x++)
+			for (int y = y0  - 1; y <= y0 + 1; y++){
+				if (dog(x,y) < val) return false;
+			}
+	}
+
+	return true;
+}
+
+
+
+/* Returns FALSE if this point on the DOG function lies on an edge.
+   This test is done early because it is very efficient and eliminates
+   many points.  It requires that the ratio of the two principle
+   curvatures of the DOG function at this point be below a threshold.
+
+   Edge threshold is higher on the first scale where SNR is small in 
+   order to reduce the number of unstable keypoints. 
+*/
+int NotOnEdge(flimage& dog, int r, int c, float octSize,siftPar &par)
+{
+	/* Compute 2x2 Hessian values from pixel differences. */
+	float	H00 = dog(c,r-1) - 2.0 * dog(c,r) + dog(c,r+1), /* AMIR: div by ? */
+		H11 = dog(c-1,r) - 2.0 * dog(c,r) + dog(c+1,r),
+		H01 = ( (dog(c+1,r+1) - dog(c-1,r+1)) - (dog(c+1,r-1) - dog(c-1,r-1)) ) / 4.0;
+
+	/* Compute determinant and trace of the Hessian. */
+	float	det = H00 * H11 - H01 * H01,	/// Det H = \prod l_i
+		trace = H00 + H11;		/// tr H = \sum l_i	
+
+	/// As we do not desire edges but only corners we demand l_max / l_min less than a threshold
+	/// In practice if A = k B,     A*B = k B^2
+	///				(A + B)^2 = (k+1)^2 * B^2
+	///				k B^2 >  t * (k+1)^2 * B^2 sii   k  / (k+1)^2 > t
+	/// This is a decreasing function for k > 1 and value 0.3 at k=1.
+	/// Setting t = 0.08, means k<=10 
+	 
+	/* To detect an edge response, we require the ratio of smallest
+	   to largest principle curvatures of the DOG function
+	   (eigenvalues of the Hessian) to be below a threshold.  For
+	   efficiency, we use Harris' idea of requiring the determinant to
+	   be above par.EdgeThresh times the squared trace, as for eigenvalues
+	   A and B, det = AB, trace = A+B.  So if A = 10B, then det = 10B**2,
+	   and trace**2 = (11B)**2 = 121B**2, so par.EdgeThresh = 10/121 =
+	   0.08 to require ratio of eigenvalues less than 10.
+	*/
+	if (octSize <= 1)
+		return (det > par.EdgeThresh1 * trace * trace);
+	else
+		return (det > par.EdgeThresh * trace * trace);
+
+}
+
+
+/* Create a keypoint at a peak near scale space location (s,r,c), where
+   s is scale (index of DOGs image), and (r,c) is (row, col) location.
+   Add to the list of keys with any new keys added.
+*/
+void InterpKeyPoint(
+	flimage* dogs, int s, int r, int c,
+	const flimage& grad, const flimage& ori, flimage& map,
+	float octSize, keypointslist& keys, int movesRemain,siftPar &par)
+{
+	
+	/* Fit quadratic to determine offset and peak value. */
+	float offset[3];
+	float peakval = FitQuadratic(offset, dogs, s, r, c);
+	if (DEBUG) printf("peakval: %f, of[0]: %f  of[1]: %f  of[2]: %f\n", peakval, offset[0], offset[1], offset[2]);
+
+	/* Move to an adjacent (row,col) location if quadratic interpolation
+	   is larger than 0.6 units in some direction (we use 0.6 instead of
+	   0.5 to avoid jumping back and forth near boundary).  We do not
+	   perform move to adjacent scales, as it is seldom useful and we
+	   do not have easy access to adjacent scale structures.  The
+	   movesRemain counter allows only a fixed number of moves to
+	   prevent possibility of infinite loops.
+	*/
+	int newr = r, newc = c;
+	if (offset[1] > 0.6 && r < dogs[0].nheight() - 3)
+		newr++;
+	else if (offset[1] < -0.6 && r > 3)
+		newr--;
+
+	if (offset[2] > 0.6 && c < dogs[0].nwidth() - 3)
+		newc++;
+	else if (offset[2] < -0.6 && c > 3)
+		newc--;
+
+	if (movesRemain > 0  &&  (newr != r || newc != c)) {
+		InterpKeyPoint(
+			dogs, s, newr, newc, grad, ori, map,
+			octSize, keys,movesRemain - 1,par);
+		return;
+	}
+
+	/* Do not create a keypoint if interpolation still remains far
+	   outside expected limits, or if magnitude of peak value is below
+	   threshold (i.e., contrast is too low). */
+	if (	fabs(offset[0]) > 1.5 || fabs(offset[1]) > 1.5 ||
+		fabs(offset[2]) > 1.5 || fabs(peakval) < par.PeakThresh)		
+		{
+			if (DEBUG) printf("Point not well localized by FitQuadratic\n"); 	
+			par.noncorrectlylocalized++;
+			return;
+		}
+	
+	/* Check that no keypoint has been created at this location (to avoid
+	   duplicates).  Otherwise, mark this map location.
+	*/
+	if (map(c,r) > 0.0) return;
+	map(c,r) = 1.0;
+
+	/* The scale relative to this octave is given by octScale.  The scale
+	   units are in terms of sigma for the smallest of the Gaussians in the
+	   DOG used to identify that scale.
+	*/
+	// Guoshen Yu, 2010.09.21 Windows version
+	// float octScale = par.InitSigma * pow(2.0, (s + offset[0]) / (float) par.Scales);
+	float octScale = par.InitSigma * pow(2.0, (s + offset[0]) / (double) par.Scales);
+
+	/// always use histogram of orientations
+	//if (UseHistogramOri)
+		AssignOriHist(
+			grad, ori, octSize, octScale,
+			r + offset[1], c + offset[2], keys, par);
+	//else
+	//	AssignOriAvg(
+	//		grad, ori, octSize, octScale,
+	//		r + offset[1], c + offset[2], keys);
+}
+
+
+
+/* Apply the method developed by Matthew Brown (see BMVC 02 paper) to
+   fit a 3D quadratic function through the DOG function values around
+   the location (s,r,c), i.e., (scale,row,col), at which a peak has
+   been detected.  Return the interpolated peak position as a vector
+   in "offset", which gives offset from position (s,r,c).  The
+   returned value is the interpolated DOG magnitude at this peak.
+*/
+float FitQuadratic(float offset[3], flimage* dogs, int s, int r, int c)
+{
+	float g[3];
+	flimage *dog0, *dog1, *dog2;
+	int i;
+
+	//s = 1; r = 128; c = 128;
+
+	float ** H =  allocate_float_matrix(3, 3);
+
+	/* Select the dog images at peak scale, dog1, as well as the scale
+	   below, dog0, and scale above, dog2. */
+	dog0 = &dogs[s-1];
+	dog1 = &dogs[s];
+	dog2 = &dogs[s+1];
+
+	/* Fill in the values of the gradient from pixel differences. */
+	g[0] = ((*dog2)(c,r) - (*dog0)(c,r)) / 2.0;
+	g[1] = ((*dog1)(c,r+1) - (*dog1)(c,r-1)) / 2.0;
+	g[2] = ((*dog1)(c+1,r) - (*dog1)(c-1,r)) / 2.0;
+
+	/* Fill in the values of the Hessian from pixel differences. */
+	H[0][0] = (*dog0)(c,r)   - 2.0 * (*dog1)(c,r) + (*dog2)(c,r);
+	H[1][1] = (*dog1)(c,r-1) - 2.0 * (*dog1)(c,r) + (*dog1)(c,r+1);
+	H[2][2] = (*dog1)(c-1,r) - 2.0 * (*dog1)(c,r) + (*dog1)(c+1,r);
+	H[0][1] = H[1][0] = ( ((*dog2)(c,r+1) - (*dog2)(c,r-1)) -
+					((*dog0)(c,r+1) - (*dog0)(c,r-1)) ) / 4.0;
+	H[0][2] = H[2][0] = ( ((*dog2)(c+1,r) - (*dog2)(c-1,r)) -
+					((*dog0)(c+1,r) - (*dog0)(c-1,r)) ) / 4.0;
+	H[1][2] = H[2][1] = ( ((*dog1)(c+1,r+1) - (*dog1)(c-1,r+1)) -
+					((*dog1)(c+1,r-1) - (*dog1)(c-1,r-1)) ) / 4.0;
+
+	/* Solve the 3x3 linear sytem, Hx = -g. Result, x, gives peak offset.
+	   Note that SolveLinearSystem destroys contents of H. */
+	offset[0] = - g[0];
+	offset[1] = - g[1];
+	offset[2] = - g[2];
+
+// 	for(i=0; i < 3; i++){
+// 	
+// 		for(j=0; j < 3; j++) printf("%f  ", H[i][j]);
+// 		printf("\n");
+// 	}
+
+// 	printf("\n");
+// 
+// 	for(i=0; i < 3; i++) printf("%f  ", offset[i]);
+// 	printf("\n");
+
+	float solution[3];
+	lusolve(H, solution, offset,3);
+
+// 	printf("\n");
+// 	for(i=0; i < 3; i++) printf("%f  ", solution[i]);
+// 	printf("\n");
+
+
+	desallocate_float_matrix(H,3,3);
+	delete[] H; /*memcheck*/
+
+	/* Also return value of DOG at peak location using initial value plus
+	   0.5 times linear interpolation with gradient to peak position
+	   (this is correct for a quadratic approximation).
+	*/
+	for(i=0; i < 3; i++) offset[i] = solution[i];
+
+	return ((*dog1)(c,r) + 0.5 * (solution[0]*g[0]+solution[1]*g[1]+solution[2]*g[2]));
+}
+
+
+
+/// - Compute histogram of orientation in a neighborhood weighted by gradient and distance to center
+/// - Look for local (3-neighborhood) maximum with valuer larger or equal than par.OriHistThresh * maxval
+
+
+/* Assign an orientation to this keypoint.  This is done by creating a
+   Gaussian weighted histogram of the gradient directions in the
+   region.  The histogram is smoothed and the largest peak selected.
+   The results are in the range of -PI to PI.
+*/
+void AssignOriHist(
+	const flimage& grad, const flimage& ori, float octSize,
+	float octScale, float octRow, float octCol,keypointslist& keys,siftPar &par)
+{
+	int	bin, prev, next;
+
+	// Guoshen Yu, 2010.09.21 Windows version
+//	float	hist[par.OriBins], distsq, dif, gval, weight, angle, interp;
+	float distsq, dif, gval, weight, angle, interp;
+	int tmp_size = par.OriBins;
+    float *hist = new float[tmp_size];
+
+	float radius2, sigma2;		
+
+	int	row = (int) (octRow+0.5),
+		col = (int) (octCol+0.5),
+		rows = grad.nheight(),
+		cols = grad.nwidth();
+
+	for (int i = 0; i < par.OriBins; i++) hist[i] = 0.0;
+
+	/* Look at pixels within 3 sigma around the point and sum their
+	  Gaussian weighted gradient magnitudes into the histogram. */
+	float	sigma = par.OriSigma * octScale;
+	int	radius = (int) (sigma * 3.0);
+	int rmin = MAX(0,row-radius);
+	int cmin = MAX(0,col-radius);
+	int rmax = MIN(row+radius,rows-2);
+	int cmax = MIN(col+radius,cols-2);
+	radius2 = (float)(radius * radius);
+	sigma2 = 2.0*sigma*sigma;
+
+	for (int r = rmin; r <= rmax; r++) {
+		for (int c = cmin; c <= cmax; c++) {
+			
+				gval = grad(c,r);
+				
+				dif = (r - octRow);	distsq = dif*dif;
+				dif = (c - octCol);	distsq += dif*dif;
+
+				if (gval > 0.0  &&  distsq < radius2 + 0.5) {
+
+					weight = exp(- distsq / sigma2);
+					
+					/* Ori is in range of -PI to PI. */
+					angle = ori(c,r);
+					bin = (int) (par.OriBins * (angle + PI + 0.001) / (2.0 * PI));
+					assert(bin >= 0 && bin <= par.OriBins);
+					bin = MIN(bin, par.OriBins - 1);
+					hist[bin] += weight * gval;
+
+				}
+			
+		}
+	}
+
+
+	/* Apply smoothing 6 times for accurate Gaussian approximation. */
+	for (int i = 0; i < 6; i++)
+		SmoothHistogram(hist, par.OriBins);
+
+	/* Find maximum value in histogram. */
+	float maxval = 0.0;
+	for (int i = 0; i < par.OriBins; i++) 
+		if (hist[i] > maxval) maxval = hist[i];
+
+	/* Look for each local peak in histogram.  If value is within
+	  par.OriHistThresh of maximum value, then generate a keypoint. */
+	for (int i = 0; i < par.OriBins; i++) {
+		prev = (i == 0 ? par.OriBins - 1 : i - 1);
+		next = (i == par.OriBins - 1 ? 0 : i + 1);
+
+		if (	hist[i] > hist[prev]  &&  hist[i] > hist[next]  &&
+			hist[i] >= par.OriHistThresh * maxval ) {
+	
+			/* Use parabolic fit to interpolate peak location from 3 samples.
+			  Set angle in range -PI to PI. */
+			interp = InterpPeak(hist[prev], hist[i], hist[next]);
+			angle = 2.0 * PI * (i + 0.5 + interp) / par.OriBins - PI;
+			assert(angle >= -PI  &&  angle <= PI);
+		
+			if (DEBUG) printf("angle selected: %f \t location: (%f,%f)\n", angle, octRow, octCol);
+;
+			/* Create a keypoint with this orientation. */
+			MakeKeypoint(
+				grad, ori, octSize, octScale,
+				octRow, octCol, angle, keys,par);
+		}
+
+	}
+
+  // Guoshen Yu, 2010.09.22, Windows version
+  delete [] hist;
+}
+
+
+
+/* Smooth a histogram by using a [1/3 1/3 1/3] kernel.  Assume the histogram
+   is connected in a circular buffer.
+*/
+void SmoothHistogram(float* hist, int bins)
+{
+	float prev, temp;
+
+	prev = hist[bins - 1];
+	for (int i = 0; i < bins; i++) {
+		temp = hist[i];
+		hist[i] = ( prev + hist[i] + hist[(i + 1 == bins) ? 0 : i + 1] ) / 3.0;
+		prev = temp;
+	}
+}
+
+
+/* Return a number in the range [-0.5, 0.5] that represents the
+   location of the peak of a parabola passing through the 3 evenly
+   spaced samples.  The center value is assumed to be greater than or
+   equal to the other values if positive, or less than if negative.
+*/
+float InterpPeak(float a, float b, float c)
+{
+	if (b < 0.0) {
+		a = -a; b = -b; c = -c;
+	}
+	assert(b >= a  &&  b >= c);
+	return 0.5 * (a - c) / (a - 2.0 * b + c);
+}
+
+
+
+
+
+/* Joan Pau: Add a new keypoint to a vector of keypoints
+   Create a new keypoint and return list of keypoints with new one added.
+*/
+void MakeKeypoint(
+	const flimage& grad, const flimage& ori, float octSize, float octScale,
+	float octRow, float octCol, float angle, keypointslist& keys,siftPar &par)
+{
+	keypoint newkeypoint;
+	newkeypoint.x = octSize * octCol;	/*x coordinate */
+	newkeypoint.y = octSize * octRow;	/*y coordinate */
+	newkeypoint.scale = octSize * octScale;	/* scale */
+	newkeypoint.angle = angle;		/* orientation */
+	MakeKeypointSample(newkeypoint,grad,ori,octScale,octRow,octCol,par);
+	keys.push_back(newkeypoint);
+}
+
+
+
+/* Use the parameters of this keypoint to sample the gradient images
+     at a set of locations within a circular region around the keypoint.
+     The (scale,row,col) values are relative to current octave sampling.
+     The resulting vector is stored in the key.
+*/
+void MakeKeypointSample(
+	keypoint& key, const flimage& grad, const flimage& ori,
+	float scale, float row, float col,siftPar &par)
+{
+	/* Produce sample vector. */
+	KeySampleVec(key, grad, ori, scale, row, col,par);
+
+
+	/* Normalize vector.  This should provide illumination invariance
+	for planar lambertian surfaces (except for saturation effects).
+	Normalization also improves nearest-neighbor metric by
+	increasing relative distance for vectors with few features.
+	It is also useful to implement a distance threshold and to
+	allow conversion to integer format.
+	*/
+	NormalizeVec(key.vec);
+
+	/* Now that normalization has been done, threshold elements of
+	index vector to decrease emphasis on large gradient magnitudes.
+	Admittedly, the large magnitude values will have affected the
+	normalization, and therefore the threshold, so this is of
+	limited value.
+	*/
+	bool changed = false;
+	for (int i = 0; i < VecLength; i++)
+		if (key.vec[i] > par.MaxIndexVal) {
+			key.vec[i] = par.MaxIndexVal;
+			changed = true;
+		}
+
+	if (changed) NormalizeVec(key.vec);
+
+	/* Convert float vector to integer. Assume largest value in normalized
+	vector is likely to be less than 0.5. */
+	/// QUESTION: why is the vector quantized to integer
+	int intval;
+	for (int i = 0; i < VecLength; i++) {
+		intval =  (int)(512.0 * key.vec[i]);
+		key.vec[i] = (int) MIN(255, intval);
+	}
+}
+
+/* Normalize length of vec to 1.0.
+*/
+void NormalizeVec(float* vec)
+{
+	float val, fac;
+	
+	float sqlen = 0.0;
+	for (int i = 0; i < VecLength; i++) {
+		val = vec[i];
+		sqlen += val * val;
+	}
+	fac = 1.0 / sqrt(sqlen);
+
+	for (int i = 0; i < VecLength; i++)
+		vec[i] *= fac;
+}
+
+
+/* Create a 3D index array into which gradient values are accumulated.
+   After filling array, copy values back into vec.
+*/
+void KeySampleVec(
+	keypoint& key, const flimage& grad, const flimage& ori,
+	float scale, float row, float col,siftPar &par)
+{
+	
+	float index[IndexSize][IndexSize][OriSize];
+
+	/* Initialize index array. */
+	for (int i = 0; i < IndexSize; i++)
+		for (int j = 0; j < IndexSize; j++)
+			for (int k = 0; k < OriSize; k++)
+				index[i][j][k] = 0.0;
+
+
+	KeySample(index, key, grad, ori, scale, row, col, par);
+
+
+	/* Unwrap the 3D index values into 1D vec. */
+	int v = 0;
+	for (int i = 0; i < IndexSize; i++)
+		for (int j = 0; j < IndexSize; j++)
+			for (int k = 0; k < OriSize; k++)
+				key.vec[v++] = index[i][j][k];
+}
+
+
+
+/* Add features to vec obtained from sampling the grad and ori images
+   for a particular scale.  Location of key is (scale,row,col) with respect
+   to images at this scale.  We examine each pixel within a circular
+   region containing the keypoint, and distribute the gradient for that
+   pixel into the appropriate bins of the index array.
+*/
+void KeySample(
+	float index[IndexSize][IndexSize][OriSize], keypoint& key,
+	const flimage& grad, const flimage& ori, float scale, float row, float col,siftPar &par)
+{
+	float rpos, cpos, rx, cx;
+
+	int	irow = (int) (row + 0.5),
+		icol = (int) (col + 0.5);
+	float	sine   = (float) sin(key.angle),
+		cosine = (float) cos(key.angle);
+
+	/* The spacing of index samples in terms of pixels at this scale. */
+	float	spacing = scale * par.MagFactor;
+
+	/* Radius of index sample region must extend to diagonal corner of
+	index patch plus half sample for interpolation. */
+	float	radius = 1.414 * spacing * (IndexSize + 1) / 2.0;
+	int	iradius = (int) (radius + 0.5);
+
+	/* Examine all points from the gradient image that could lie within the
+	index square. */
+	for (int i = -iradius; i <= iradius; i++) {
+		for (int j = -iradius; j <= iradius; j++) {
+
+			/* Rotate sample offset to make it relative to key orientation.
+			 Uses (row,col) instead of (x,y) coords.  Also, make subpixel
+			 correction as later image offset must be an integer.  Divide
+			 by spacing to put in index units.
+			*/
+
+			 /* Guoshen Yu, inverse the rotation */
+			 rpos = ((cosine * i - sine * j) - (row - irow)) / spacing;
+			 cpos = ((sine * i + cosine * j) - (col - icol)) / spacing;
+
+			 /*
+			 rpos = ((cosine * i + sine * j) - (row - irow)) / spacing;
+			 cpos = ((- sine * i + cosine * j) - (col - icol)) / spacing;*/
+
+			 /* Compute location of sample in terms of real-valued index array
+			 coordinates.  Subtract 0.5 so that rx of 1.0 means to put full
+			 weight on index[1] (e.g., when rpos is 0 and IndexSize is 3. */
+			 rx = rpos + IndexSize / 2.0 - 0.5;
+			 cx = cpos + IndexSize / 2.0 - 0.5;
+	
+			/* Test whether this sample falls within boundary of index patch. */
+			if (	rx > -1.0 && rx < (float) IndexSize  &&
+				cx > -1.0 && cx < (float) IndexSize )
+				AddSample(
+					index, key, grad, ori,
+					irow + i, icol + j, rpos, cpos, rx, cx,par);
+		}
+	}
+}
+
+
+/* Given a sample from the image gradient, place it in the index array.
+*/
+void AddSample(
+	float index[IndexSize][IndexSize][OriSize], keypoint& key,
+	const flimage& grad, const flimage& orim,
+	float r, float c, float rpos, float cpos, float rx, float cx,siftPar &par)
+{
+	/* Clip at image boundaries. */
+	if (r < 0  ||  r >= grad.nheight()  ||  c < 0  ||  c >= grad.nwidth())
+		return;
+
+	/* Compute Gaussian weight for sample, as function of radial distance
+	   from center.  Sigma is relative to half-width of index. */
+	float	sigma  = par.IndexSigma * 0.5 * IndexSize,
+		weight = exp(- (rpos * rpos + cpos * cpos) / (2.0 * sigma * sigma)),
+//		mag    = weight *  grad(c,r); 
+		mag    = weight *  grad((int)c,(int)r); // Guoshen Yu, explicitely cast to int to avoid warning
+
+
+	/* Subtract keypoint orientation to give ori relative to keypoint. */
+//	float	ori = orim(c,r) -  key.angle; 
+	float	ori = orim((int)c,(int)r) -  key.angle; // Guoshen Yu, explicitely cast to int to avoid warning
+
+
+	/* Put orientation in range [0, 2*PI].  If sign of gradient is to
+	   be ignored, then put in range [0, PI]. */
+	if (par.IgnoreGradSign) {
+		while (ori > PI ) ori -= PI;
+		while (ori < 0.0) ori += PI;
+	} else {
+		while (ori > 2.0*PI) ori -= 2.0*PI;
+		while (ori < 0.0   ) ori += 2.0*PI;
+	}
+	PlaceInIndex(index, mag, ori, rx, cx,par);
+}
+
+
+/* Increment the appropriate locations in the index to incorporate
+   this image sample.  The location of the sample in the index is (rx,cx).
+*/
+void PlaceInIndex(
+	float index[IndexSize][IndexSize][OriSize],
+	float mag, float ori, float rx, float cx,siftPar &par)
+{
+	int	orr, rindex, cindex, oindex;
+	float	rweight, cweight, oweight;
+	float  *ivec;
+
+	float	oval = OriSize * ori / (par.IgnoreGradSign ? PI : 2.0*PI);
+
+//	int	ri = (rx >= 0.0) ? rx : rx - 1.0,	/* Round down to next integer. */
+//		ci = (cx >= 0.0) ? cx : cx - 1.0,
+//		oi = (oval >= 0.0) ? oval : oval - 1.0;
+	
+	int	ri = (int)((rx >= 0.0) ? rx : rx - 1.0),	/* Round down to next integer. */ // Guoshen Yu, explicitely cast to int to avoid warning
+		ci = (int)((cx >= 0.0) ? cx : cx - 1.0), // Guoshen Yu, explicitely cast to int to avoid warning
+		oi = (int)((oval >= 0.0) ? oval : oval - 1.0); // Guoshen Yu, explicitely cast to int to avoid warning
+	
+	float	rfrac = rx - ri,			/* Fractional part of location. */
+		cfrac = cx - ci,
+		ofrac = oval - oi;
+	assert(
+		ri >= -1  &&  ri < IndexSize  &&
+		oi >=  0  &&  oi <= OriSize  &&
+		rfrac >= 0.0  &&  rfrac <= 1.0);
+
+	/* Put appropriate fraction in each of 8 buckets around this point
+		in the (row,col,ori) dimensions.  This loop is written for
+		efficiency, as it is the inner loop of key sampling. */
+	for (int r = 0; r < 2; r++) {
+		rindex = ri + r;
+		if (rindex >=0 && rindex < IndexSize) {
+			rweight = mag * ((r == 0) ? 1.0 - rfrac : rfrac);
+
+			for (int c = 0; c < 2; c++) {
+				cindex = ci + c;
+				if (cindex >=0 && cindex < IndexSize) {
+					cweight = rweight * ((c == 0) ? 1.0 - cfrac : cfrac);
+					ivec = index[rindex][cindex];
+					for (orr = 0; orr < 2; orr++) {
+						oindex = oi + orr;
+						if (oindex >= OriSize)  /* Orientation wraps around at PI. */
+							oindex = 0;
+						oweight = cweight * ((orr == 0) ? 1.0 - ofrac : ofrac);
+						ivec[oindex] += oweight;
+					}
+				}
+			}
+		}
+	}
+}
+
+
+
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// SIFT keypoint matching 
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+float DistSquared(keypoint &k1,keypoint &k2, float tdist, siftPar &par)
+{
+	
+	float dif;
+	float distsq = 0.0;
+
+//	if (abs(k1.x - k2.x) > par.MatchXradius || abs(k1.y - k2.y) > par.MatchYradius) return tdist;
+
+	if (ABS(k1.x - k2.x) > par.MatchXradius || ABS(k1.y - k2.y) > par.MatchYradius) return tdist;
+
+
+	float *ik1 = k1.vec;
+	float *ik2 = k2.vec;
+
+	for (int i = 0; i < VecLength && distsq <= tdist; i++) {
+//    for (int i = 0; i < VecLength ; i++) {
+		dif = ik1[i] - ik2[i];
+		distsq += dif * dif;
+		//distsq += ABS(dif);
+		
+//		distsq += ((ik1[i] > ik2[i]) ? (ik1[i] - ik2[i]) : (-ik1[i] + ik2[i]));
+		
+	}
+
+	return distsq;
+}
+
+float DistSquared_short(keypoint_short &k1,keypoint_short &k2, float tdist, siftPar &par)
+{
+	// For Mac/Linux compilation using make: vectorization is possible with short.
+	unsigned short distsq = 0;
+	
+	// For Windows compilation using Intel C++ compiler: vectorization is possible with int. 
+	// int distsq = 0;
+	
+	if (ABS(k1.x - k2.x) > par.MatchXradius || ABS(k1.y - k2.y) > par.MatchYradius) return tdist;
+	
+	
+	unsigned short *ik1 = k1.vec;
+	unsigned short *ik2 = k2.vec;
+
+	for (int i = 0; i < VecLength ; i++) {
+		distsq += ((ik1[i] > ik2[i]) ? (ik1[i] - ik2[i]) : (-ik1[i] + ik2[i]));	
+	}
+	
+	return distsq;
+}
+
+
+
+/* This searches through the keypoints in klist for the two closest
+   matches to key.  It returns the ratio of the distance to key of the
+   closest and next to closest keypoints in klist, while bestindex is the index
+   of the closest keypoint.
+*/
+float CheckForMatch(
+	 keypoint& key, keypointslist& klist, int& min,siftPar &par)
+{	
+	int	nexttomin = -1;
+	float	dsq, distsq1, distsq2;
+	distsq1 = distsq2 = 1000000000000.0f;
+
+	for (int j=0; j< (int) klist.size(); j++){
+	
+		dsq = DistSquared(key, klist[j], distsq2,par);
+		
+		if (dsq < distsq1) {
+			distsq2 = distsq1;
+			distsq1 = dsq;
+			nexttomin = min;
+			min = j;
+		} else if (dsq < distsq2) {
+			distsq2 = dsq;
+			nexttomin = j;
+		}
+	}
+
+	return distsq1/distsq2 ;
+}
+
+float CheckForMatch_short(
+					keypoint_short& key, keypointslist_short& klist, int& min,siftPar &par)
+{	
+	int	nexttomin = -1;
+	float	dsq, distsq1, distsq2;
+	distsq1 = distsq2 = 1000000000000.0f;
+	
+	for (int j=0; j< (int) klist.size(); j++){
+		
+		dsq = DistSquared_short(key, klist[j], distsq2,par);
+		
+		if (dsq < distsq1) {
+			distsq2 = distsq1;
+			distsq1 = dsq;
+			nexttomin = min;
+			min = j;
+		} else if (dsq < distsq2) {
+			distsq2 = dsq;
+			nexttomin = j;
+		}
+	}
+	
+	return distsq1/distsq2 ;
+}
+
+
+
+void compute_sift_matches(
+	 keypointslist& keys1,  keypointslist& keys2,
+	matchingslist& matchings,siftPar &par)
+{
+	int	imatch=0;
+	float	sqminratio = par.MatchRatio * par.MatchRatio,
+		sqratio;
+		
+	// write the keypoint descriptors in char
+	keypointslist_short keys1_short(keys1.size());
+	for (int i=0; i< (int) keys1.size(); i++)
+	{
+		keys1_short[i].x = keys1[i].x;
+		keys1_short[i].y = keys1[i].y;
+		keys1_short[i].scale = keys1[i].scale;
+		keys1_short[i].angle = keys1[i].angle;
+		
+		for (int k=0; k < VecLength; k++)
+		{
+			keys1_short[i].vec[k] = (unsigned short) (keys1[i].vec[k]);
+		}
+
+	}
+	
+	keypointslist_short keys2_short(keys2.size());
+	for (int i=0; i< (int) keys2.size(); i++)
+	{
+		keys2_short[i].x = keys2[i].x;
+		keys2_short[i].y = keys2[i].y;
+		keys2_short[i].scale = keys2[i].scale;
+		keys2_short[i].angle = keys2[i].angle;
+		
+		for (int k=0; k < VecLength; k++)
+		{
+			keys2_short[i].vec[k] = (unsigned short) (keys2[i].vec[k]);
+		}
+		
+	}
+	
+	for (int i=0; i< (int) keys1.size(); i++) {
+
+	//	sqratio = CheckForMatch(keys1[i], keys2, imatch,par);
+		
+		sqratio = CheckForMatch_short(keys1_short[i], keys2_short, imatch,par);
+
+
+		if (sqratio< sqminratio)
+			matchings.push_back( matching(keys1[i],keys2[imatch] ));
+	//		 matchings.push_back( matching_char(keys1_char[i],keys2_char[imatch] ));
+	}
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h b/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.h
new file mode 100755
index 0000000..13839ac
--- /dev/null
+++ b/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_
+
+
+
diff --git a/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.o b/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.o
new file mode 100644
index 0000000..ed6cf13
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/demo_lib_sift.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/domain.cpp b/ASIFT_tests/demo_ASIFT_src/domain.cpp
new file mode 100755
index 0000000..beedfd0
--- /dev/null
+++ b/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;
+    	
+	}
+
+}
+
diff --git a/ASIFT_tests/demo_ASIFT_src/domain.h b/ASIFT_tests/demo_ASIFT_src/domain.h
new file mode 100755
index 0000000..902e6c8
--- /dev/null
+++ b/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
+
diff --git a/ASIFT_tests/demo_ASIFT_src/filter.cpp b/ASIFT_tests/demo_ASIFT_src/filter.cpp
new file mode 100755
index 0000000..0708236
--- /dev/null
+++ b/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);
+	
+}
+
+
+		
+
diff --git a/ASIFT_tests/demo_ASIFT_src/filter.h b/ASIFT_tests/demo_ASIFT_src/filter.h
new file mode 100755
index 0000000..261aa1b
--- /dev/null
+++ b/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_
+
diff --git a/ASIFT_tests/demo_ASIFT_src/filter.o b/ASIFT_tests/demo_ASIFT_src/filter.o
new file mode 100644
index 0000000..a99c1bf
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/filter.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/flimage.cpp b/ASIFT_tests/demo_ASIFT_src/flimage.cpp
new file mode 100755
index 0000000..0e29b57
--- /dev/null
+++ b/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();
+}
+
+
+
+
diff --git a/ASIFT_tests/demo_ASIFT_src/flimage.h b/ASIFT_tests/demo_ASIFT_src/flimage.h
new file mode 100755
index 0000000..6024ed5
--- /dev/null
+++ b/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
+
diff --git a/ASIFT_tests/demo_ASIFT_src/flimage.o b/ASIFT_tests/demo_ASIFT_src/flimage.o
new file mode 100644
index 0000000..340b80c
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/flimage.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/fproj.cpp b/ASIFT_tests/demo_ASIFT_src/fproj.cpp
new file mode 100755
index 0000000..cb966c1
--- /dev/null
+++ b/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; 
+}
+
diff --git a/ASIFT_tests/demo_ASIFT_src/fproj.h b/ASIFT_tests/demo_ASIFT_src/fproj.h
new file mode 100755
index 0000000..0db2524
--- /dev/null
+++ b/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);
+
diff --git a/ASIFT_tests/demo_ASIFT_src/fproj.o b/ASIFT_tests/demo_ASIFT_src/fproj.o
new file mode 100644
index 0000000..500bf6f
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/fproj.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/frot.cpp b/ASIFT_tests/demo_ASIFT_src/frot.cpp
new file mode 100755
index 0000000..e7415a0
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/frot.cpp
@@ -0,0 +1,116 @@
+// Copyright (c) 2007 Lionel Moisan <Lionel.Moisan@parisdescartes.fr>
+
+
+
+#include "frot.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+
+void bound(int x, int y, float ca, float sa, int *xmin, int *xmax, int *ymin, int *ymax);
+
+
+/* NB : calling this module with out=in is nonsense */
+
+/* void frot(in,out,a,b,k_flag)
+     Fimage in,out;
+     float  *a,*b;
+     char *k_flag; */
+
+void frot(vector<float>& in, vector<float>& out, int nx, int ny, int *nx_out, int *ny_out, float *a, float *b, char *k_flag)
+//void frot(float *in, float *out, int nx, int ny, int *nx_out, int *ny_out, float *a, float *b, char *k_flag)
+{
+    /* int    nx,ny,x,y,x1,y1,adr; */
+	int    x,y,x1,y1,adr; 
+    float  ca,sa,xp,yp,a11,a12,a21,a22,ux,uy,xtrans,ytrans;
+    int    tx1,ty1,tx2,ty2,xmin,xmax,ymin,ymax,sx,sy;
+
+/*    nx = in->ncol;
+    ny = in->nrow; */
+	
+    ca = (float)cos((double)(*a)*M_PI/180.0);
+    sa = (float)sin((double)(*a)*M_PI/180.0);
+	
+
+
+    /********** Compute new image location **********/
+    if (k_flag) {
+      /* crop image and fix center */
+      xmin = ymin = 0;
+      xmax = nx-1;
+      ymax = ny-1;
+      xtrans = 0.5*( (float)(nx-1)*(1.0-ca)+(float)(ny-1)*sa );
+      ytrans = 0.5*( (float)(ny-1)*(1.0-ca)-(float)(nx-1)*sa );
+    } else {
+      /* extend image size to include the whole input image */
+      xmin = xmax = ymin = ymax = 0;
+      bound(nx-1,0,ca,sa,&xmin,&xmax,&ymin,&ymax);
+      bound(0,ny-1,ca,sa,&xmin,&xmax,&ymin,&ymax);
+      bound(nx-1,ny-1,ca,sa,&xmin,&xmax,&ymin,&ymax);
+      xtrans = ytrans = 0.0;
+    }
+    sx = xmax-xmin+1;
+    sy = ymax-ymin+1;
+	
+    /* out = mw_change_fimage(out,sy,sx);
+    if (!out) mwerror(FATAL,1,"not enough memory\n"); */
+	
+	*nx_out = sx;
+	*ny_out = sy;
+	
+//	printf("Hello sx=%d, sy=%d\n", sx, sy);
+
+//		out = new float[sy*sx];
+	out = std::vector<float>(sx*sy);
+	
+    /********** Rotate image **********/
+    for (x=xmin;x<=xmax;x++) 
+      for (y=ymin;y<=ymax;y++) {
+	xp = ca*(float)x-sa*(float)y + xtrans;
+	yp = sa*(float)x+ca*(float)y + ytrans;
+	x1 = (int)floor(xp); 
+	y1 = (int)floor(yp); 
+	ux = xp-(float)x1;
+	uy = yp-(float)y1;
+	adr = y1*nx+x1;
+	tx1 = (x1>=0 && x1<nx);
+	tx2 = (x1+1>=0 && x1+1<nx);
+	ty1 = (y1>=0 && y1<ny);
+	ty2 = (y1+1>=0 && y1+1<ny);
+		  
+/*	a11 = (tx1 && ty1? in->gray[adr]:*b);
+	a12 = (tx1 && ty2? in->gray[adr+nx]:*b);
+	a21 = (tx2 && ty1? in->gray[adr+1]:*b);
+	a22 = (tx2 && ty2? in->gray[adr+nx+1]:*b); */
+		  
+	a11 = (tx1 && ty1? in[adr]:*b);
+    a12 = (tx1 && ty2? in[adr+nx]:*b);
+    a21 = (tx2 && ty1? in[adr+1]:*b);
+    a22 = (tx2 && ty2? in[adr+nx+1]:*b); 
+		  
+		  
+/*	out->gray[(y-ymin)*sx+x-xmin] = 
+	  (1.0-uy)*((1.0-ux)*a11+ux*a21)+uy*((1.0-ux)*a12+ux*a22);*/
+		
+	out[(y-ymin)*sx+x-xmin] = 
+		  (1.0-uy)*((1.0-ux)*a11+ux*a21)+uy*((1.0-ux)*a12+ux*a22);
+		  
+      }
+}
+
+
+void bound(int x, int y, float ca, float sa, int *xmin, int *xmax, int *ymin, int *ymax)
+/* int x,y;
+ float ca,sa;
+ int *xmin,*xmax,*ymin,*ymax;*/
+{   
+    int rx,ry;
+	
+    rx = (int)floor(ca*(float)x+sa*(float)y);
+    ry = (int)floor(-sa*(float)x+ca*(float)y);
+    if (rx<*xmin) *xmin=rx; if (rx>*xmax) *xmax=rx;
+    if (ry<*ymin) *ymin=ry; if (ry>*ymax) *ymax=ry;
+}
+
diff --git a/ASIFT_tests/demo_ASIFT_src/frot.h b/ASIFT_tests/demo_ASIFT_src/frot.h
new file mode 100755
index 0000000..fd4d790
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/frot.h
@@ -0,0 +1,10 @@
+// Copyright (c) 2007 Lionel Moisan <Lionel.Moisan@parisdescartes.fr>
+
+#include "library.h"
+#include <vector>
+using namespace std;
+
+
+/*void frot(float *in, float *out, int nx, int ny, int *nx_out, int *ny_out, float *a, float *b, char *k_flag)*/
+//void frot(float *, float (*)[], int, int, int *, int *, float *, float *, char *);
+void frot(vector<float>&, vector<float>&, int, int, int *, int *, float *, float *, char *);
diff --git a/ASIFT_tests/demo_ASIFT_src/frot.o b/ASIFT_tests/demo_ASIFT_src/frot.o
new file mode 100644
index 0000000..14dec21
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new file mode 100644
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+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/harle/catkin_ws/src/demo_ASIFT_src")
+
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+
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new file mode 100755
index 0000000..2c45a3b
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+ADD_SUBDIRECTORY(libs)
\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/Makefile
@@ -0,0 +1,122 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/harle/catkin_ws/src/demo_ASIFT_src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/harle/catkin_ws/src/demo_ASIFT_src
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running interactive CMake command-line interface..."
+	/usr/bin/cmake -i .
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# The main all target
+all: cmake_check_build_system
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles /home/harle/catkin_ws/src/demo_ASIFT_src/io_png/CMakeFiles/progress.marks
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... rebuild_cache"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/cmake_install.cmake b/ASIFT_tests/demo_ASIFT_src/io_png/cmake_install.cmake
new file mode 100644
index 0000000..bf40e18
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/cmake_install.cmake
@@ -0,0 +1,40 @@
+# Install script for directory: /home/harle/catkin_ws/src/demo_ASIFT_src/io_png
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/io_png.c b/ASIFT_tests/demo_ASIFT_src/io_png/io_png.c
new file mode 100755
index 0000000..3a901c9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/io_png.c
@@ -0,0 +1,708 @@
+/*
+ * Copyright (c) 2010, Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
+ * THE COPYRIGHT HOLDER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * The views and conclusions contained in the software and
+ * documentation are those of the authors and should not be
+ * interpreted as representing official policies, either expressed
+ * or implied, of the copyright holder.
+ */
+
+/**
+ * @mainpage image read/write simplified interface
+ *
+ * README.txt:
+ * @verbinclude README.txt
+ */
+
+/**
+ * @file io_png.c
+ * @brief PNG read/write simplified interface
+ *
+ * This is a front-end to libpng, with routines to:
+ * @li read a PNG file as a deinterlaced 8bit integer or float array
+ * @li write a 8bit integer or float array to a PNG file
+ *
+ * Multi-channel images are handled : grey, grey+alpha, rgb and
+ * rgb+alpha, as well as on-the-fly color model conversion.
+ *
+ * @todo handle lossless 16bit data
+ * @todo add a test suite
+ * @todo internally handle RGB/gray conversion in read_png_raw()
+ * @todo handle deinterlacing as a libpng transform function
+ *
+ * @author Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+#include <assert.h>
+
+/* option to use a local version of the libpng */
+#ifdef _LOCAL_LIBS
+#include "png.h"
+#else
+#include <png.h> 
+/* Guoshen Yu, Windows version, 2010.10.16 */
+/* #include "./libs/png/png.h" */
+#endif
+
+/* ensure consistency */
+#include "io_png.h"
+
+#define PNG_SIG_LEN 4
+
+/* internal only datatype identifiers */
+#define IO_PNG_U8  0x0001       /* 8bit unsigned integer */
+#define IO_PNG_F32 0x0002       /* 32bit float */
+
+/*
+ * READ
+ */
+
+/**
+ * @brief internal function used to cleanup the memory when
+ * png_read_raw() fails
+ *
+ * @param fp file pointer to close, ignored if NULL
+ * @param png_ptr_p, info_ptr_p, pointers to PNG structure pointers,
+ *        ignored if NULL
+ * @return NULL
+ */
+static void *read_png_abort(FILE * fp,
+                            png_structp * png_ptr_p, png_infop * info_ptr_p)
+{
+    png_destroy_read_struct(png_ptr_p, info_ptr_p, NULL);
+    if (NULL != fp && stdin != fp)
+        (void) fclose(fp);
+    return NULL;
+}
+
+/**
+ * @brief internal function used to read a PNG file into an array
+ *
+ * @todo don't loose 16bit info
+ *
+ * @param fname PNG file name, "-" means stdin
+ * @param nx, ny, nc pointers to variables to be filled
+ *        with the number of columns, lines and channels of the image
+ * @param transform a PNG_TRANSFORM to be added to the default read transforms
+ * @param dtype identifier for the data type to be used for output
+ * @return pointer to an allocated array of pixels,
+ *         or NULL if an error happens
+ */
+static void *read_png_raw(const char *fname,
+                          size_t * nx, size_t * ny, size_t * nc,
+                          int transform, int dtype)
+{
+    png_byte png_sig[PNG_SIG_LEN];
+    png_structp png_ptr;
+    png_infop info_ptr;
+    png_bytepp row_pointers;
+    png_bytep row_ptr;
+    /* volatile : because of setjmp/longjmp */
+    FILE *volatile fp = NULL;
+    void *data = NULL;
+    unsigned char *data_u8 = NULL;
+    unsigned char *data_u8_ptr = NULL;
+    float *data_f32 = NULL;
+    float *data_f32_ptr = NULL;
+    size_t size;
+    size_t i, j, k;
+
+    /* parameters check */
+    if (NULL == fname || NULL == nx || NULL == ny || NULL == nc)
+        return NULL;
+    if (IO_PNG_U8 != dtype && IO_PNG_F32 != dtype)
+        return NULL;
+
+    /* open the PNG input file */
+    if (0 == strcmp(fname, "-"))
+        fp = stdin;
+    else if (NULL == (fp = fopen(fname, "rb")))
+        return NULL;
+
+    /* read in some of the signature bytes and check this signature */
+    if ((PNG_SIG_LEN != fread(png_sig, 1, PNG_SIG_LEN, fp))
+        || 0 != png_sig_cmp(png_sig, (png_size_t) 0, PNG_SIG_LEN))
+        return read_png_abort(fp, NULL, NULL);
+
+    /*
+     * create and initialize the png_struct
+     * with the default stderr and error handling
+     */
+    if (NULL == (png_ptr = png_create_read_struct(PNG_LIBPNG_VER_STRING,
+                                                  NULL, NULL, NULL)))
+        return read_png_abort(fp, NULL, NULL);
+
+    /* allocate/initialize the memory for image information */
+    if (NULL == (info_ptr = png_create_info_struct(png_ptr)))
+        return read_png_abort(fp, &png_ptr, NULL);
+
+    /* set error handling */
+    if (0 != setjmp(png_jmpbuf(png_ptr)))
+        /* if we get here, we had a problem reading the file */
+        /* free all of the memory associated with the png_ptr and info_ptr */
+        return read_png_abort(fp, &png_ptr, &info_ptr);
+
+    /* set up the input control using standard C streams */
+    png_init_io(png_ptr, fp);
+
+    /* let libpng know that some bytes have been read */
+    png_set_sig_bytes(png_ptr, PNG_SIG_LEN);
+
+    /*
+     * set the read filter transforms, to get 8bit RGB whatever the
+     * original file may contain:
+     * PNG_TRANSFORM_STRIP_16      strip 16-bit samples to 8 bits
+     * PNG_TRANSFORM_PACKING       expand 1, 2 and 4-bit
+     *                             samples to bytes
+     */
+    transform |= (PNG_TRANSFORM_STRIP_16 | PNG_TRANSFORM_PACKING);
+
+    /* read in the entire image at once */
+    png_read_png(png_ptr, info_ptr, transform, NULL);
+
+    /* get image informations */
+    *nx = (size_t) png_get_image_width(png_ptr, info_ptr);
+    *ny = (size_t) png_get_image_height(png_ptr, info_ptr);
+    *nc = (size_t) png_get_channels(png_ptr, info_ptr);
+    row_pointers = png_get_rows(png_ptr, info_ptr);
+
+    /*
+     * allocate the output data RGB array
+     * deinterlace and convert png RGB RGB RGB 8bit to RRR GGG BBB
+     * the image is deinterlaced layer after layer
+     * this generic loop also works for one single channel
+     */
+    size = *nx * *ny * *nc;
+    switch (dtype)
+    {
+    case IO_PNG_U8:
+        if (NULL == (data_u8 =
+                     (unsigned char *) malloc(size * sizeof(unsigned char))))
+            return read_png_abort(fp, &png_ptr, &info_ptr);
+        data = (void *) data_u8;
+        for (k = 0; k < *nc; k++)
+        {
+            /* channel loop */
+            data_u8_ptr = data_u8 + (size_t) (*nx * *ny * k);
+            for (j = 0; j < *ny; j++)
+            {
+                /* row loop */
+                row_ptr = row_pointers[j] + k;
+                for (i = 0; i < *nx; i++)
+                {
+                    /* pixel loop */
+                    *data_u8_ptr++ = (unsigned char) *row_ptr;
+                    row_ptr += *nc;
+                }
+            }
+        }
+        break;
+    case IO_PNG_F32:
+        if (NULL == (data_f32 = (float *) malloc(size * sizeof(float))))
+            return read_png_abort(fp, &png_ptr, &info_ptr);
+        data = (void *) data_f32;
+        for (k = 0; k < *nc; k++)
+        {
+            /* channel loop */
+            data_f32_ptr = data_f32 + (size_t) (*nx * *ny * k);
+            for (j = 0; j < *ny; j++)
+            {
+                /* row loop */
+                row_ptr = row_pointers[j] + k;
+                for (i = 0; i < *nx; i++)
+                {
+                    /* pixel loop */
+                    *data_f32_ptr++ = (float) *row_ptr;
+                    row_ptr += *nc;
+                }
+            }
+        }
+        break;
+    }
+
+    /* clean up and free any memory allocated, close the file */
+    (void) read_png_abort(fp, &png_ptr, &info_ptr);
+
+    return data;
+}
+
+/**
+ * @brief read a PNG file into a 8bit integer array
+ *
+ * The array contains the deinterlaced channels.
+ * 1, 2 and 4bit images are converted to 8bit.
+ * 16bit images are previously downscaled to 8bit.
+ *
+ * @todo don't downscale 16bit images.
+ *
+ * @param fname PNG file name
+ * @param nx, ny, nc pointers to variables to be filled with the number of
+ *        columns, lines and channels of the image
+ * @return pointer to an allocated unsigned char array of pixels,
+ *         or NULL if an error happens
+ */
+unsigned char *read_png_u8(const char *fname,
+                           size_t * nx, size_t * ny, size_t * nc)
+{
+    /* read the image as unsigned char */
+    return (unsigned char *) read_png_raw(fname, nx, ny, nc,
+                                          PNG_TRANSFORM_IDENTITY, IO_PNG_U8);
+}
+
+/**
+ * @brief read a PNG file into a 8bit integer array, converted to RGB
+ *
+ * See read_png_u8() for details.
+ */
+unsigned char *read_png_u8_rgb(const char *fname, size_t * nx, size_t * ny)
+{
+    size_t nc;
+    unsigned char *img;
+
+    /* read the image */
+    img = (unsigned char *) read_png_raw(fname, nx, ny, &nc,
+                                         PNG_TRANSFORM_STRIP_ALPHA,
+                                         IO_PNG_U8);
+    if (NULL == img)
+        /* error */
+        return NULL;
+    if (3 == nc)
+        /* already RGB */
+        return img;
+    else
+    {
+        /* convert to RGB */
+        unsigned char *ptr_r, *ptr_g, *ptr_b, *ptr_end;
+
+        /* resize the image */
+        img = realloc(img, 3 * *nx * *ny * sizeof(unsigned char));
+
+        /* gray->RGB conversion */
+        ptr_r = img;
+        ptr_end = ptr_r + *nx * *ny;
+        ptr_g = img + *nx * *ny;
+        ptr_b = img + 2 * *nx * *ny;
+        while (ptr_r < ptr_end)
+        {
+            *ptr_g++ = *ptr_r;
+            *ptr_b++ = *ptr_r++;
+        }
+        return img;
+    }
+}
+
+/**
+ * @brief read a PNG file into a 8bit integer array, converted to gray
+ *
+ * See read_png_u8() for details.
+ */
+unsigned char *read_png_u8_gray(const char *fname, size_t * nx, size_t * ny)
+{
+    size_t nc;
+    unsigned char *img;
+
+    /* read the image */
+    img = (unsigned char *) read_png_raw(fname, nx, ny, &nc,
+                                         PNG_TRANSFORM_STRIP_ALPHA,
+                                         IO_PNG_U8);
+    if (NULL == img)
+        /* error */
+        return NULL;
+    if (1 == nc)
+        /* already gray */
+        return img;
+    else
+    {
+        /* convert to gray */
+        unsigned char *ptr_r, *ptr_g, *ptr_b, *ptr_gray, *ptr_end;
+
+        /*
+         * RGB->gray conversion
+         * Y = (6969 * R + 23434 * G + 2365 * B)/32768
+         * integer approximation of
+         * Y = 0.212671 * R + 0.715160 * G + 0.072169 * B
+         */
+        ptr_r = img;
+        ptr_g = img + *nx * *ny;
+        ptr_b = img + 2 * *nx * *ny;
+        ptr_gray = img;
+        ptr_end = ptr_gray + *nx * *ny;
+        while (ptr_gray < ptr_end)
+            *ptr_gray++ = (unsigned char) (6969 * *ptr_r++
+                                           + 23434 * *ptr_g++
+                                           + 2365 * *ptr_b++) / 32768;
+        /* resize and return the image */
+        img = realloc(img, *nx * *ny * sizeof(unsigned char));
+        return img;
+    }
+}
+
+/**
+ * @brief read a PNG file into a 32bit float array
+ *
+ * The array contains the deinterlaced channels.
+ * 1, 2, 4 and 8bit images are converted to float values
+ * between 0. and 1., 3., 15. or 255.
+ * 16bit images are also downscaled to 8bit before conversion.
+ *
+ * @param fname PNG file name
+ * @param nx, ny, nc pointers to variables to be filled with the number of
+ *        columns, lines and channels of the image
+ * @return pointer to an allocated unsigned char array of pixels,
+ *         or NULL if an error happens
+ */
+float *read_png_f32(const char *fname, size_t * nx, size_t * ny, size_t * nc)
+{
+    /* read the image as float */
+    return (float *) read_png_raw(fname, nx, ny, nc,
+                                  PNG_TRANSFORM_IDENTITY, IO_PNG_F32);
+}
+
+/**
+ * @brief read a PNG file into a 32bit float array, converted to RGB
+ *
+ * See read_png_f32() for details.
+ */
+float *read_png_f32_rgb(const char *fname, size_t * nx, size_t * ny)
+{
+    size_t nc;
+    float *img;
+
+    /* read the image */
+    img = (float *) read_png_raw(fname, nx, ny, &nc,
+                                 PNG_TRANSFORM_STRIP_ALPHA, IO_PNG_F32);
+    if (NULL == img)
+        /* error */
+        return NULL;
+    if (3 == nc)
+        /* already RGB */
+        return img;
+    else
+    {
+        /* convert to RGB */
+        float *ptr_r, *ptr_g, *ptr_b, *ptr_end;
+
+        /* resize the image */
+        img = realloc(img, 3 * *nx * *ny * sizeof(float));
+
+        /* gray->RGB conversion */
+        ptr_r = img;
+        ptr_end = ptr_r + *nx * *ny;
+        ptr_g = img + *nx * *ny;
+        ptr_b = img + 2 * *nx * *ny;
+        while (ptr_r < ptr_end)
+        {
+            *ptr_g++ = *ptr_r;
+            *ptr_b++ = *ptr_r++;
+        }
+        return img;
+    }
+}
+
+/**
+ * @brief read a PNG file into a 32bit float array, converted to gray
+ *
+ * See read_png_f32() for details.
+ */
+float *read_png_f32_gray(const char *fname, size_t * nx, size_t * ny)
+{
+    size_t nc;
+    float *img;
+
+    /* read the image */
+    img = (float *) read_png_raw(fname, nx, ny, &nc,
+                                 PNG_TRANSFORM_STRIP_ALPHA, IO_PNG_F32);
+    if (NULL == img)
+        /* error */
+        return NULL;
+    if (1 == nc)
+        /* already gray */
+        return img;
+    else
+    {
+        /* convert to gray */
+        float *ptr_r, *ptr_g, *ptr_b, *ptr_gray, *ptr_end;
+
+        /*
+         * RGB->gray conversion
+         * Y = (6969 * R + 23434 * G + 2365 * B)/32768
+         * integer approximation of
+         * Y = 0.212671 * R + 0.715160 * G + 0.072169 * B
+         */
+        ptr_r = img;
+        ptr_g = img + *nx * *ny;
+        ptr_b = img + 2 * *nx * *ny;
+        ptr_gray = img;
+        ptr_end = ptr_gray + *nx * *ny;
+        while (ptr_gray < ptr_end)
+            *ptr_gray++ = (float) (6969 * *ptr_r++
+                                   + 23434 * *ptr_g++
+                                   + 2365 * *ptr_b++) / 32768;
+        /* resize and return the image */
+        img = realloc(img, *nx * *ny * sizeof(float));
+        return img;
+    }
+}
+
+/*
+ * WRITE
+ */
+
+/**
+ * @brief internal function used to cleanup the memory when
+ * png_write_raw() fails
+ *
+ * @param fp file pointer to close, ignored if NULL
+ * @param idata, row_pointers arrays to free, ignored if NULL
+ * @param png_ptr_p, info_ptr_p, pointers to PNG structure pointers,
+ *        ignored if NULL
+ * @return -1
+ */
+static int write_png_abort(FILE * fp,
+                           png_byte * idata, png_bytep * row_pointers,
+                           png_structp * png_ptr_p, png_infop * info_ptr_p)
+{
+    png_destroy_write_struct(png_ptr_p, info_ptr_p);
+    if (NULL != row_pointers)
+        free(row_pointers);
+    if (NULL != idata)
+        free(idata);
+    if (NULL != fp && stdout != fp)
+        (void) fclose(fp);
+    return -1;
+}
+
+/**
+ * @brief internal function used to write a byte array as a PNG file
+ *
+ * The PNG file is written as a 8bit image file, interlaced,
+ * truecolor. Depending on the number of channels, the color model is
+ * gray, gray+alpha, rgb, rgb+alpha.
+ *
+ * @todo handle 16bit
+ *
+ * @param fname PNG file name, "-" means stdout
+ * @param data deinterlaced (RRR..GGG..BBB..AAA) image byte array
+ * @param nx, ny, nc number of columns, lines and channels
+ * @param dtype identifier for the data type to be used for output
+ * @return 0 if everything OK, -1 if an error occured
+ */
+static int write_png_raw(const char *fname, const void *data,
+                         size_t nx, size_t ny, size_t nc, int dtype)
+{
+    png_structp png_ptr;
+    png_infop info_ptr;
+    png_byte *idata = NULL, *idata_ptr = NULL;
+    png_bytep *row_pointers = NULL;
+    png_byte bit_depth;
+    /* volatile : because of setjmp/longjmp */
+    FILE *volatile fp;
+    const unsigned char *data_u8 = NULL;
+    const unsigned char *data_u8_ptr = NULL;
+    const float *data_f32 = NULL;
+    const float *data_f32_ptr = NULL;
+    float tmp;
+    int color_type, interlace, compression, filter;
+    size_t size;
+    size_t i, j, k;
+
+    /* parameters check */
+    if (0 >= nx || 0 >= ny || 0 >= nc)
+        return -1;
+    if (NULL == fname || NULL == data)
+        return -1;
+    if (IO_PNG_U8 != dtype && IO_PNG_F32 != dtype)
+        return -1;
+
+    /* open the PNG output file */
+    if (0 == strcmp(fname, "-"))
+        fp = stdout;
+    else if (NULL == (fp = fopen(fname, "wb")))
+        return -1;
+
+    /* allocate the interlaced array and row pointers */
+    size = nx * ny * nc;
+    if (NULL == (idata = (png_byte *) malloc(size * sizeof(png_byte))))
+        return write_png_abort(fp, NULL, NULL, NULL, NULL);
+
+    if (NULL == (row_pointers = (png_bytep *) malloc(ny * sizeof(png_bytep))))
+        return write_png_abort(fp, idata, NULL, NULL, NULL);
+
+    /*
+     * create and initialize the png_struct
+     * with the default stderr and error handling
+     */
+    if (NULL == (png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING,
+                                                   NULL, NULL, NULL)))
+        return write_png_abort(fp, idata, row_pointers, NULL, NULL);
+
+    /* allocate/initialize the memory for image information */
+    if (NULL == (info_ptr = png_create_info_struct(png_ptr)))
+        return write_png_abort(fp, idata, row_pointers, &png_ptr, NULL);
+
+    /* set error handling */
+    if (0 != setjmp(png_jmpbuf(png_ptr)))
+        /* if we get here, we had a problem reading the file */
+        return write_png_abort(fp, idata, row_pointers, &png_ptr, &info_ptr);
+
+    /* set up the input control using standard C streams */
+    png_init_io(png_ptr, fp);
+
+    /* set image informations */
+    bit_depth = 8;
+    switch (nc)
+    {
+    case 1:
+        color_type = PNG_COLOR_TYPE_GRAY;
+        break;
+    case 2:
+        color_type = PNG_COLOR_TYPE_GRAY_ALPHA;
+        break;
+    case 3:
+        color_type = PNG_COLOR_TYPE_RGB;
+        break;
+    case 4:
+        color_type = PNG_COLOR_TYPE_RGB_ALPHA;
+        break;
+    default:
+        png_destroy_read_struct(&png_ptr, NULL, NULL);
+        free(row_pointers);
+        free(idata);
+        (void) fclose(fp);
+        return -1;
+    }
+    interlace = PNG_INTERLACE_ADAM7;
+    compression = PNG_COMPRESSION_TYPE_BASE;
+    filter = PNG_FILTER_TYPE_BASE;
+
+    /* set image header */
+    png_set_IHDR(png_ptr, info_ptr, (png_uint_32) nx, (png_uint_32) ny,
+                 bit_depth, color_type, interlace, compression, filter);
+    /* TODO : significant bit (sBIT), gamma (gAMA), comments (text) chunks */
+    png_write_info(png_ptr, info_ptr);
+
+    /*
+     * interlace and convert RRR GGG BBB to RGB RGB RGB
+     * the image is interlaced layer after layer
+     * this involves more memory exchange, but allows a generic loop
+     */
+    switch (dtype)
+    {
+    case IO_PNG_U8:
+        data_u8 = (unsigned char *) data;
+        for (k = 0; k < nc; k++)
+        {
+            /* channel loop */
+            data_u8_ptr = data_u8 + (size_t) (nx * ny * k);
+            idata_ptr = idata + (size_t) k;
+            for (j = 0; j < ny; j++)
+            {
+                /* row loop */
+                for (i = 0; i < nx; i++)
+                {
+                    /* pixel loop */
+                    *idata_ptr = (png_byte) * data_u8_ptr++;
+                    idata_ptr += nc;
+                }
+            }
+        }
+        break;
+    case IO_PNG_F32:
+        data_f32 = (float *) data;
+        for (k = 0; k < nc; k++)
+        {
+            /* channel loop */
+            data_f32_ptr = data_f32 + (size_t) (nx * ny * k);
+            idata_ptr = idata + (size_t) k;
+            for (j = 0; j < ny; j++)
+            {
+                /* row loop */
+                for (i = 0; i < nx; i++)
+                {
+                    /* pixel loop */
+                    tmp = floor(*data_f32_ptr++ + .5);
+                    *idata_ptr = (png_byte) (tmp < 0. ? 0. :
+                                             (tmp > 255. ? 255. : tmp));
+                    idata_ptr += nc;
+                }
+            }
+        }
+        break;
+    }
+
+    /* set row pointers */
+    for (j = 0; j < ny; j++)
+        row_pointers[j] = idata + (size_t) (nc * nx * j);
+
+    /* write out the entire image and end it */
+    png_write_image(png_ptr, row_pointers);
+    png_write_end(png_ptr, info_ptr);
+
+    /* clean up and free any memory allocated, close the file */
+    (void) write_png_abort(fp, idata, row_pointers, &png_ptr, &info_ptr);
+
+    return 0;
+}
+
+/**
+ * @brief write a 8bit unsigned integer array into a PNG file
+ *
+ * @param fname PNG file name
+ * @param data array to write
+ * @param nx, ny, nc number of columns, lines and channels of the image
+ * @return 0 if everything OK, -1 if an error occured
+ */
+int write_png_u8(const char *fname, const unsigned char *data,
+                 size_t nx, size_t ny, size_t nc)
+{
+    return write_png_raw(fname, (void *) data,
+                         (png_uint_32) nx, (png_uint_32) ny, (png_byte) nc,
+                         IO_PNG_U8);
+}
+
+/**
+ * @brief write a float array into a PNG file
+ *
+ * The float values are rounded to 8bit integers, and bounded to [0, 255].
+ *
+ * @todo handle 16bit images and flexible min/max
+ *
+ * @param fname PNG file name
+ * @param data array to write
+ * @param nx, ny, nc number of columns, lines and channels of the image
+ * @return 0 if everything OK, -1 if an error occured
+ */
+int write_png_f32(const char *fname, const float *data,
+                  size_t nx, size_t ny, size_t nc)
+{
+    return write_png_raw(fname, (void *) data,
+                         (png_uint_32) nx, (png_uint_32) ny, (png_byte) nc,
+                         IO_PNG_F32);
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h b/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h
new file mode 100755
index 0000000..09e382c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/io_png.h
@@ -0,0 +1,19 @@
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define IO_PNG_VERSION 0.20100727
+
+/* io_png.c */
+unsigned char *read_png_u8(const char *fname, size_t *nx, size_t *ny, size_t *nc);
+unsigned char *read_png_u8_rgb(const char *fname, size_t *nx, size_t *ny);
+unsigned char *read_png_u8_gray(const char *fname, size_t *nx, size_t *ny);
+float *read_png_f32(const char *fname, size_t *nx, size_t *ny, size_t *nc);
+float *read_png_f32_rgb(const char *fname, size_t *nx, size_t *ny);
+float *read_png_f32_gray(const char *fname, size_t *nx, size_t *ny);
+int write_png_u8(const char *fname, const unsigned char *data, size_t nx, size_t ny, size_t nc);
+int write_png_f32(const char *fname, const float *data, size_t nx, size_t ny, size_t nc);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/io_png.o b/ASIFT_tests/demo_ASIFT_src/io_png/io_png.o
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+# 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 ${CMAKE_C_INCLUDE_REGEX_SCAN})
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new file mode 100755
index 0000000..0f235c3
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+ADD_SUBDIRECTORY(zlib)
+ADD_SUBDIRECTORY(png)
\ No newline at end of file
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@@ -0,0 +1,122 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/harle/catkin_ws/src/demo_ASIFT_src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/harle/catkin_ws/src/demo_ASIFT_src
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running interactive CMake command-line interface..."
+	/usr/bin/cmake -i .
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# The main all target
+all: cmake_check_build_system
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles /home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/CMakeFiles/progress.marks
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/libs/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/harle/catkin_ws/src/demo_ASIFT_src/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/libs/clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/libs/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(MAKE) -f CMakeFiles/Makefile2 io_png/libs/preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... rebuild_cache"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/cmake_install.cmake b/ASIFT_tests/demo_ASIFT_src/io_png/libs/cmake_install.cmake
new file mode 100644
index 0000000..839fcfc
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/cmake_install.cmake
@@ -0,0 +1,41 @@
+# Install script for directory: /home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  INCLUDE("/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/zlib/cmake_install.cmake")
+  INCLUDE("/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile b/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile
new file mode 100755
index 0000000..7d1d29e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile
@@ -0,0 +1,49 @@
+# Copyright 2010 Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+#
+# Copying and distribution of this file, with or without
+# modification, are permitted in any medium without royalty provided
+# the copyright notice and this notice are preserved.  This file is
+# offered as-is, without any warranty.
+#
+# This makefile imports and compiles libraries libraries
+# for local use in static form
+
+DEST_DIR = build
+LIB_DIR	= $(DEST_DIR)/lib
+INC_DIR	= $(DEST_DIR)/include
+
+#
+# COMMON
+#
+
+default	: all
+all	: zlib libpng libtiff libjpeg
+
+$(LIB_DIR) $(INC_DIR)	:
+	mkdir -p $@
+$(LIB_DIR)/% $(INC_DIR)/%	:
+	cp $(filter %.h %.a, $^) $@
+
+
+-include makefile.zlib
+-include makefile.libpng
+-include makefile.libjpeg
+-include makefile.libtiff
+
+#
+# HOUSEKEEPING
+#
+
+.PHONY	: clean distclean scrub
+clean	:
+	$(RM) -r $(ZLIB_DIR)	
+	$(RM) -r $(LIBPNG_DIR)
+	$(RM) -r $(LIBJPEG_DIR)
+	$(RM) -r $(LIBTIFF_DIR)
+distclean	: clean
+	$(RM) -r $(DEST_DIR)
+scrub	: distclean
+	$(RM) $(ZLIB_ARC)
+	$(RM) $(LIBPNG_ARC)
+	$(RM) $(LIBJPEG_ARC)
+	$(RM) $(LIBTIFF_ARC)
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libjpeg b/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libjpeg
new file mode 100755
index 0000000..b73426c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libjpeg
@@ -0,0 +1,49 @@
+# Copyright 2010 Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+#
+# Copying and distribution of this file, with or without
+# modification, are permitted in any medium without royalty provided
+# the copyright notice and this notice are preserved.  This file is
+# offered as-is, without any warranty.
+#
+# This makefile imports and compiles libraries libraries
+# for local use in static form
+
+LIBJPEG_LIB	= $(LIB_DIR)/libjpeg.a
+LIBJPEG_INC	= $(addprefix $(INC_DIR), jconfig.h jerror.h jmorecfg.h jpeglib.h)
+LIBJPEG_FILES	= $(LIBJPEG_LIB) $(LIBJPEG_INC)
+LIBJPEG_DIR 	= jpeg-8b
+LIBJPEG_ARC 	= jpegsrc.v8b.tar.gz
+LIBJPEG_URL 	= http://www.ijg.org/files/jpegsrc.v8b.tar.gz
+
+#
+# LIBJPEG
+#
+
+.PHONY	: libjpeg
+libjpeg	: $(LIBJPEG_DIR)
+
+$(LIBJPEG_FILES)	: $(LIB_DIR) $(INC_DIR)
+$(LIB_DIR)/libjpeg.a	: $(LIBJPEG_DIR)/lib/libjpeg.a
+$(INC_DIR)/jconfig.h	: $(LIBJPEG_DIR)/include/jconfig.h
+$(INC_DIR)/jerror.h	: $(LIBJPEG_DIR)/include/jerror.h
+$(INC_DIR)/jmorecfg.h	: $(LIBJPEG_DIR)/include/jmorecfg.h
+$(INC_DIR)/jpeglib.h	: $(LIBJPEG_DIR)/include/jpeglib.h
+
+$(LIBJPEG_DIR)/lib/libjpeg.a	: $(LIBJPEG_DIR)
+	cd ./$(LIBJPEG_DIR)/; ./configure \
+		--enable-static \
+		--disable-shared \
+		--prefix=$$PWD
+	$(MAKE) -C $(LIBJPEG_DIR) libjpeg.la
+	$(MAKE) -C $(LIBJPEG_DIR) install
+$(LIBJPEG_DIR)/jconfig.h	: $(LIBJPEG_DIR)
+$(LIBJPEG_DIR)/jerror.h		: $(LIBJPEG_DIR)
+$(LIBJPEG_DIR)/jmorecfg.h	: $(LIBJPEG_DIR)
+$(LIBJPEG_DIR)/jpeglib.h	: $(LIBJPEG_DIR)
+
+$(LIBJPEG_DIR) : $(LIBJPEG_ARC)
+	tar xvzf $<
+	touch $@
+
+$(LIBJPEG_ARC) :
+	curl -L $(LIBJPEG_URL) > $@
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libpng b/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libpng
new file mode 100755
index 0000000..d6a2ada
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libpng
@@ -0,0 +1,45 @@
+# Copyright 2010 Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+#
+# Copying and distribution of this file, with or without
+# modification, are permitted in any medium without royalty provided
+# the copyright notice and this notice are preserved.  This file is
+# offered as-is, without any warranty.
+#
+# This makefile imports and compiles libraries libraries
+# for local use in static form
+
+LIBPNG_LIB	= $(LIB_DIR)/libpng.a
+LIBPNG_INC	= $(addprefix $(INC_DIR)/, png.h pngconf.h)
+LIBPNG_FILES	= $(LIBPNG_LIB) $(LIBPNG_INC)
+LIBPNG_DIR	= libpng-1.4.3
+LIBPNG_ARC	= libpng-1.4.3.tar.gz
+LIBPNG_URL	= http://sourceforge.net/projects/libpng/files/01-libpng-master/1.4.3/libpng-1.4.3.tar.gz/download
+
+#
+# LIBPNG
+#
+
+.PHONY	: libpng 
+libpng	: $(LIBPNG_FILES)
+
+$(LIBPNG_FILES)	: $(LIB_DIR) $(INC_DIR)
+$(LIB_DIR)/libpng.a	: $(LIBPNG_DIR)/lib/libpng.a
+$(INC_DIR)/png.h	: $(LIBPNG_DIR)/png.h
+$(INC_DIR)/pngconf.h	: $(LIBPNG_DIR)/pngconf.h
+
+$(LIBPNG_DIR)/lib/libpng.a	: $(LIBPNG_DIR) $(ZLIB_FILES)
+	cd ./$(LIBPNG_DIR)/; ./configure \
+		--enable-static \
+		--disable-shared \
+		--prefix=$$PWD
+	$(MAKE) -C $(LIBPNG_DIR) libpng14.la ZLIBLIB=../ ZLIBINC=../
+	$(MAKE) -C $(LIBPNG_DIR) install
+$(LIBPNG_DIR)/png.h	: $(LIBPNG_DIR)
+$(LIBPNG_DIR)/pngconf.h	: $(LIBPNG_DIR)
+
+$(LIBPNG_DIR) : $(LIBPNG_ARC)
+	tar xvzf $<
+	touch $@
+
+$(LIBPNG_ARC) :
+	curl -L $(LIBPNG_URL) > $@
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libtiff b/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libtiff
new file mode 100755
index 0000000..307b993
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.libtiff
@@ -0,0 +1,55 @@
+# Copyright 2010 Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+#
+# Copying and distribution of this file, with or without
+# modification, are permitted in any medium without royalty provided
+# the copyright notice and this notice are preserved.  This file is
+# offered as-is, without any warranty.
+#
+# This makefile imports and compiles libraries libraries
+# for local use in static form
+
+LIBTIFF_LIB	= $(LIB_DIR)/libtiff.a
+LIBTIFF_INC	= $(addprefix $(INC_DIR)/, tiffconf.h tiff.h tiffio.h tiffvers.h)
+LIBTIFF_FILES	= $(LIBTIFF_LIB) $(LIBTIFF_INC)
+LIBTIFF_DIR 	= tiff-3.9.4
+LIBTIFF_ARC 	= tiff-3.9.4.tar.gz
+LIBTIFF_URL 	= http://download.osgeo.org/libtiff/tiff-3.9.4.tar.gz
+
+#
+# LIBTIFF
+#
+
+.PHONY	: libtiff
+libtiff	: $(LIBTIFF_FILES)
+
+$(LIBTIFF_FILES)	: $(LIB_DIR) $(INC_DIR)
+$(LIB_DIR)/libtiff.a	: $(LIBTIFF_DIR)/lib/libtiff.a
+$(INC_DIR)/tiff.h	: $(LIBTIFF_DIR)/include/tiff.h
+$(INC_DIR)/tiffio.h	: $(LIBTIFF_DIR)/include/tiffio.h
+$(INC_DIR)/tiffconf.h	: $(LIBTIFF_DIR)/include/tiffconf.h
+$(INC_DIR)/tiffvers.h	: $(LIBTIFF_DIR)/include/tiffvers.h
+
+$(LIBTIFF_DIR)/lib/libtiff.a	: $(LIBTIFF_DIR) $(ZLIB_FILES) $(LIBJPEG_FILES)
+	cd ./$(LIBTIFF_DIR)/; ./configure \
+		--with-zlib-include-dir=../ \
+		--with-zlib-lib-dir=../ \
+		--with-jpeg-include-dir=../ \
+		--with-jpeg-lib-dir=../ \
+		--disable-cxx \
+		--enable-static \
+		--disable-shared \
+		--disable-rpath --prefix=$$PWD
+	$(MAKE) -C $(LIBTIFF_DIR)/port libport.la
+	$(MAKE) -C $(LIBTIFF_DIR)/libtiff libtiff.la
+	$(MAKE) -C $(LIBTIFF_DIR)/libtiff install
+$(LIBTIFF_DIR)/include/tiff.h	: $(LIBTIFF_DIR)
+$(LIBTIFF_DIR)/include/tiffio.h	: $(LIBTIFF_DIR)
+$(LIBTIFF_DIR)/include/tiffconf.h	: $(LIBTIFF_DIR)
+$(LIBTIFF_DIR)/include/tiffvers.h	: $(LIBTIFF_DIR)
+
+$(LIBTIFF_DIR) : $(LIBTIFF_ARC)
+	tar xvzf $<
+	touch $@
+
+$(LIBTIFF_ARC) :
+	curl -L $(LIBTIFF_URL) > $@
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.zlib b/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.zlib
new file mode 100755
index 0000000..34c2d4e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/makefile.zlib
@@ -0,0 +1,41 @@
+# Copyright 2010 Nicolas Limare <nicolas.limare@cmla.ens-cachan.fr>
+#
+# Copying and distribution of this file, with or without
+# modification, are permitted in any medium without royalty provided
+# the copyright notice and this notice are preserved.  This file is
+# offered as-is, without any warranty.
+#
+# This makefile imports and compiles libraries libraries
+# for local use in static form
+
+ZLIB_LIB	= $(LIB_DIR)/libz.a
+ZLIB_INC	= $(addprefix $(INC_DIR)/, zlib.h zconf.h)
+ZLIB_FILES	= $(ZLIB_LIB) $(ZLIB_INC)
+ZLIB_DIR	= zlib-1.2.5
+ZLIB_ARC	= zlib-1.2.5.tar.gz
+ZLIB_URL	= http://sourceforge.net/projects/libpng/files/zlib/1.2.5/zlib-1.2.5.tar.gz/download
+
+#
+# ZLIB
+#
+
+.PHONY	: zlib
+zlib	: $(ZLIB_FILES)
+
+$(ZLIB_FILES)	: $(LIB_DIR) $(INC_DIR)
+$(LIB_DIR)/libz.a	: $(ZLIB_DIR)/libz.a
+$(INC_DIR)/zlib.h	: $(ZLIB_DIR)/zlib.h
+$(INC_DIR)/zconf.h	: $(ZLIB_DIR)/zconf.h
+
+$(ZLIB_DIR)/libz.a	: $(ZLIB_DIR)
+	cd ./$(ZLIB_DIR)/; ./configure --static
+	$(MAKE) -C $(ZLIB_DIR) libz.a
+$(ZLIB_DIR)/zlib.h	: $(ZLIB_DIR)
+$(ZLIB_DIR)/zconf.h	: $(ZLIB_DIR)
+
+$(ZLIB_DIR) : $(ZLIB_ARC)
+	tar xvzf $<
+	touch $@
+
+$(ZLIB_ARC) :
+	curl -L $(ZLIB_URL) > $@
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/CMakeFiles/CMakeDirectoryInformation.cmake b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644
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--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -0,0 +1,16 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Relative path conversion top directories.
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/harle/catkin_ws/src/demo_ASIFT_src")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/harle/catkin_ws/src/demo_ASIFT_src")
+
+# Force unix paths in dependencies.
+SET(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
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diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/CMakeFiles/png.dir/C.includecache b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/CMakeFiles/png.dir/C.includecache
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+#IncludeRegexScan: ^.*$
+
+#IncludeRegexComplain: ^$
+
+#IncludeRegexTransform: 
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+../zlib/zlib.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/zlib/zlib.h
+pngconf.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngconf.h
+crtdbg.h
+-
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngconf.h
+pngusr.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngusr.h
+config.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/config.h
+windows.h
+-
+stdio.h
+-
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+-
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+-
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+-
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+-
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+-
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+-
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+-
+time.h
+-
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+-
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngerror.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pnggccrd.c
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngget.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngmem.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngpread.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngread.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngrio.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngrtran.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngrutil.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngset.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngtrans.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngvcrd.c
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngwio.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngwrite.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngwtran.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngwutil.c
+png.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.h
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/zlib/zconf.h
+windows.h
+-
+sys/types.h
+-
+unistd.h
+-
+unixio.h
+-
+
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/zlib/zlib.h
+zconf.h
+/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/zlib/zconf.h
+
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+  "/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/png.c" "/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/CMakeFiles/png.dir/png.c.o"
+  "/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/pngerror.c" "/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png/CMakeFiles/png.dir/pngerror.c.o"
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+  )
+SET(CMAKE_C_COMPILER_ID "GNU")
+
+# Targets to which this target links.
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+  "/home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/zlib/CMakeFiles/zlib.dir/DependInfo.cmake"
+  )
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+  "io_png/libs/png/../zlib"
+  )
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+SET(CMAKE_Fortran_TARGET_INCLUDE_PATH ${CMAKE_C_TARGET_INCLUDE_PATH})
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+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
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index 0000000..13f9266
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+PROJECT(png)
+
+SET(PNG_SRCS
+  pngget.c    pngrio.c    pngwrite.c  png.c       pngmem.c   pngrtran.c  pngtrans.c
+  pngwtran.c  pngerror.c  pngpread.c  pngrutil.c  pngvcrd.c  pngwutil.c  pnggccrd.c
+  pngread.c   pngset.c    pngwio.c    pngconf.h   png.h
+)
+
+IF (WIN32)
+  ADD_DEFINITIONS(-DPNG_STATIC)
+  # TODO(keir): I don't know why, but CMake *refuses* to add this to the
+  # command line flags. After much frustration, I am giving up and leaving the
+  # compile errors. Please, someone who knows CMake, try to fix this.
+  SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4996")
+ENDIF (WIN32)
+
+INCLUDE_DIRECTORIES(../zlib)
+ADD_LIBRARY(png ${PNG_SRCS} )
+TARGET_LINK_LIBRARIES(png zlib)
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/LICENSE b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/LICENSE
new file mode 100755
index 0000000..94b0818
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+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/LICENSE
@@ -0,0 +1,109 @@
+
+This copy of the libpng notices is provided for your convenience.  In case of
+any discrepancy between this copy and the notices in the file png.h that is
+included in the libpng distribution, the latter shall prevail.
+
+COPYRIGHT NOTICE, DISCLAIMER, and LICENSE:
+
+If you modify libpng you may insert additional notices immediately following
+this sentence.
+
+libpng versions 1.2.6, August 15, 2004, through 1.2.37, June 4, 2009, are
+Copyright (c) 2004, 2006-2009 Glenn Randers-Pehrson, and are
+distributed according to the same disclaimer and license as libpng-1.2.5
+with the following individual added to the list of Contributing Authors
+
+   Cosmin Truta
+
+libpng versions 1.0.7, July 1, 2000, through 1.2.5 - October 3, 2002, are
+Copyright (c) 2000-2002 Glenn Randers-Pehrson, and are
+distributed according to the same disclaimer and license as libpng-1.0.6
+with the following individuals added to the list of Contributing Authors
+
+   Simon-Pierre Cadieux
+   Eric S. Raymond
+   Gilles Vollant
+
+and with the following additions to the disclaimer:
+
+   There is no warranty against interference with your enjoyment of the
+   library or against infringement.  There is no warranty that our
+   efforts or the library will fulfill any of your particular purposes
+   or needs.  This library is provided with all faults, and the entire
+   risk of satisfactory quality, performance, accuracy, and effort is with
+   the user.
+
+libpng versions 0.97, January 1998, through 1.0.6, March 20, 2000, are
+Copyright (c) 1998, 1999 Glenn Randers-Pehrson, and are
+distributed according to the same disclaimer and license as libpng-0.96,
+with the following individuals added to the list of Contributing Authors:
+
+   Tom Lane
+   Glenn Randers-Pehrson
+   Willem van Schaik
+
+libpng versions 0.89, June 1996, through 0.96, May 1997, are
+Copyright (c) 1996, 1997 Andreas Dilger
+Distributed according to the same disclaimer and license as libpng-0.88,
+with the following individuals added to the list of Contributing Authors:
+
+   John Bowler
+   Kevin Bracey
+   Sam Bushell
+   Magnus Holmgren
+   Greg Roelofs
+   Tom Tanner
+
+libpng versions 0.5, May 1995, through 0.88, January 1996, are
+Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.
+
+For the purposes of this copyright and license, "Contributing Authors"
+is defined as the following set of individuals:
+
+   Andreas Dilger
+   Dave Martindale
+   Guy Eric Schalnat
+   Paul Schmidt
+   Tim Wegner
+
+The PNG Reference Library is supplied "AS IS".  The Contributing Authors
+and Group 42, Inc. disclaim all warranties, expressed or implied,
+including, without limitation, the warranties of merchantability and of
+fitness for any purpose.  The Contributing Authors and Group 42, Inc.
+assume no liability for direct, indirect, incidental, special, exemplary,
+or consequential damages, which may result from the use of the PNG
+Reference Library, even if advised of the possibility of such damage.
+
+Permission is hereby granted to use, copy, modify, and distribute this
+source code, or portions hereof, for any purpose, without fee, subject
+to the following restrictions:
+
+1. The origin of this source code must not be misrepresented.
+
+2. Altered versions must be plainly marked as such and must not
+   be misrepresented as being the original source.
+
+3. This Copyright notice may not be removed or altered from any
+   source or altered source distribution.
+
+The Contributing Authors and Group 42, Inc. specifically permit, without
+fee, and encourage the use of this source code as a component to
+supporting the PNG file format in commercial products.  If you use this
+source code in a product, acknowledgment is not required but would be
+appreciated.
+
+
+A "png_get_copyright" function is available, for convenient use in "about"
+boxes and the like:
+
+   printf("%s",png_get_copyright(NULL));
+
+Also, the PNG logo (in PNG format, of course) is supplied in the
+files "pngbar.png" and "pngbar.jpg (88x31) and "pngnow.png" (98x31).
+
+Libpng is OSI Certified Open Source Software.  OSI Certified Open Source is a
+certification mark of the Open Source Initiative.
+
+Glenn Randers-Pehrson
+glennrp at users.sourceforge.net
+June 4, 2009
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/Makefile b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/Makefile
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@@ -0,0 +1,596 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Default target executed when no arguments are given to make.
+default_target: all
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/harle/catkin_ws/src/demo_ASIFT_src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/harle/catkin_ws/src/demo_ASIFT_src
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
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+.PHONY : edit_cache/fast
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+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
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+all: cmake_check_build_system
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+
+# The main clean target
+clean:
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+	@echo "... pngvcrd.o"
+	@echo "... pngvcrd.i"
+	@echo "... pngvcrd.s"
+	@echo "... pngwio.o"
+	@echo "... pngwio.i"
+	@echo "... pngwio.s"
+	@echo "... pngwrite.o"
+	@echo "... pngwrite.i"
+	@echo "... pngwrite.s"
+	@echo "... pngwtran.o"
+	@echo "... pngwtran.i"
+	@echo "... pngwtran.s"
+	@echo "... pngwutil.o"
+	@echo "... pngwutil.i"
+	@echo "... pngwutil.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/README b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/README
new file mode 100755
index 0000000..06fb4c3
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/README
@@ -0,0 +1,267 @@
+README for libpng version 1.2.37 - June 4, 2009 (shared library 12.0)
+See the note about version numbers near the top of png.h
+
+See INSTALL for instructions on how to install libpng.
+
+Libpng comes in several distribution formats.  Get libpng-*.tar.gz,
+libpng-*.tar.lzma, or libpng-*.tar.bz2 if you want UNIX-style line
+endings in the text files, or lpng*.7z or lpng*.zip if you want DOS-style
+line endings.  You can get UNIX-style line endings from the *.zip file
+by using "unzip -a" but there seems to be no simple way to recover
+UNIX-style line endings from the *.7z file.  The *.tar.lzma file is
+recommended for *NIX users instead.
+
+Version 0.89 was the first official release of libpng.  Don't let the
+fact that it's the first release fool you.  The libpng library has been in
+extensive use and testing since mid-1995.  By late 1997 it had
+finally gotten to the stage where there hadn't been significant
+changes to the API in some time, and people have a bad feeling about
+libraries with versions < 1.0.  Version 1.0.0 was released in
+March 1998.
+
+****
+Note that some of the changes to the png_info structure render this
+version of the library binary incompatible with libpng-0.89 or
+earlier versions if you are using a shared library.  The type of the
+"filler" parameter for png_set_filler() has changed from png_byte to
+png_uint_32, which will affect shared-library applications that use
+this function.
+
+To avoid problems with changes to the internals of png_info_struct,
+new APIs have been made available in 0.95 to avoid direct application
+access to info_ptr.  These functions are the png_set_<chunk> and
+png_get_<chunk> functions.  These functions should be used when
+accessing/storing the info_struct data, rather than manipulating it
+directly, to avoid such problems in the future.
+
+It is important to note that the APIs do not make current programs
+that access the info struct directly incompatible with the new
+library.  However, it is strongly suggested that new programs use
+the new APIs (as shown in example.c and pngtest.c), and older programs
+be converted to the new format, to facilitate upgrades in the future.
+****
+
+Additions since 0.90 include the ability to compile libpng as a
+Windows DLL, and new APIs for accessing data in the info struct.
+Experimental functions include the ability to set weighting and cost
+factors for row filter selection, direct reads of integers from buffers
+on big-endian processors that support misaligned data access, faster
+methods of doing alpha composition, and more accurate 16->8 bit color
+conversion.
+
+The additions since 0.89 include the ability to read from a PNG stream
+which has had some (or all) of the signature bytes read by the calling
+application.  This also allows the reading of embedded PNG streams that
+do not have the PNG file signature.  As well, it is now possible to set
+the library action on the detection of chunk CRC errors.  It is possible
+to set different actions based on whether the CRC error occurred in a
+critical or an ancillary chunk.
+
+The changes made to the library, and bugs fixed are based on discussions
+on the png-mng-implement mailing list
+and not on material submitted privately to Guy, Andreas, or Glenn.  They will
+forward any good suggestions to the list.
+
+For a detailed description on using libpng, read libpng.txt.  For
+examples of libpng in a program, see example.c and pngtest.c.  For usage
+information and restrictions (what little they are) on libpng, see
+png.h.  For a description on using zlib (the compression library used by
+libpng) and zlib's restrictions, see zlib.h
+
+I have included a general makefile, as well as several machine and
+compiler specific ones, but you may have to modify one for your own needs.
+
+You should use zlib 1.0.4 or later to run this, but it MAY work with
+versions as old as zlib 0.95.  Even so, there are bugs in older zlib
+versions which can cause the output of invalid compression streams for
+some images.  You will definitely need zlib 1.0.4 or later if you are
+taking advantage of the MS-DOS "far" structure allocation for the small
+and medium memory models.  You should also note that zlib is a
+compression library that is useful for more things than just PNG files.
+You can use zlib as a drop-in replacement for fread() and fwrite() if
+you are so inclined.
+
+zlib should be available at the same place that libpng is, or at
+ftp://ftp.simplesystems.org/pub/png/src/
+
+You may also want a copy of the PNG specification.  It is available
+as an RFC, a W3C Recommendation, and an ISO/IEC Standard.  You can find
+these at http://www.libpng.org/pub/png/pngdocs.html
+
+This code is currently being archived at libpng.sf.net in the
+[DOWNLOAD] area, and on CompuServe, Lib 20 (PNG SUPPORT)
+at GO GRAPHSUP.  If you can't find it in any of those places,
+e-mail me, and I'll help you find it.
+
+If you have any code changes, requests, problems, etc., please e-mail
+them to me.  Also, I'd appreciate any make files or project files,
+and any modifications you needed to make to get libpng to compile,
+along with a #define variable to tell what compiler/system you are on.
+If you needed to add transformations to libpng, or wish libpng would
+provide the image in a different way, drop me a note (and code, if
+possible), so I can consider supporting the transformation.
+Finally, if you get any warning messages when compiling libpng
+(note: not zlib), and they are easy to fix, I'd appreciate the
+fix.  Please mention "libpng" somewhere in the subject line.  Thanks.
+
+This release was created and will be supported by myself (of course
+based in a large way on Guy's and Andreas' earlier work), and the PNG group.
+
+Send comments/corrections/commendations to png-mng-implement at lists.sf.net
+(subscription required; visit 
+https://lists.sourceforge.net/lists/listinfo/png-mng-implement
+to subscribe) or to glennrp at users.sourceforge.net
+
+You can't reach Guy, the original libpng author, at the addresses
+given in previous versions of this document.  He and Andreas will read mail
+addressed to the png-mng-implement list, however.
+
+Please do not send general questions about PNG.  Send them to
+the (png-mng-misc at lists.sourceforge.net, subscription required, visit
+https://lists.sourceforge.net/lists/listinfo/png-mng-implement to subscribe)
+On the other hand,
+please do not send libpng questions to that address, send them to me
+or to the png-mng-implement list.  I'll
+get them in the end anyway.  If you have a question about something
+in the PNG specification that is related to using libpng, send it
+to me.  Send me any questions that start with "I was using libpng,
+and ...".  If in doubt, send questions to me.  I'll bounce them
+to others, if necessary.
+
+Please do not send suggestions on how to change PNG.  We have
+been discussing PNG for twelve years now, and it is official and
+finished.  If you have suggestions for libpng, however, I'll
+gladly listen.  Even if your suggestion is not used immediately,
+it may be used later.
+
+Files in this distribution:
+
+      ANNOUNCE      =>  Announcement of this version, with recent changes
+      CHANGES       =>  Description of changes between libpng versions
+      KNOWNBUG      =>  List of known bugs and deficiencies
+      LICENSE       =>  License to use and redistribute libpng
+      README        =>  This file
+      TODO          =>  Things not implemented in the current library
+      Y2KINFO       =>  Statement of Y2K compliance
+      example.c     =>  Example code for using libpng functions
+      libpng-*-*-diff.txt => Diff from previous release
+      libpng.3      =>  manual page for libpng (includes libpng.txt)
+      libpng.txt    =>  Description of libpng and its functions
+      libpngpf.3    =>  manual page for libpng's private functions
+      png.5         =>  manual page for the PNG format
+      png.c         =>  Basic interface functions common to library
+      png.h         =>  Library function and interface declarations
+      pngconf.h     =>  System specific library configuration
+      pngerror.c    =>  Error/warning message I/O functions
+      pngget.c      =>  Functions for retrieving info from struct
+      pngmem.c      =>  Memory handling functions
+      pngbar.png    =>  PNG logo, 88x31
+      pngnow.png    =>  PNG logo, 98x31
+      pngpread.c    =>  Progressive reading functions
+      pngread.c     =>  Read data/helper high-level functions
+      pngrio.c      =>  Lowest-level data read I/O functions
+      pngrtran.c    =>  Read data transformation functions
+      pngrutil.c    =>  Read data utility functions
+      pngset.c      =>  Functions for storing data into the info_struct
+      pngtest.c     =>  Library test program
+      pngtest.png   =>  Library test sample image
+      pngtrans.c    =>  Common data transformation functions
+      pngwio.c      =>  Lowest-level write I/O functions
+      pngwrite.c    =>  High-level write functions
+      pngwtran.c    =>  Write data transformations
+      pngwutil.c    =>  Write utility functions
+      contrib       =>  Contributions
+       gregbook         =>  source code for PNG reading and writing, from
+                            Greg Roelofs' "PNG: The Definitive Guide",
+                            O'Reilly, 1999
+       msvctest     =>  Builds and runs pngtest using a MSVC workspace
+       pngminus     =>  Simple pnm2png and png2pnm programs
+       pngsuite     =>  Test images
+       visupng      =>  Contains a MSVC workspace for VisualPng
+      projects      =>  Contains project files and workspaces for building DLL
+       beos             =>  Contains a Beos workspace for building libpng
+       c5builder        =>  Contains a Borland workspace for building libpng
+                            and zlib
+       visualc6         =>  Contains a Microsoft Visual C++ (MSVC) workspace
+                            for building libpng and zlib
+       netware.txt      =>  Contains instructions for downloading a set of
+                            project files for building libpng and zlib on
+                            Netware.
+       wince.txt        =>  Contains instructions for downloading a Microsoft
+                            Visual C++ (Windows CD Toolkit) workspace for
+                            building libpng and zlib on WindowsCE
+      scripts       =>  Directory containing scripts for building libpng:
+       descrip.mms      =>  VMS makefile for MMS or MMK
+       makefile.std     =>  Generic UNIX makefile (cc, creates static libpng.a)
+       makefile.elf     =>  Linux/ELF makefile symbol versioning,
+                            gcc, creates libpng12.so.0.1.2.37)
+       makefile.linux   =>  Linux/ELF makefile
+                            (gcc, creates libpng12.so.0.1.2.37)
+       makefile.gcmmx   =>  Linux/ELF makefile
+                            (gcc, creates libpng12.so.0.1.2.37,
+                            uses assembler code tuned for Intel MMX platform)
+       makefile.gcc     =>  Generic makefile (gcc, creates static libpng.a)
+       makefile.knr     =>  Archaic UNIX Makefile that converts files with
+                            ansi2knr (Requires ansi2knr.c from
+                            ftp://ftp.cs.wisc.edu/ghost)
+       makefile.aix     =>  AIX makefile
+       makefile.cygwin  =>  Cygwin/gcc makefile
+       makefile.darwin  =>  Darwin makefile
+       makefile.dec     =>  DEC Alpha UNIX makefile
+       makefile.freebsd =>  FreeBSD makefile
+       makefile.hpgcc   =>  HPUX makefile using gcc
+       makefile.hpux    =>  HPUX (10.20 and 11.00) makefile
+       makefile.hp64    =>  HPUX (10.20 and 11.00) makefile, 64 bit
+       makefile.ibmc    =>  IBM C/C++ version 3.x for Win32 and OS/2 (static)
+       makefile.intel   =>  Intel C/C++ version 4.0 and later
+       libpng.icc       =>  Project file, IBM VisualAge/C++ 4.0 or later
+       makefile.netbsd  =>  NetBSD/cc makefile, PNGGCCRD, makes libpng.so.
+       makefile.ne12bsd  =>  NetBSD/cc makefile, PNGGCCRD, makes libpng12.so
+       makefile.openbsd =>  OpenBSD makefile
+       makefile.sgi     =>  Silicon Graphics IRIX (cc, creates static lib)
+       makefile.sggcc   =>  Silicon Graphics
+                            (gcc, creates libpng12.so.0.1.2.37)
+       makefile.sunos   =>  Sun makefile
+       makefile.solaris =>  Solaris 2.X makefile
+                            (gcc, creates libpng12.so.0.1.2.37)
+       makefile.so9     =>  Solaris 9 makefile
+                            (gcc, creates libpng12.so.0.1.2.37)
+       makefile.32sunu  =>  Sun Ultra 32-bit makefile
+       makefile.64sunu  =>  Sun Ultra 64-bit makefile
+       makefile.sco     =>  For SCO OSr5  ELF and Unixware 7 with Native cc
+       makefile.mips    =>  MIPS makefile
+       makefile.acorn   =>  Acorn makefile
+       makefile.amiga   =>  Amiga makefile
+       smakefile.ppc    =>  AMIGA smakefile for SAS C V6.58/7.00 PPC
+                            compiler (Requires SCOPTIONS, copied from
+                            scripts/SCOPTIONS.ppc)
+       makefile.atari   =>  Atari makefile
+       makefile.beos    =>  BEOS makefile for X86
+       makefile.bor     =>  Borland makefile (uses bcc)
+       makefile.bc32    =>  32-bit Borland C++ (all modules compiled in C mode)
+       makefile.tc3     =>  Turbo C 3.0 makefile
+       makefile.dj2     =>  DJGPP 2 makefile
+       makefile.msc     =>  Microsoft C makefile
+       makefile.vcawin32=>  makefile for Microsoft Visual C++ 5.0 and
+                            later (uses assembler code tuned for Intel MMX
+                            platform)
+       makefile.vcwin32 =>  makefile for Microsoft Visual C++ 4.0 and
+                            later (does not use assembler code)
+       makefile.os2     =>  OS/2 Makefile (gcc and emx, requires pngos2.def)
+       pngos2.def       =>  OS/2 module definition file used by makefile.os2
+       makefile.watcom  =>  Watcom 10a+ Makefile, 32-bit flat memory model
+       makevms.com      =>  VMS build script
+       SCOPTIONS.ppc    =>  Used with smakefile.ppc
+
+Good luck, and happy coding.
+
+-Glenn Randers-Pehrson (current maintainer)
+ Internet: glennrp at users.sourceforge.net
+
+-Andreas Eric Dilger (former maintainer, 1996-1997)
+ Internet: adilger at enel.ucalgary.ca
+ Web: http://members.shaw.ca/adilger/
+
+-Guy Eric Schalnat (original author and former maintainer, 1995-1996)
+ (formerly of Group 42, Inc)
+ Internet: gschal at infinet.com
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/cmake_install.cmake b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/cmake_install.cmake
new file mode 100644
index 0000000..837ff28
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/png
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/example.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/example.c
new file mode 100755
index 0000000..6ee5a0f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/example.c
@@ -0,0 +1,835 @@
+
+#if 0 /* in case someone actually tries to compile this */
+
+/* example.c - an example of using libpng
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * This file has been placed in the public domain by the authors.
+ * Maintained 1998-2009 Glenn Randers-Pehrson
+ * Maintained 1996, 1997 Andreas Dilger)
+ * Written 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+/* This is an example of how to use libpng to read and write PNG files.
+ * The file libpng.txt is much more verbose then this.  If you have not
+ * read it, do so first.  This was designed to be a starting point of an
+ * implementation.  This is not officially part of libpng, is hereby placed
+ * in the public domain, and therefore does not require a copyright notice.
+ *
+ * This file does not currently compile, because it is missing certain
+ * parts, like allocating memory to hold an image.  You will have to
+ * supply these parts to get it to compile.  For an example of a minimal
+ * working PNG reader/writer, see pngtest.c, included in this distribution;
+ * see also the programs in the contrib directory.
+ */
+
+#include "png.h"
+
+ /* The png_jmpbuf() macro, used in error handling, became available in
+  * libpng version 1.0.6.  If you want to be able to run your code with older
+  * versions of libpng, you must define the macro yourself (but only if it
+  * is not already defined by libpng!).
+  */
+
+#ifndef png_jmpbuf
+#  define png_jmpbuf(png_ptr) ((png_ptr)->jmpbuf)
+#endif
+
+/* Check to see if a file is a PNG file using png_sig_cmp().  png_sig_cmp()
+ * returns zero if the image is a PNG and nonzero if it isn't a PNG.
+ *
+ * The function check_if_png() shown here, but not used, returns nonzero (true)
+ * if the file can be opened and is a PNG, 0 (false) otherwise.
+ *
+ * If this call is successful, and you are going to keep the file open,
+ * you should call png_set_sig_bytes(png_ptr, PNG_BYTES_TO_CHECK); once
+ * you have created the png_ptr, so that libpng knows your application
+ * has read that many bytes from the start of the file.  Make sure you
+ * don't call png_set_sig_bytes() with more than 8 bytes read or give it
+ * an incorrect number of bytes read, or you will either have read too
+ * many bytes (your fault), or you are telling libpng to read the wrong
+ * number of magic bytes (also your fault).
+ *
+ * Many applications already read the first 2 or 4 bytes from the start
+ * of the image to determine the file type, so it would be easiest just
+ * to pass the bytes to png_sig_cmp() or even skip that if you know
+ * you have a PNG file, and call png_set_sig_bytes().
+ */
+#define PNG_BYTES_TO_CHECK 4
+int check_if_png(char *file_name, FILE **fp)
+{
+   char buf[PNG_BYTES_TO_CHECK];
+
+   /* Open the prospective PNG file. */
+   if ((*fp = fopen(file_name, "rb")) == NULL)
+      return 0;
+
+   /* Read in some of the signature bytes */
+   if (fread(buf, 1, PNG_BYTES_TO_CHECK, *fp) != PNG_BYTES_TO_CHECK)
+      return 0;
+
+   /* Compare the first PNG_BYTES_TO_CHECK bytes of the signature.
+      Return nonzero (true) if they match */
+
+   return(!png_sig_cmp(buf, (png_size_t)0, PNG_BYTES_TO_CHECK));
+}
+
+/* Read a PNG file.  You may want to return an error code if the read
+ * fails (depending upon the failure).  There are two "prototypes" given
+ * here - one where we are given the filename, and we need to open the
+ * file, and the other where we are given an open file (possibly with
+ * some or all of the magic bytes read - see comments above).
+ */
+#ifdef open_file /* prototype 1 */
+void read_png(char *file_name)  /* We need to open the file */
+{
+   png_structp png_ptr;
+   png_infop info_ptr;
+   unsigned int sig_read = 0;
+   png_uint_32 width, height;
+   int bit_depth, color_type, interlace_type;
+   FILE *fp;
+
+   if ((fp = fopen(file_name, "rb")) == NULL)
+      return (ERROR);
+
+#else no_open_file /* prototype 2 */
+void read_png(FILE *fp, unsigned int sig_read)  /* File is already open */
+{
+   png_structp png_ptr;
+   png_infop info_ptr;
+   png_uint_32 width, height;
+   int bit_depth, color_type, interlace_type;
+#endif no_open_file /* Only use one prototype! */
+
+   /* Create and initialize the png_struct with the desired error handler
+    * functions.  If you want to use the default stderr and longjump method,
+    * you can supply NULL for the last three parameters.  We also supply the
+    * the compiler header file version, so that we know if the application
+    * was compiled with a compatible version of the library.  REQUIRED
+    */
+   png_ptr = png_create_read_struct(PNG_LIBPNG_VER_STRING,
+      png_voidp user_error_ptr, user_error_fn, user_warning_fn);
+
+   if (png_ptr == NULL)
+   {
+      fclose(fp);
+      return (ERROR);
+   }
+
+   /* Allocate/initialize the memory for image information.  REQUIRED. */
+   info_ptr = png_create_info_struct(png_ptr);
+   if (info_ptr == NULL)
+   {
+      fclose(fp);
+      png_destroy_read_struct(&png_ptr, png_infopp_NULL, png_infopp_NULL);
+      return (ERROR);
+   }
+
+   /* Set error handling if you are using the setjmp/longjmp method (this is
+    * the normal method of doing things with libpng).  REQUIRED unless you
+    * set up your own error handlers in the png_create_read_struct() earlier.
+    */
+
+   if (setjmp(png_jmpbuf(png_ptr)))
+   {
+      /* Free all of the memory associated with the png_ptr and info_ptr */
+      png_destroy_read_struct(&png_ptr, &info_ptr, png_infopp_NULL);
+      fclose(fp);
+      /* If we get here, we had a problem reading the file */
+      return (ERROR);
+   }
+
+   /* One of the following I/O initialization methods is REQUIRED */
+#ifdef streams /* PNG file I/O method 1 */
+   /* Set up the input control if you are using standard C streams */
+   png_init_io(png_ptr, fp);
+
+#else no_streams /* PNG file I/O method 2 */
+   /* If you are using replacement read functions, instead of calling
+    * png_init_io() here you would call:
+    */
+   png_set_read_fn(png_ptr, (void *)user_io_ptr, user_read_fn);
+   /* where user_io_ptr is a structure you want available to the callbacks */
+#endif no_streams /* Use only one I/O method! */
+
+   /* If we have already read some of the signature */
+   png_set_sig_bytes(png_ptr, sig_read);
+
+#ifdef hilevel
+   /*
+    * If you have enough memory to read in the entire image at once,
+    * and you need to specify only transforms that can be controlled
+    * with one of the PNG_TRANSFORM_* bits (this presently excludes
+    * dithering, filling, setting background, and doing gamma
+    * adjustment), then you can read the entire image (including
+    * pixels) into the info structure with this call:
+    */
+   png_read_png(png_ptr, info_ptr, png_transforms, png_voidp_NULL);
+
+#else
+   /* OK, you're doing it the hard way, with the lower-level functions */
+
+   /* The call to png_read_info() gives us all of the information from the
+    * PNG file before the first IDAT (image data chunk).  REQUIRED
+    */
+   png_read_info(png_ptr, info_ptr);
+
+   png_get_IHDR(png_ptr, info_ptr, &width, &height, &bit_depth, &color_type,
+       &interlace_type, int_p_NULL, int_p_NULL);
+
+   /* Set up the data transformations you want.  Note that these are all
+    * optional.  Only call them if you want/need them.  Many of the
+    * transformations only work on specific types of images, and many
+    * are mutually exclusive.
+    */
+
+   /* Tell libpng to strip 16 bit/color files down to 8 bits/color */
+   png_set_strip_16(png_ptr);
+
+   /* Strip alpha bytes from the input data without combining with the
+    * background (not recommended).
+    */
+   png_set_strip_alpha(png_ptr);
+
+   /* Extract multiple pixels with bit depths of 1, 2, and 4 from a single
+    * byte into separate bytes (useful for paletted and grayscale images).
+    */
+   png_set_packing(png_ptr);
+
+   /* Change the order of packed pixels to least significant bit first
+    * (not useful if you are using png_set_packing). */
+   png_set_packswap(png_ptr);
+
+   /* Expand paletted colors into true RGB triplets */
+   if (color_type == PNG_COLOR_TYPE_PALETTE)
+      png_set_palette_to_rgb(png_ptr);
+
+   /* Expand grayscale images to the full 8 bits from 1, 2, or 4 bits/pixel */
+   if (color_type == PNG_COLOR_TYPE_GRAY && bit_depth < 8)
+      png_set_expand_gray_1_2_4_to_8(png_ptr);
+
+   /* Expand paletted or RGB images with transparency to full alpha channels
+    * so the data will be available as RGBA quartets.
+    */
+   if (png_get_valid(png_ptr, info_ptr, PNG_INFO_tRNS))
+      png_set_tRNS_to_alpha(png_ptr);
+
+   /* Set the background color to draw transparent and alpha images over.
+    * It is possible to set the red, green, and blue components directly
+    * for paletted images instead of supplying a palette index.  Note that
+    * even if the PNG file supplies a background, you are not required to
+    * use it - you should use the (solid) application background if it has one.
+    */
+
+   png_color_16 my_background, *image_background;
+
+   if (png_get_bKGD(png_ptr, info_ptr, &image_background))
+      png_set_background(png_ptr, image_background,
+                         PNG_BACKGROUND_GAMMA_FILE, 1, 1.0);
+   else
+      png_set_background(png_ptr, &my_background,
+                         PNG_BACKGROUND_GAMMA_SCREEN, 0, 1.0);
+
+   /* Some suggestions as to how to get a screen gamma value
+    *
+    * Note that screen gamma is the display_exponent, which includes
+    * the CRT_exponent and any correction for viewing conditions
+    */
+   if (/* We have a user-defined screen gamma value */)
+   {
+      screen_gamma = user-defined screen_gamma;
+   }
+   /* This is one way that applications share the same screen gamma value */
+   else if ((gamma_str = getenv("SCREEN_GAMMA")) != NULL)
+   {
+      screen_gamma = atof(gamma_str);
+   }
+   /* If we don't have another value */
+   else
+   {
+      screen_gamma = 2.2;  /* A good guess for a PC monitor in a dimly
+                              lit room */
+      screen_gamma = 1.7 or 1.0;  /* A good guess for Mac systems */
+   }
+
+   /* Tell libpng to handle the gamma conversion for you.  The final call
+    * is a good guess for PC generated images, but it should be configurable
+    * by the user at run time by the user.  It is strongly suggested that
+    * your application support gamma correction.
+    */
+
+   int intent;
+
+   if (png_get_sRGB(png_ptr, info_ptr, &intent))
+      png_set_gamma(png_ptr, screen_gamma, 0.45455);
+   else
+   {
+      double image_gamma;
+      if (png_get_gAMA(png_ptr, info_ptr, &image_gamma))
+         png_set_gamma(png_ptr, screen_gamma, image_gamma);
+      else
+         png_set_gamma(png_ptr, screen_gamma, 0.45455);
+   }
+
+   /* Dither RGB files down to 8 bit palette or reduce palettes
+    * to the number of colors available on your screen.
+    */
+   if (color_type & PNG_COLOR_MASK_COLOR)
+   {
+      int num_palette;
+      png_colorp palette;
+
+      /* This reduces the image to the application supplied palette */
+      if (/* We have our own palette */)
+      {
+         /* An array of colors to which the image should be dithered */
+         png_color std_color_cube[MAX_SCREEN_COLORS];
+
+         png_set_dither(png_ptr, std_color_cube, MAX_SCREEN_COLORS,
+            MAX_SCREEN_COLORS, png_uint_16p_NULL, 0);
+      }
+      /* This reduces the image to the palette supplied in the file */
+      else if (png_get_PLTE(png_ptr, info_ptr, &palette, &num_palette))
+      {
+         png_uint_16p histogram = NULL;
+
+         png_get_hIST(png_ptr, info_ptr, &histogram);
+
+         png_set_dither(png_ptr, palette, num_palette,
+                        max_screen_colors, histogram, 0);
+      }
+   }
+
+   /* Invert monochrome files to have 0 as white and 1 as black */
+   png_set_invert_mono(png_ptr);
+
+   /* If you want to shift the pixel values from the range [0,255] or
+    * [0,65535] to the original [0,7] or [0,31], or whatever range the
+    * colors were originally in:
+    */
+   if (png_get_valid(png_ptr, info_ptr, PNG_INFO_sBIT))
+   {
+      png_color_8p sig_bit_p;
+
+      png_get_sBIT(png_ptr, info_ptr, &sig_bit_p);
+      png_set_shift(png_ptr, sig_bit_p);
+   }
+
+   /* Flip the RGB pixels to BGR (or RGBA to BGRA) */
+   if (color_type & PNG_COLOR_MASK_COLOR)
+      png_set_bgr(png_ptr);
+
+   /* Swap the RGBA or GA data to ARGB or AG (or BGRA to ABGR) */
+   png_set_swap_alpha(png_ptr);
+
+   /* Swap bytes of 16 bit files to least significant byte first */
+   png_set_swap(png_ptr);
+
+   /* Add filler (or alpha) byte (before/after each RGB triplet) */
+   png_set_filler(png_ptr, 0xff, PNG_FILLER_AFTER);
+
+   /* Turn on interlace handling.  REQUIRED if you are not using
+    * png_read_image().  To see how to handle interlacing passes,
+    * see the png_read_row() method below:
+    */
+   number_passes = png_set_interlace_handling(png_ptr);
+
+   /* Optional call to gamma correct and add the background to the palette
+    * and update info structure.  REQUIRED if you are expecting libpng to
+    * update the palette for you (ie you selected such a transform above).
+    */
+   png_read_update_info(png_ptr, info_ptr);
+
+   /* Allocate the memory to hold the image using the fields of info_ptr. */
+
+   /* The easiest way to read the image: */
+   png_bytep row_pointers[height];
+
+   /* Clear the pointer array */
+   for (row = 0; row < height; row++)
+      row_pointers[row] = NULL;
+
+   for (row = 0; row < height; row++)
+      row_pointers[row] = png_malloc(png_ptr, png_get_rowbytes(png_ptr,
+         info_ptr));
+
+   /* Now it's time to read the image.  One of these methods is REQUIRED */
+#ifdef entire /* Read the entire image in one go */
+   png_read_image(png_ptr, row_pointers);
+
+#else no_entire /* Read the image one or more scanlines at a time */
+   /* The other way to read images - deal with interlacing: */
+
+   for (pass = 0; pass < number_passes; pass++)
+   {
+#ifdef single /* Read the image a single row at a time */
+      for (y = 0; y < height; y++)
+      {
+         png_read_rows(png_ptr, &row_pointers[y], png_bytepp_NULL, 1);
+      }
+
+#else no_single /* Read the image several rows at a time */
+      for (y = 0; y < height; y += number_of_rows)
+      {
+#ifdef sparkle /* Read the image using the "sparkle" effect. */
+         png_read_rows(png_ptr, &row_pointers[y], png_bytepp_NULL,
+            number_of_rows);
+#else no_sparkle /* Read the image using the "rectangle" effect */
+         png_read_rows(png_ptr, png_bytepp_NULL, &row_pointers[y],
+            number_of_rows);
+#endif no_sparkle /* Use only one of these two methods */
+      }
+
+      /* If you want to display the image after every pass, do so here */
+#endif no_single /* Use only one of these two methods */
+   }
+#endif no_entire /* Use only one of these two methods */
+
+   /* Read rest of file, and get additional chunks in info_ptr - REQUIRED */
+   png_read_end(png_ptr, info_ptr);
+#endif hilevel
+
+   /* At this point you have read the entire image */
+
+   /* Clean up after the read, and free any memory allocated - REQUIRED */
+   png_destroy_read_struct(&png_ptr, &info_ptr, png_infopp_NULL);
+
+   /* Close the file */
+   fclose(fp);
+
+   /* That's it */
+   return (OK);
+}
+
+/* Progressively read a file */
+
+int
+initialize_png_reader(png_structp *png_ptr, png_infop *info_ptr)
+{
+   /* Create and initialize the png_struct with the desired error handler
+    * functions.  If you want to use the default stderr and longjump method,
+    * you can supply NULL for the last three parameters.  We also check that
+    * the library version is compatible in case we are using dynamically
+    * linked libraries.
+    */
+   *png_ptr = png_create_read_struct(PNG_LIBPNG_VER_STRING,
+       png_voidp user_error_ptr, user_error_fn, user_warning_fn);
+
+   if (*png_ptr == NULL)
+   {
+      *info_ptr = NULL;
+      return (ERROR);
+   }
+
+   *info_ptr = png_create_info_struct(png_ptr);
+
+   if (*info_ptr == NULL)
+   {
+      png_destroy_read_struct(png_ptr, info_ptr, png_infopp_NULL);
+      return (ERROR);
+   }
+
+   if (setjmp(png_jmpbuf((*png_ptr))))
+   {
+      png_destroy_read_struct(png_ptr, info_ptr, png_infopp_NULL);
+      return (ERROR);
+   }
+
+   /* This one's new.  You will need to provide all three
+    * function callbacks, even if you aren't using them all.
+    * If you aren't using all functions, you can specify NULL
+    * parameters.  Even when all three functions are NULL,
+    * you need to call png_set_progressive_read_fn().
+    * These functions shouldn't be dependent on global or
+    * static variables if you are decoding several images
+    * simultaneously.  You should store stream specific data
+    * in a separate struct, given as the second parameter,
+    * and retrieve the pointer from inside the callbacks using
+    * the function png_get_progressive_ptr(png_ptr).
+    */
+   png_set_progressive_read_fn(*png_ptr, (void *)stream_data,
+      info_callback, row_callback, end_callback);
+
+   return (OK);
+}
+
+int
+process_data(png_structp *png_ptr, png_infop *info_ptr,
+   png_bytep buffer, png_uint_32 length)
+{
+   if (setjmp(png_jmpbuf((*png_ptr))))
+   {
+      /* Free the png_ptr and info_ptr memory on error */
+      png_destroy_read_struct(png_ptr, info_ptr, png_infopp_NULL);
+      return (ERROR);
+   }
+
+   /* This one's new also.  Simply give it chunks of data as
+    * they arrive from the data stream (in order, of course).
+    * On segmented machines, don't give it any more than 64K.
+    * The library seems to run fine with sizes of 4K, although
+    * you can give it much less if necessary (I assume you can
+    * give it chunks of 1 byte, but I haven't tried with less
+    * than 256 bytes yet).  When this function returns, you may
+    * want to display any rows that were generated in the row
+    * callback, if you aren't already displaying them there.
+    */
+   png_process_data(*png_ptr, *info_ptr, buffer, length);
+   return (OK);
+}
+
+info_callback(png_structp png_ptr, png_infop info)
+{
+   /* Do any setup here, including setting any of the transformations
+    * mentioned in the Reading PNG files section.  For now, you _must_
+    * call either png_start_read_image() or png_read_update_info()
+    * after all the transformations are set (even if you don't set
+    * any).  You may start getting rows before png_process_data()
+    * returns, so this is your last chance to prepare for that.
+    */
+}
+
+row_callback(png_structp png_ptr, png_bytep new_row,
+   png_uint_32 row_num, int pass)
+{
+   /*
+    * This function is called for every row in the image.  If the
+    * image is interlaced, and you turned on the interlace handler,
+    * this function will be called for every row in every pass.
+    *
+    * In this function you will receive a pointer to new row data from
+    * libpng called new_row that is to replace a corresponding row (of
+    * the same data format) in a buffer allocated by your application.
+    *
+    * The new row data pointer "new_row" may be NULL, indicating there is
+    * no new data to be replaced (in cases of interlace loading).
+    *
+    * If new_row is not NULL then you need to call
+    * png_progressive_combine_row() to replace the corresponding row as
+    * shown below:
+    */
+
+   /* Check if row_num is in bounds. */
+   if ((row_num >= 0) && (row_num < height))
+   {
+     /* Get pointer to corresponding row in our
+      * PNG read buffer.
+      */
+     png_bytep old_row = ((png_bytep *)our_data)[row_num];
+
+     /* If both rows are allocated then copy the new row
+      * data to the corresponding row data.
+      */
+     if ((old_row != NULL) && (new_row != NULL))
+     png_progressive_combine_row(png_ptr, old_row, new_row);
+   }
+   /*
+    * The rows and passes are called in order, so you don't really
+    * need the row_num and pass, but I'm supplying them because it
+    * may make your life easier.
+    *
+    * For the non-NULL rows of interlaced images, you must call
+    * png_progressive_combine_row() passing in the new row and the
+    * old row, as demonstrated above.  You can call this function for
+    * NULL rows (it will just return) and for non-interlaced images
+    * (it just does the png_memcpy for you) if it will make the code
+    * easier.  Thus, you can just do this for all cases:
+    */
+
+   png_progressive_combine_row(png_ptr, old_row, new_row);
+
+   /* where old_row is what was displayed for previous rows.  Note
+    * that the first pass (pass == 0 really) will completely cover
+    * the old row, so the rows do not have to be initialized.  After
+    * the first pass (and only for interlaced images), you will have
+    * to pass the current row as new_row, and the function will combine
+    * the old row and the new row.
+    */
+}
+
+end_callback(png_structp png_ptr, png_infop info)
+{
+   /* This function is called when the whole image has been read,
+    * including any chunks after the image (up to and including
+    * the IEND).  You will usually have the same info chunk as you
+    * had in the header, although some data may have been added
+    * to the comments and time fields.
+    *
+    * Most people won't do much here, perhaps setting a flag that
+    * marks the image as finished.
+    */
+}
+
+/* Write a png file */
+void write_png(char *file_name /* , ... other image information ... */)
+{
+   FILE *fp;
+   png_structp png_ptr;
+   png_infop info_ptr;
+   png_colorp palette;
+
+   /* Open the file */
+   fp = fopen(file_name, "wb");
+   if (fp == NULL)
+      return (ERROR);
+
+   /* Create and initialize the png_struct with the desired error handler
+    * functions.  If you want to use the default stderr and longjump method,
+    * you can supply NULL for the last three parameters.  We also check that
+    * the library version is compatible with the one used at compile time,
+    * in case we are using dynamically linked libraries.  REQUIRED.
+    */
+   png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING,
+      png_voidp user_error_ptr, user_error_fn, user_warning_fn);
+
+   if (png_ptr == NULL)
+   {
+      fclose(fp);
+      return (ERROR);
+   }
+
+   /* Allocate/initialize the image information data.  REQUIRED */
+   info_ptr = png_create_info_struct(png_ptr);
+   if (info_ptr == NULL)
+   {
+      fclose(fp);
+      png_destroy_write_struct(&png_ptr,  png_infopp_NULL);
+      return (ERROR);
+   }
+
+   /* Set error handling.  REQUIRED if you aren't supplying your own
+    * error handling functions in the png_create_write_struct() call.
+    */
+   if (setjmp(png_jmpbuf(png_ptr)))
+   {
+      /* If we get here, we had a problem writing the file */
+      fclose(fp);
+      png_destroy_write_struct(&png_ptr, &info_ptr);
+      return (ERROR);
+   }
+
+   /* One of the following I/O initialization functions is REQUIRED */
+
+#ifdef streams /* I/O initialization method 1 */
+   /* Set up the output control if you are using standard C streams */
+   png_init_io(png_ptr, fp);
+
+#else no_streams /* I/O initialization method 2 */
+   /* If you are using replacement write functions, instead of calling
+    * png_init_io() here you would call
+    */
+   png_set_write_fn(png_ptr, (void *)user_io_ptr, user_write_fn,
+      user_IO_flush_function);
+   /* where user_io_ptr is a structure you want available to the callbacks */
+#endif no_streams /* Only use one initialization method */
+
+#ifdef hilevel
+   /* This is the easy way.  Use it if you already have all the
+    * image info living in the structure.  You could "|" many
+    * PNG_TRANSFORM flags into the png_transforms integer here.
+    */
+   png_write_png(png_ptr, info_ptr, png_transforms, png_voidp_NULL);
+
+#else
+   /* This is the hard way */
+
+   /* Set the image information here.  Width and height are up to 2^31,
+    * bit_depth is one of 1, 2, 4, 8, or 16, but valid values also depend on
+    * the color_type selected. color_type is one of PNG_COLOR_TYPE_GRAY,
+    * PNG_COLOR_TYPE_GRAY_ALPHA, PNG_COLOR_TYPE_PALETTE, PNG_COLOR_TYPE_RGB,
+    * or PNG_COLOR_TYPE_RGB_ALPHA.  interlace is either PNG_INTERLACE_NONE or
+    * PNG_INTERLACE_ADAM7, and the compression_type and filter_type MUST
+    * currently be PNG_COMPRESSION_TYPE_BASE and PNG_FILTER_TYPE_BASE. REQUIRED
+    */
+   png_set_IHDR(png_ptr, info_ptr, width, height, bit_depth, PNG_COLOR_TYPE_???,
+      PNG_INTERLACE_????, PNG_COMPRESSION_TYPE_BASE, PNG_FILTER_TYPE_BASE);
+
+   /* Set the palette if there is one.  REQUIRED for indexed-color images */
+   palette = (png_colorp)png_malloc(png_ptr, PNG_MAX_PALETTE_LENGTH
+             * png_sizeof(png_color));
+   /* ... Set palette colors ... */
+   png_set_PLTE(png_ptr, info_ptr, palette, PNG_MAX_PALETTE_LENGTH);
+   /* You must not free palette here, because png_set_PLTE only makes a link to
+    * the palette that you malloced.  Wait until you are about to destroy
+    * the png structure.
+    */
+
+   /* Optional significant bit (sBIT) chunk */
+   png_color_8 sig_bit;
+   /* If we are dealing with a grayscale image then */
+   sig_bit.gray = true_bit_depth;
+   /* Otherwise, if we are dealing with a color image then */
+   sig_bit.red = true_red_bit_depth;
+   sig_bit.green = true_green_bit_depth;
+   sig_bit.blue = true_blue_bit_depth;
+   /* If the image has an alpha channel then */
+   sig_bit.alpha = true_alpha_bit_depth;
+   png_set_sBIT(png_ptr, info_ptr, &sig_bit);
+
+
+   /* Optional gamma chunk is strongly suggested if you have any guess
+    * as to the correct gamma of the image.
+    */
+   png_set_gAMA(png_ptr, info_ptr, gamma);
+
+   /* Optionally write comments into the image */
+   text_ptr[0].key = "Title";
+   text_ptr[0].text = "Mona Lisa";
+   text_ptr[0].compression = PNG_TEXT_COMPRESSION_NONE;
+   text_ptr[1].key = "Author";
+   text_ptr[1].text = "Leonardo DaVinci";
+   text_ptr[1].compression = PNG_TEXT_COMPRESSION_NONE;
+   text_ptr[2].key = "Description";
+   text_ptr[2].text = "<long text>";
+   text_ptr[2].compression = PNG_TEXT_COMPRESSION_zTXt;
+#ifdef PNG_iTXt_SUPPORTED
+   text_ptr[0].lang = NULL;
+   text_ptr[1].lang = NULL;
+   text_ptr[2].lang = NULL;
+#endif
+   png_set_text(png_ptr, info_ptr, text_ptr, 3);
+
+   /* Other optional chunks like cHRM, bKGD, tRNS, tIME, oFFs, pHYs */
+
+   /* Note that if sRGB is present the gAMA and cHRM chunks must be ignored
+    * on read and, if your application chooses to write them, they must
+    * be written in accordance with the sRGB profile
+    */
+
+   /* Write the file header information.  REQUIRED */
+   png_write_info(png_ptr, info_ptr);
+
+   /* If you want, you can write the info in two steps, in case you need to
+    * write your private chunk ahead of PLTE:
+    *
+    *   png_write_info_before_PLTE(write_ptr, write_info_ptr);
+    *   write_my_chunk();
+    *   png_write_info(png_ptr, info_ptr);
+    *
+    * However, given the level of known- and unknown-chunk support in 1.2.0
+    * and up, this should no longer be necessary.
+    */
+
+   /* Once we write out the header, the compression type on the text
+    * chunks gets changed to PNG_TEXT_COMPRESSION_NONE_WR or
+    * PNG_TEXT_COMPRESSION_zTXt_WR, so it doesn't get written out again
+    * at the end.
+    */
+
+   /* Set up the transformations you want.  Note that these are
+    * all optional.  Only call them if you want them.
+    */
+
+   /* Invert monochrome pixels */
+   png_set_invert_mono(png_ptr);
+
+   /* Shift the pixels up to a legal bit depth and fill in
+    * as appropriate to correctly scale the image.
+    */
+   png_set_shift(png_ptr, &sig_bit);
+
+   /* Pack pixels into bytes */
+   png_set_packing(png_ptr);
+
+   /* Swap location of alpha bytes from ARGB to RGBA */
+   png_set_swap_alpha(png_ptr);
+
+   /* Get rid of filler (OR ALPHA) bytes, pack XRGB/RGBX/ARGB/RGBA into
+    * RGB (4 channels -> 3 channels). The second parameter is not used.
+    */
+   png_set_filler(png_ptr, 0, PNG_FILLER_BEFORE);
+
+   /* Flip BGR pixels to RGB */
+   png_set_bgr(png_ptr);
+
+   /* Swap bytes of 16-bit files to most significant byte first */
+   png_set_swap(png_ptr);
+
+   /* Swap bits of 1, 2, 4 bit packed pixel formats */
+   png_set_packswap(png_ptr);
+
+   /* Turn on interlace handling if you are not using png_write_image() */
+   if (interlacing)
+      number_passes = png_set_interlace_handling(png_ptr);
+   else
+      number_passes = 1;
+
+   /* The easiest way to write the image (you may have a different memory
+    * layout, however, so choose what fits your needs best).  You need to
+    * use the first method if you aren't handling interlacing yourself.
+    */
+   png_uint_32 k, height, width;
+   png_byte image[height][width*bytes_per_pixel];
+   png_bytep row_pointers[height];
+
+   if (height > PNG_UINT_32_MAX/png_sizeof(png_bytep))
+     png_error (png_ptr, "Image is too tall to process in memory");
+
+   for (k = 0; k < height; k++)
+     row_pointers[k] = image + k*width*bytes_per_pixel;
+
+   /* One of the following output methods is REQUIRED */
+
+#ifdef entire /* Write out the entire image data in one call */
+   png_write_image(png_ptr, row_pointers);
+
+   /* The other way to write the image - deal with interlacing */
+
+#else no_entire /* Write out the image data by one or more scanlines */
+
+   /* The number of passes is either 1 for non-interlaced images,
+    * or 7 for interlaced images.
+    */
+   for (pass = 0; pass < number_passes; pass++)
+   {
+      /* Write a few rows at a time. */
+      png_write_rows(png_ptr, &row_pointers[first_row], number_of_rows);
+
+      /* If you are only writing one row at a time, this works */
+      for (y = 0; y < height; y++)
+         png_write_rows(png_ptr, &row_pointers[y], 1);
+   }
+#endif no_entire /* Use only one output method */
+
+   /* You can write optional chunks like tEXt, zTXt, and tIME at the end
+    * as well.  Shouldn't be necessary in 1.2.0 and up as all the public
+    * chunks are supported and you can use png_set_unknown_chunks() to
+    * register unknown chunks into the info structure to be written out.
+    */
+
+   /* It is REQUIRED to call this to finish writing the rest of the file */
+   png_write_end(png_ptr, info_ptr);
+#endif hilevel
+
+   /* If you png_malloced a palette, free it here (don't free info_ptr->palette,
+    * as recommended in versions 1.0.5m and earlier of this example; if
+    * libpng mallocs info_ptr->palette, libpng will free it).  If you
+    * allocated it with malloc() instead of png_malloc(), use free() instead
+    * of png_free().
+    */
+   png_free(png_ptr, palette);
+   palette = NULL;
+
+   /* Similarly, if you png_malloced any data that you passed in with
+    * png_set_something(), such as a hist or trans array, free it here,
+    * when you can be sure that libpng is through with it.
+    */
+   png_free(png_ptr, trans);
+   trans = NULL;
+   /* Whenever you use png_free() it is a good idea to set the pointer to
+    * NULL in case your application inadvertently tries to png_free() it
+    * again.  When png_free() sees a NULL it returns without action, thus
+    * avoiding the double-free security problem.
+    */
+
+   /* Clean up after the write, and free any memory allocated */
+   png_destroy_write_struct(&png_ptr, &info_ptr);
+
+   /* Close the file */
+   fclose(fp);
+
+   /* That's it */
+   return (OK);
+}
+
+#endif /* if 0 */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/libpng.a b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/libpng.a
new file mode 100644
index 0000000..c919000
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/libpng.a differ
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.c
new file mode 100755
index 0000000..7f268b9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.c
@@ -0,0 +1,922 @@
+
+/* png.c - location for general purpose libpng functions
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+#define PNG_INTERNAL
+#define PNG_NO_EXTERN
+#include "png.h"
+
+/* Generate a compiler error if there is an old png.h in the search path. */
+typedef version_1_2_37 Your_png_h_is_not_version_1_2_37;
+
+/* Version information for C files.  This had better match the version
+ * string defined in png.h.  */
+
+#ifdef PNG_USE_GLOBAL_ARRAYS
+/* png_libpng_ver was changed to a function in version 1.0.5c */
+PNG_CONST char png_libpng_ver[18] = PNG_LIBPNG_VER_STRING;
+
+#ifdef PNG_READ_SUPPORTED
+
+/* png_sig was changed to a function in version 1.0.5c */
+/* Place to hold the signature string for a PNG file. */
+PNG_CONST png_byte FARDATA png_sig[8] = {137, 80, 78, 71, 13, 10, 26, 10};
+#endif /* PNG_READ_SUPPORTED */
+
+/* Invoke global declarations for constant strings for known chunk types */
+PNG_IHDR;
+PNG_IDAT;
+PNG_IEND;
+PNG_PLTE;
+PNG_bKGD;
+PNG_cHRM;
+PNG_gAMA;
+PNG_hIST;
+PNG_iCCP;
+PNG_iTXt;
+PNG_oFFs;
+PNG_pCAL;
+PNG_sCAL;
+PNG_pHYs;
+PNG_sBIT;
+PNG_sPLT;
+PNG_sRGB;
+PNG_tEXt;
+PNG_tIME;
+PNG_tRNS;
+PNG_zTXt;
+
+#ifdef PNG_READ_SUPPORTED
+/* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
+
+/* Start of interlace block */
+PNG_CONST int FARDATA png_pass_start[] = {0, 4, 0, 2, 0, 1, 0};
+
+/* Offset to next interlace block */
+PNG_CONST int FARDATA png_pass_inc[] = {8, 8, 4, 4, 2, 2, 1};
+
+/* Start of interlace block in the y direction */
+PNG_CONST int FARDATA png_pass_ystart[] = {0, 0, 4, 0, 2, 0, 1};
+
+/* Offset to next interlace block in the y direction */
+PNG_CONST int FARDATA png_pass_yinc[] = {8, 8, 8, 4, 4, 2, 2};
+
+/* Height of interlace block.  This is not currently used - if you need
+ * it, uncomment it here and in png.h
+PNG_CONST int FARDATA png_pass_height[] = {8, 8, 4, 4, 2, 2, 1};
+*/
+
+/* Mask to determine which pixels are valid in a pass */
+PNG_CONST int FARDATA png_pass_mask[] = {0x80, 0x08, 0x88, 0x22, 0xaa, 0x55, 0xff};
+
+/* Mask to determine which pixels to overwrite while displaying */
+PNG_CONST int FARDATA png_pass_dsp_mask[]
+   = {0xff, 0x0f, 0xff, 0x33, 0xff, 0x55, 0xff};
+
+#endif /* PNG_READ_SUPPORTED */
+#endif /* PNG_USE_GLOBAL_ARRAYS */
+
+/* Tells libpng that we have already handled the first "num_bytes" bytes
+ * of the PNG file signature.  If the PNG data is embedded into another
+ * stream we can set num_bytes = 8 so that libpng will not attempt to read
+ * or write any of the magic bytes before it starts on the IHDR.
+ */
+
+#ifdef PNG_READ_SUPPORTED
+void PNGAPI
+png_set_sig_bytes(png_structp png_ptr, int num_bytes)
+{
+   if (png_ptr == NULL)
+      return;
+   png_debug(1, "in png_set_sig_bytes");
+   if (num_bytes > 8)
+      png_error(png_ptr, "Too many bytes for PNG signature.");
+
+   png_ptr->sig_bytes = (png_byte)(num_bytes < 0 ? 0 : num_bytes);
+}
+
+/* Checks whether the supplied bytes match the PNG signature.  We allow
+ * checking less than the full 8-byte signature so that those apps that
+ * already read the first few bytes of a file to determine the file type
+ * can simply check the remaining bytes for extra assurance.  Returns
+ * an integer less than, equal to, or greater than zero if sig is found,
+ * respectively, to be less than, to match, or be greater than the correct
+ * PNG signature (this is the same behaviour as strcmp, memcmp, etc).
+ */
+int PNGAPI
+png_sig_cmp(png_bytep sig, png_size_t start, png_size_t num_to_check)
+{
+   png_byte png_signature[8] = {137, 80, 78, 71, 13, 10, 26, 10};
+   if (num_to_check > 8)
+      num_to_check = 8;
+   else if (num_to_check < 1)
+      return (-1);
+
+   if (start > 7)
+      return (-1);
+
+   if (start + num_to_check > 8)
+      num_to_check = 8 - start;
+
+   return ((int)(png_memcmp(&sig[start], &png_signature[start], num_to_check)));
+}
+
+#if defined(PNG_1_0_X) || defined(PNG_1_2_X)
+/* (Obsolete) function to check signature bytes.  It does not allow one
+ * to check a partial signature.  This function might be removed in the
+ * future - use png_sig_cmp().  Returns true (nonzero) if the file is PNG.
+ */
+int PNGAPI
+png_check_sig(png_bytep sig, int num)
+{
+  return ((int)!png_sig_cmp(sig, (png_size_t)0, (png_size_t)num));
+}
+#endif
+#endif /* PNG_READ_SUPPORTED */
+
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+/* Function to allocate memory for zlib and clear it to 0. */
+#ifdef PNG_1_0_X
+voidpf PNGAPI
+#else
+voidpf /* private */
+#endif
+png_zalloc(voidpf png_ptr, uInt items, uInt size)
+{
+   png_voidp ptr;
+   png_structp p=(png_structp)png_ptr;
+   png_uint_32 save_flags=p->flags;
+   png_uint_32 num_bytes;
+
+   if (png_ptr == NULL)
+      return (NULL);
+   if (items > PNG_UINT_32_MAX/size)
+   {
+     png_warning (p, "Potential overflow in png_zalloc()");
+     return (NULL);
+   }
+   num_bytes = (png_uint_32)items * size;
+
+   p->flags|=PNG_FLAG_MALLOC_NULL_MEM_OK;
+   ptr = (png_voidp)png_malloc((png_structp)png_ptr, num_bytes);
+   p->flags=save_flags;
+
+#if defined(PNG_1_0_X) && !defined(PNG_NO_ZALLOC_ZERO)
+   if (ptr == NULL)
+       return ((voidpf)ptr);
+
+   if (num_bytes > (png_uint_32)0x8000L)
+   {
+      png_memset(ptr, 0, (png_size_t)0x8000L);
+      png_memset((png_bytep)ptr + (png_size_t)0x8000L, 0,
+         (png_size_t)(num_bytes - (png_uint_32)0x8000L));
+   }
+   else
+   {
+      png_memset(ptr, 0, (png_size_t)num_bytes);
+   }
+#endif
+   return ((voidpf)ptr);
+}
+
+/* Function to free memory for zlib */
+#ifdef PNG_1_0_X
+void PNGAPI
+#else
+void /* private */
+#endif
+png_zfree(voidpf png_ptr, voidpf ptr)
+{
+   png_free((png_structp)png_ptr, (png_voidp)ptr);
+}
+
+/* Reset the CRC variable to 32 bits of 1's.  Care must be taken
+ * in case CRC is > 32 bits to leave the top bits 0.
+ */
+void /* PRIVATE */
+png_reset_crc(png_structp png_ptr)
+{
+   png_ptr->crc = crc32(0, Z_NULL, 0);
+}
+
+/* Calculate the CRC over a section of data.  We can only pass as
+ * much data to this routine as the largest single buffer size.  We
+ * also check that this data will actually be used before going to the
+ * trouble of calculating it.
+ */
+void /* PRIVATE */
+png_calculate_crc(png_structp png_ptr, png_bytep ptr, png_size_t length)
+{
+   int need_crc = 1;
+
+   if (png_ptr->chunk_name[0] & 0x20)                     /* ancillary */
+   {
+      if ((png_ptr->flags & PNG_FLAG_CRC_ANCILLARY_MASK) ==
+          (PNG_FLAG_CRC_ANCILLARY_USE | PNG_FLAG_CRC_ANCILLARY_NOWARN))
+         need_crc = 0;
+   }
+   else                                                    /* critical */
+   {
+      if (png_ptr->flags & PNG_FLAG_CRC_CRITICAL_IGNORE)
+         need_crc = 0;
+   }
+
+   if (need_crc)
+      png_ptr->crc = crc32(png_ptr->crc, ptr, (uInt)length);
+}
+
+/* Allocate the memory for an info_struct for the application.  We don't
+ * really need the png_ptr, but it could potentially be useful in the
+ * future.  This should be used in favour of malloc(png_sizeof(png_info))
+ * and png_info_init() so that applications that want to use a shared
+ * libpng don't have to be recompiled if png_info changes size.
+ */
+png_infop PNGAPI
+png_create_info_struct(png_structp png_ptr)
+{
+   png_infop info_ptr;
+
+   png_debug(1, "in png_create_info_struct");
+   if (png_ptr == NULL)
+      return (NULL);
+#ifdef PNG_USER_MEM_SUPPORTED
+   info_ptr = (png_infop)png_create_struct_2(PNG_STRUCT_INFO,
+      png_ptr->malloc_fn, png_ptr->mem_ptr);
+#else
+   info_ptr = (png_infop)png_create_struct(PNG_STRUCT_INFO);
+#endif
+   if (info_ptr != NULL)
+      png_info_init_3(&info_ptr, png_sizeof(png_info));
+
+   return (info_ptr);
+}
+
+/* This function frees the memory associated with a single info struct.
+ * Normally, one would use either png_destroy_read_struct() or
+ * png_destroy_write_struct() to free an info struct, but this may be
+ * useful for some applications.
+ */
+void PNGAPI
+png_destroy_info_struct(png_structp png_ptr, png_infopp info_ptr_ptr)
+{
+   png_infop info_ptr = NULL;
+   if (png_ptr == NULL)
+      return;
+
+   png_debug(1, "in png_destroy_info_struct");
+   if (info_ptr_ptr != NULL)
+      info_ptr = *info_ptr_ptr;
+
+   if (info_ptr != NULL)
+   {
+      png_info_destroy(png_ptr, info_ptr);
+
+#ifdef PNG_USER_MEM_SUPPORTED
+      png_destroy_struct_2((png_voidp)info_ptr, png_ptr->free_fn,
+          png_ptr->mem_ptr);
+#else
+      png_destroy_struct((png_voidp)info_ptr);
+#endif
+      *info_ptr_ptr = NULL;
+   }
+}
+
+/* Initialize the info structure.  This is now an internal function (0.89)
+ * and applications using it are urged to use png_create_info_struct()
+ * instead.
+ */
+#if defined(PNG_1_0_X) || defined(PNG_1_2_X)
+#undef png_info_init
+void PNGAPI
+png_info_init(png_infop info_ptr)
+{
+   /* We only come here via pre-1.0.12-compiled applications */
+   png_info_init_3(&info_ptr, 0);
+}
+#endif
+
+void PNGAPI
+png_info_init_3(png_infopp ptr_ptr, png_size_t png_info_struct_size)
+{
+   png_infop info_ptr = *ptr_ptr;
+
+   if (info_ptr == NULL)
+      return;
+
+   png_debug(1, "in png_info_init_3");
+
+   if (png_sizeof(png_info) > png_info_struct_size)
+   {
+      png_destroy_struct(info_ptr);
+      info_ptr = (png_infop)png_create_struct(PNG_STRUCT_INFO);
+      *ptr_ptr = info_ptr;
+   }
+
+   /* Set everything to 0 */
+   png_memset(info_ptr, 0, png_sizeof(png_info));
+}
+
+#ifdef PNG_FREE_ME_SUPPORTED
+void PNGAPI
+png_data_freer(png_structp png_ptr, png_infop info_ptr,
+   int freer, png_uint_32 mask)
+{
+   png_debug(1, "in png_data_freer");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+   if (freer == PNG_DESTROY_WILL_FREE_DATA)
+      info_ptr->free_me |= mask;
+   else if (freer == PNG_USER_WILL_FREE_DATA)
+      info_ptr->free_me &= ~mask;
+   else
+      png_warning(png_ptr,
+         "Unknown freer parameter in png_data_freer.");
+}
+#endif
+
+void PNGAPI
+png_free_data(png_structp png_ptr, png_infop info_ptr, png_uint_32 mask,
+   int num)
+{
+   png_debug(1, "in png_free_data");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+#if defined(PNG_TEXT_SUPPORTED)
+   /* Free text item num or (if num == -1) all text items */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_TEXT) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_TEXT)
+#endif
+   {
+      if (num != -1)
+      {
+         if (info_ptr->text && info_ptr->text[num].key)
+         {
+            png_free(png_ptr, info_ptr->text[num].key);
+            info_ptr->text[num].key = NULL;
+         }
+      }
+      else
+      {
+         int i;
+         for (i = 0; i < info_ptr->num_text; i++)
+             png_free_data(png_ptr, info_ptr, PNG_FREE_TEXT, i);
+         png_free(png_ptr, info_ptr->text);
+         info_ptr->text = NULL;
+         info_ptr->num_text=0;
+      }
+   }
+#endif
+
+#if defined(PNG_tRNS_SUPPORTED)
+   /* Free any tRNS entry */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_TRNS) & info_ptr->free_me)
+#else
+   if ((mask & PNG_FREE_TRNS) && (png_ptr->flags & PNG_FLAG_FREE_TRNS))
+#endif
+   {
+      png_free(png_ptr, info_ptr->trans);
+      info_ptr->trans = NULL;
+      info_ptr->valid &= ~PNG_INFO_tRNS;
+#ifndef PNG_FREE_ME_SUPPORTED
+      png_ptr->flags &= ~PNG_FLAG_FREE_TRNS;
+#endif
+   }
+#endif
+
+#if defined(PNG_sCAL_SUPPORTED)
+   /* Free any sCAL entry */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_SCAL) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_SCAL)
+#endif
+   {
+#if defined(PNG_FIXED_POINT_SUPPORTED) && !defined(PNG_FLOATING_POINT_SUPPORTED)
+      png_free(png_ptr, info_ptr->scal_s_width);
+      png_free(png_ptr, info_ptr->scal_s_height);
+      info_ptr->scal_s_width = NULL;
+      info_ptr->scal_s_height = NULL;
+#endif
+      info_ptr->valid &= ~PNG_INFO_sCAL;
+   }
+#endif
+
+#if defined(PNG_pCAL_SUPPORTED)
+   /* Free any pCAL entry */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_PCAL) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_PCAL)
+#endif
+   {
+      png_free(png_ptr, info_ptr->pcal_purpose);
+      png_free(png_ptr, info_ptr->pcal_units);
+      info_ptr->pcal_purpose = NULL;
+      info_ptr->pcal_units = NULL;
+      if (info_ptr->pcal_params != NULL)
+         {
+            int i;
+            for (i = 0; i < (int)info_ptr->pcal_nparams; i++)
+            {
+               png_free(png_ptr, info_ptr->pcal_params[i]);
+               info_ptr->pcal_params[i]=NULL;
+            }
+            png_free(png_ptr, info_ptr->pcal_params);
+            info_ptr->pcal_params = NULL;
+         }
+      info_ptr->valid &= ~PNG_INFO_pCAL;
+   }
+#endif
+
+#if defined(PNG_iCCP_SUPPORTED)
+   /* Free any iCCP entry */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_ICCP) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_ICCP)
+#endif
+   {
+      png_free(png_ptr, info_ptr->iccp_name);
+      png_free(png_ptr, info_ptr->iccp_profile);
+      info_ptr->iccp_name = NULL;
+      info_ptr->iccp_profile = NULL;
+      info_ptr->valid &= ~PNG_INFO_iCCP;
+   }
+#endif
+
+#if defined(PNG_sPLT_SUPPORTED)
+   /* Free a given sPLT entry, or (if num == -1) all sPLT entries */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_SPLT) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_SPLT)
+#endif
+   {
+      if (num != -1)
+      {
+         if (info_ptr->splt_palettes)
+         {
+            png_free(png_ptr, info_ptr->splt_palettes[num].name);
+            png_free(png_ptr, info_ptr->splt_palettes[num].entries);
+            info_ptr->splt_palettes[num].name = NULL;
+            info_ptr->splt_palettes[num].entries = NULL;
+         }
+      }
+      else
+      {
+         if (info_ptr->splt_palettes_num)
+         {
+            int i;
+            for (i = 0; i < (int)info_ptr->splt_palettes_num; i++)
+               png_free_data(png_ptr, info_ptr, PNG_FREE_SPLT, i);
+
+            png_free(png_ptr, info_ptr->splt_palettes);
+            info_ptr->splt_palettes = NULL;
+            info_ptr->splt_palettes_num = 0;
+         }
+         info_ptr->valid &= ~PNG_INFO_sPLT;
+      }
+   }
+#endif
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+   if (png_ptr->unknown_chunk.data)
+   {
+      png_free(png_ptr, png_ptr->unknown_chunk.data);
+      png_ptr->unknown_chunk.data = NULL;
+   }
+
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_UNKN) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_UNKN)
+#endif
+   {
+      if (num != -1)
+      {
+          if (info_ptr->unknown_chunks)
+          {
+             png_free(png_ptr, info_ptr->unknown_chunks[num].data);
+             info_ptr->unknown_chunks[num].data = NULL;
+          }
+      }
+      else
+      {
+         int i;
+
+         if (info_ptr->unknown_chunks_num)
+         {
+            for (i = 0; i < (int)info_ptr->unknown_chunks_num; i++)
+               png_free_data(png_ptr, info_ptr, PNG_FREE_UNKN, i);
+
+            png_free(png_ptr, info_ptr->unknown_chunks);
+            info_ptr->unknown_chunks = NULL;
+            info_ptr->unknown_chunks_num = 0;
+         }
+      }
+   }
+#endif
+
+#if defined(PNG_hIST_SUPPORTED)
+   /* Free any hIST entry */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_HIST)  & info_ptr->free_me)
+#else
+   if ((mask & PNG_FREE_HIST) && (png_ptr->flags & PNG_FLAG_FREE_HIST))
+#endif
+   {
+      png_free(png_ptr, info_ptr->hist);
+      info_ptr->hist = NULL;
+      info_ptr->valid &= ~PNG_INFO_hIST;
+#ifndef PNG_FREE_ME_SUPPORTED
+      png_ptr->flags &= ~PNG_FLAG_FREE_HIST;
+#endif
+   }
+#endif
+
+   /* Free any PLTE entry that was internally allocated */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_PLTE) & info_ptr->free_me)
+#else
+   if ((mask & PNG_FREE_PLTE) && (png_ptr->flags & PNG_FLAG_FREE_PLTE))
+#endif
+   {
+      png_zfree(png_ptr, info_ptr->palette);
+      info_ptr->palette = NULL;
+      info_ptr->valid &= ~PNG_INFO_PLTE;
+#ifndef PNG_FREE_ME_SUPPORTED
+      png_ptr->flags &= ~PNG_FLAG_FREE_PLTE;
+#endif
+      info_ptr->num_palette = 0;
+   }
+
+#if defined(PNG_INFO_IMAGE_SUPPORTED)
+   /* Free any image bits attached to the info structure */
+#ifdef PNG_FREE_ME_SUPPORTED
+   if ((mask & PNG_FREE_ROWS) & info_ptr->free_me)
+#else
+   if (mask & PNG_FREE_ROWS)
+#endif
+   {
+      if (info_ptr->row_pointers)
+      {
+         int row;
+         for (row = 0; row < (int)info_ptr->height; row++)
+         {
+            png_free(png_ptr, info_ptr->row_pointers[row]);
+            info_ptr->row_pointers[row]=NULL;
+         }
+         png_free(png_ptr, info_ptr->row_pointers);
+         info_ptr->row_pointers=NULL;
+      }
+      info_ptr->valid &= ~PNG_INFO_IDAT;
+   }
+#endif
+
+#ifdef PNG_FREE_ME_SUPPORTED
+   if (num == -1)
+      info_ptr->free_me &= ~mask;
+   else
+      info_ptr->free_me &= ~(mask & ~PNG_FREE_MUL);
+#endif
+}
+
+/* This is an internal routine to free any memory that the info struct is
+ * pointing to before re-using it or freeing the struct itself.  Recall
+ * that png_free() checks for NULL pointers for us.
+ */
+void /* PRIVATE */
+png_info_destroy(png_structp png_ptr, png_infop info_ptr)
+{
+   png_debug(1, "in png_info_destroy");
+
+   png_free_data(png_ptr, info_ptr, PNG_FREE_ALL, -1);
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+   if (png_ptr->num_chunk_list)
+   {
+      png_free(png_ptr, png_ptr->chunk_list);
+      png_ptr->chunk_list=NULL;
+      png_ptr->num_chunk_list = 0;
+   }
+#endif
+
+   png_info_init_3(&info_ptr, png_sizeof(png_info));
+}
+#endif /* defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED) */
+
+/* This function returns a pointer to the io_ptr associated with the user
+ * functions.  The application should free any memory associated with this
+ * pointer before png_write_destroy() or png_read_destroy() are called.
+ */
+png_voidp PNGAPI
+png_get_io_ptr(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return (NULL);
+   return (png_ptr->io_ptr);
+}
+
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+#if !defined(PNG_NO_STDIO)
+/* Initialize the default input/output functions for the PNG file.  If you
+ * use your own read or write routines, you can call either png_set_read_fn()
+ * or png_set_write_fn() instead of png_init_io().  If you have defined
+ * PNG_NO_STDIO, you must use a function of your own because "FILE *" isn't
+ * necessarily available.
+ */
+void PNGAPI
+png_init_io(png_structp png_ptr, png_FILE_p fp)
+{
+   png_debug(1, "in png_init_io");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->io_ptr = (png_voidp)fp;
+}
+#endif
+
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+/* Convert the supplied time into an RFC 1123 string suitable for use in
+ * a "Creation Time" or other text-based time string.
+ */
+png_charp PNGAPI
+png_convert_to_rfc1123(png_structp png_ptr, png_timep ptime)
+{
+   static PNG_CONST char short_months[12][4] =
+        {"Jan", "Feb", "Mar", "Apr", "May", "Jun",
+         "Jul", "Aug", "Sep", "Oct", "Nov", "Dec"};
+
+   if (png_ptr == NULL)
+      return (NULL);
+   if (png_ptr->time_buffer == NULL)
+   {
+      png_ptr->time_buffer = (png_charp)png_malloc(png_ptr, (png_uint_32)(29*
+         png_sizeof(char)));
+   }
+
+#if defined(_WIN32_WCE)
+   {
+      wchar_t time_buf[29];
+      wsprintf(time_buf, TEXT("%d %S %d %02d:%02d:%02d +0000"),
+          ptime->day % 32, short_months[(ptime->month - 1) % 12],
+        ptime->year, ptime->hour % 24, ptime->minute % 60,
+          ptime->second % 61);
+      WideCharToMultiByte(CP_ACP, 0, time_buf, -1, png_ptr->time_buffer, 29,
+          NULL, NULL);
+   }
+#else
+#ifdef USE_FAR_KEYWORD
+   {
+      char near_time_buf[29];
+      png_snprintf6(near_time_buf, 29, "%d %s %d %02d:%02d:%02d +0000",
+          ptime->day % 32, short_months[(ptime->month - 1) % 12],
+          ptime->year, ptime->hour % 24, ptime->minute % 60,
+          ptime->second % 61);
+      png_memcpy(png_ptr->time_buffer, near_time_buf,
+          29*png_sizeof(char));
+   }
+#else
+   png_snprintf6(png_ptr->time_buffer, 29, "%d %s %d %02d:%02d:%02d +0000",
+       ptime->day % 32, short_months[(ptime->month - 1) % 12],
+       ptime->year, ptime->hour % 24, ptime->minute % 60,
+       ptime->second % 61);
+#endif
+#endif /* _WIN32_WCE */
+   return ((png_charp)png_ptr->time_buffer);
+}
+#endif /* PNG_TIME_RFC1123_SUPPORTED */
+
+#endif /* defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED) */
+
+png_charp PNGAPI
+png_get_copyright(png_structp png_ptr)
+{
+   png_ptr = png_ptr;  /* Silence compiler warning about unused png_ptr */
+   return ((png_charp) "\n libpng version 1.2.37 - June 4, 2009\n\
+   Copyright (c) 1998-2009 Glenn Randers-Pehrson\n\
+   Copyright (c) 1996-1997 Andreas Dilger\n\
+   Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.\n");
+}
+
+/* The following return the library version as a short string in the
+ * format 1.0.0 through 99.99.99zz.  To get the version of *.h files
+ * used with your application, print out PNG_LIBPNG_VER_STRING, which
+ * is defined in png.h.
+ * Note: now there is no difference between png_get_libpng_ver() and
+ * png_get_header_ver().  Due to the version_nn_nn_nn typedef guard,
+ * it is guaranteed that png.c uses the correct version of png.h.
+ */
+png_charp PNGAPI
+png_get_libpng_ver(png_structp png_ptr)
+{
+   /* Version of *.c files used when building libpng */
+   png_ptr = png_ptr;  /* Silence compiler warning about unused png_ptr */
+   return ((png_charp) PNG_LIBPNG_VER_STRING);
+}
+
+png_charp PNGAPI
+png_get_header_ver(png_structp png_ptr)
+{
+   /* Version of *.h files used when building libpng */
+   png_ptr = png_ptr;  /* Silence compiler warning about unused png_ptr */
+   return ((png_charp) PNG_LIBPNG_VER_STRING);
+}
+
+png_charp PNGAPI
+png_get_header_version(png_structp png_ptr)
+{
+   /* Returns longer string containing both version and date */
+   png_ptr = png_ptr;  /* Silence compiler warning about unused png_ptr */
+   return ((png_charp) PNG_HEADER_VERSION_STRING
+#ifndef PNG_READ_SUPPORTED
+   "     (NO READ SUPPORT)"
+#endif
+   "\n");
+}
+
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+#ifdef PNG_HANDLE_AS_UNKNOWN_SUPPORTED
+int PNGAPI
+png_handle_as_unknown(png_structp png_ptr, png_bytep chunk_name)
+{
+   /* Check chunk_name and return "keep" value if it's on the list, else 0 */
+   int i;
+   png_bytep p;
+   if (png_ptr == NULL || chunk_name == NULL || png_ptr->num_chunk_list<=0)
+      return 0;
+   p = png_ptr->chunk_list + png_ptr->num_chunk_list*5 - 5;
+   for (i = png_ptr->num_chunk_list; i; i--, p -= 5)
+      if (!png_memcmp(chunk_name, p, 4))
+        return ((int)*(p + 4));
+   return 0;
+}
+#endif
+
+/* This function, added to libpng-1.0.6g, is untested. */
+int PNGAPI
+png_reset_zstream(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return Z_STREAM_ERROR;
+   return (inflateReset(&png_ptr->zstream));
+}
+#endif /* defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED) */
+
+/* This function was added to libpng-1.0.7 */
+png_uint_32 PNGAPI
+png_access_version_number(void)
+{
+   /* Version of *.c files used when building libpng */
+   return((png_uint_32) PNG_LIBPNG_VER);
+}
+
+
+#if defined(PNG_READ_SUPPORTED) && defined(PNG_ASSEMBLER_CODE_SUPPORTED)
+#if !defined(PNG_1_0_X)
+/* This function was added to libpng 1.2.0 */
+int PNGAPI
+png_mmx_support(void)
+{
+   /* Obsolete, to be removed from libpng-1.4.0 */
+    return -1;
+}
+#endif /* PNG_1_0_X */
+#endif /* PNG_READ_SUPPORTED && PNG_ASSEMBLER_CODE_SUPPORTED */
+
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+#ifdef PNG_SIZE_T
+/* Added at libpng version 1.2.6 */
+   PNG_EXTERN png_size_t PNGAPI png_convert_size PNGARG((size_t size));
+png_size_t PNGAPI
+png_convert_size(size_t size)
+{
+   if (size > (png_size_t)-1)
+      PNG_ABORT();  /* We haven't got access to png_ptr, so no png_error() */
+   return ((png_size_t)size);
+}
+#endif /* PNG_SIZE_T */
+
+/* Added at libpng version 1.2.34 and 1.4.0 (moved from pngset.c) */
+#if defined(PNG_cHRM_SUPPORTED)
+#if !defined(PNG_NO_CHECK_cHRM)
+
+/*
+ *    Multiply two 32-bit numbers, V1 and V2, using 32-bit
+ *    arithmetic, to produce a 64 bit result in the HI/LO words.
+ *
+ *                  A B
+ *                x C D
+ *               ------
+ *              AD || BD
+ *        AC || CB || 0
+ *
+ *    where A and B are the high and low 16-bit words of V1,
+ *    C and D are the 16-bit words of V2, AD is the product of
+ *    A and D, and X || Y is (X << 16) + Y.
+*/
+
+void png_64bit_product (long v1, long v2, unsigned long *hi_product,
+   unsigned long *lo_product)
+{
+   int a, b, c, d;
+   long lo, hi, x, y;
+
+   a = (v1 >> 16) & 0xffff;
+   b = v1 & 0xffff;
+   c = (v2 >> 16) & 0xffff;
+   d = v2 & 0xffff;
+
+   lo = b * d;                   /* BD */
+   x = a * d + c * b;            /* AD + CB */
+   y = ((lo >> 16) & 0xffff) + x;
+
+   lo = (lo & 0xffff) | ((y & 0xffff) << 16);
+   hi = (y >> 16) & 0xffff;
+
+   hi += a * c;                  /* AC */
+
+   *hi_product = (unsigned long)hi;
+   *lo_product = (unsigned long)lo;
+}
+
+int /* private */
+png_check_cHRM_fixed(png_structp png_ptr,
+   png_fixed_point white_x, png_fixed_point white_y, png_fixed_point red_x,
+   png_fixed_point red_y, png_fixed_point green_x, png_fixed_point green_y,
+   png_fixed_point blue_x, png_fixed_point blue_y)
+{
+   int ret = 1;
+   unsigned long xy_hi,xy_lo,yx_hi,yx_lo;
+
+   png_debug(1, "in function png_check_cHRM_fixed");
+   if (png_ptr == NULL)
+      return 0;
+
+   if (white_x < 0 || white_y <= 0 ||
+         red_x < 0 ||   red_y <  0 ||
+       green_x < 0 || green_y <  0 ||
+        blue_x < 0 ||  blue_y <  0)
+   {
+      png_warning(png_ptr,
+        "Ignoring attempt to set negative chromaticity value");
+      ret = 0;
+   }
+   if (white_x > (png_fixed_point) PNG_UINT_31_MAX ||
+       white_y > (png_fixed_point) PNG_UINT_31_MAX ||
+         red_x > (png_fixed_point) PNG_UINT_31_MAX ||
+         red_y > (png_fixed_point) PNG_UINT_31_MAX ||
+       green_x > (png_fixed_point) PNG_UINT_31_MAX ||
+       green_y > (png_fixed_point) PNG_UINT_31_MAX ||
+        blue_x > (png_fixed_point) PNG_UINT_31_MAX ||
+        blue_y > (png_fixed_point) PNG_UINT_31_MAX )
+   {
+      png_warning(png_ptr,
+        "Ignoring attempt to set chromaticity value exceeding 21474.83");
+      ret = 0;
+   }
+   if (white_x > 100000L - white_y)
+   {
+      png_warning(png_ptr, "Invalid cHRM white point");
+      ret = 0;
+   }
+   if (red_x > 100000L - red_y)
+   {
+      png_warning(png_ptr, "Invalid cHRM red point");
+      ret = 0;
+   }
+   if (green_x > 100000L - green_y)
+   {
+      png_warning(png_ptr, "Invalid cHRM green point");
+      ret = 0;
+   }
+   if (blue_x > 100000L - blue_y)
+   {
+      png_warning(png_ptr, "Invalid cHRM blue point");
+      ret = 0;
+   }
+
+   png_64bit_product(green_x - red_x, blue_y - red_y, &xy_hi, &xy_lo);
+   png_64bit_product(green_y - red_y, blue_x - red_x, &yx_hi, &yx_lo);
+
+   if (xy_hi == yx_hi && xy_lo == yx_lo)
+   {
+      png_warning(png_ptr,
+         "Ignoring attempt to set cHRM RGB triangle with zero area");
+      ret = 0;
+   }
+
+   return ret;
+}
+#endif /* NO_PNG_CHECK_cHRM */
+#endif /* PNG_cHRM_SUPPORTED */
+#endif /* defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED) */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
new file mode 100755
index 0000000..4ae3367
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/png.h
@@ -0,0 +1,3686 @@
+/* png.h - header file for PNG reference library
+ *
+ * libpng version 1.2.37 - June 4, 2009
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * Authors and maintainers:
+ *  libpng versions 0.71, May 1995, through 0.88, January 1996: Guy Schalnat
+ *  libpng versions 0.89c, June 1996, through 0.96, May 1997: Andreas Dilger
+ *  libpng versions 0.97, January 1998, through 1.2.37 - June 4, 2009: Glenn
+ *  See also "Contributing Authors", below.
+ *
+ * Note about libpng version numbers:
+ *
+ *    Due to various miscommunications, unforeseen code incompatibilities
+ *    and occasional factors outside the authors' control, version numbering
+ *    on the library has not always been consistent and straightforward.
+ *    The following table summarizes matters since version 0.89c, which was
+ *    the first widely used release:
+ *
+ *    source                 png.h  png.h  shared-lib
+ *    version                string   int  version
+ *    -------                ------ -----  ----------
+ *    0.89c "1.0 beta 3"     0.89      89  1.0.89
+ *    0.90  "1.0 beta 4"     0.90      90  0.90  [should have been 2.0.90]
+ *    0.95  "1.0 beta 5"     0.95      95  0.95  [should have been 2.0.95]
+ *    0.96  "1.0 beta 6"     0.96      96  0.96  [should have been 2.0.96]
+ *    0.97b "1.00.97 beta 7" 1.00.97   97  1.0.1 [should have been 2.0.97]
+ *    0.97c                  0.97      97  2.0.97
+ *    0.98                   0.98      98  2.0.98
+ *    0.99                   0.99      98  2.0.99
+ *    0.99a-m                0.99      99  2.0.99
+ *    1.00                   1.00     100  2.1.0 [100 should be 10000]
+ *    1.0.0      (from here on, the   100  2.1.0 [100 should be 10000]
+ *    1.0.1       png.h string is   10001  2.1.0
+ *    1.0.1a-e    identical to the  10002  from here on, the shared library
+ *    1.0.2       source version)   10002  is 2.V where V is the source code
+ *    1.0.2a-b                      10003  version, except as noted.
+ *    1.0.3                         10003
+ *    1.0.3a-d                      10004
+ *    1.0.4                         10004
+ *    1.0.4a-f                      10005
+ *    1.0.5 (+ 2 patches)           10005
+ *    1.0.5a-d                      10006
+ *    1.0.5e-r                      10100 (not source compatible)
+ *    1.0.5s-v                      10006 (not binary compatible)
+ *    1.0.6 (+ 3 patches)           10006 (still binary incompatible)
+ *    1.0.6d-f                      10007 (still binary incompatible)
+ *    1.0.6g                        10007
+ *    1.0.6h                        10007  10.6h (testing xy.z so-numbering)
+ *    1.0.6i                        10007  10.6i
+ *    1.0.6j                        10007  2.1.0.6j (incompatible with 1.0.0)
+ *    1.0.7beta11-14        DLLNUM  10007  2.1.0.7beta11-14 (binary compatible)
+ *    1.0.7beta15-18           1    10007  2.1.0.7beta15-18 (binary compatible)
+ *    1.0.7rc1-2               1    10007  2.1.0.7rc1-2 (binary compatible)
+ *    1.0.7                    1    10007  (still compatible)
+ *    1.0.8beta1-4             1    10008  2.1.0.8beta1-4
+ *    1.0.8rc1                 1    10008  2.1.0.8rc1
+ *    1.0.8                    1    10008  2.1.0.8
+ *    1.0.9beta1-6             1    10009  2.1.0.9beta1-6
+ *    1.0.9rc1                 1    10009  2.1.0.9rc1
+ *    1.0.9beta7-10            1    10009  2.1.0.9beta7-10
+ *    1.0.9rc2                 1    10009  2.1.0.9rc2
+ *    1.0.9                    1    10009  2.1.0.9
+ *    1.0.10beta1              1    10010  2.1.0.10beta1
+ *    1.0.10rc1                1    10010  2.1.0.10rc1
+ *    1.0.10                   1    10010  2.1.0.10
+ *    1.0.11beta1-3            1    10011  2.1.0.11beta1-3
+ *    1.0.11rc1                1    10011  2.1.0.11rc1
+ *    1.0.11                   1    10011  2.1.0.11
+ *    1.0.12beta1-2            2    10012  2.1.0.12beta1-2
+ *    1.0.12rc1                2    10012  2.1.0.12rc1
+ *    1.0.12                   2    10012  2.1.0.12
+ *    1.1.0a-f                 -    10100  2.1.1.0a-f (branch abandoned)
+ *    1.2.0beta1-2             2    10200  2.1.2.0beta1-2
+ *    1.2.0beta3-5             3    10200  3.1.2.0beta3-5
+ *    1.2.0rc1                 3    10200  3.1.2.0rc1
+ *    1.2.0                    3    10200  3.1.2.0
+ *    1.2.1beta1-4             3    10201  3.1.2.1beta1-4
+ *    1.2.1rc1-2               3    10201  3.1.2.1rc1-2
+ *    1.2.1                    3    10201  3.1.2.1
+ *    1.2.2beta1-6            12    10202  12.so.0.1.2.2beta1-6
+ *    1.0.13beta1             10    10013  10.so.0.1.0.13beta1
+ *    1.0.13rc1               10    10013  10.so.0.1.0.13rc1
+ *    1.2.2rc1                12    10202  12.so.0.1.2.2rc1
+ *    1.0.13                  10    10013  10.so.0.1.0.13
+ *    1.2.2                   12    10202  12.so.0.1.2.2
+ *    1.2.3rc1-6              12    10203  12.so.0.1.2.3rc1-6
+ *    1.2.3                   12    10203  12.so.0.1.2.3
+ *    1.2.4beta1-3            13    10204  12.so.0.1.2.4beta1-3
+ *    1.0.14rc1               13    10014  10.so.0.1.0.14rc1
+ *    1.2.4rc1                13    10204  12.so.0.1.2.4rc1
+ *    1.0.14                  10    10014  10.so.0.1.0.14
+ *    1.2.4                   13    10204  12.so.0.1.2.4
+ *    1.2.5beta1-2            13    10205  12.so.0.1.2.5beta1-2
+ *    1.0.15rc1-3             10    10015  10.so.0.1.0.15rc1-3
+ *    1.2.5rc1-3              13    10205  12.so.0.1.2.5rc1-3
+ *    1.0.15                  10    10015  10.so.0.1.0.15
+ *    1.2.5                   13    10205  12.so.0.1.2.5
+ *    1.2.6beta1-4            13    10206  12.so.0.1.2.6beta1-4
+ *    1.0.16                  10    10016  10.so.0.1.0.16
+ *    1.2.6                   13    10206  12.so.0.1.2.6
+ *    1.2.7beta1-2            13    10207  12.so.0.1.2.7beta1-2
+ *    1.0.17rc1               10    10017  10.so.0.1.0.17rc1
+ *    1.2.7rc1                13    10207  12.so.0.1.2.7rc1
+ *    1.0.17                  10    10017  10.so.0.1.0.17
+ *    1.2.7                   13    10207  12.so.0.1.2.7
+ *    1.2.8beta1-5            13    10208  12.so.0.1.2.8beta1-5
+ *    1.0.18rc1-5             10    10018  10.so.0.1.0.18rc1-5
+ *    1.2.8rc1-5              13    10208  12.so.0.1.2.8rc1-5
+ *    1.0.18                  10    10018  10.so.0.1.0.18
+ *    1.2.8                   13    10208  12.so.0.1.2.8
+ *    1.2.9beta1-3            13    10209  12.so.0.1.2.9beta1-3
+ *    1.2.9beta4-11           13    10209  12.so.0.9[.0]
+ *    1.2.9rc1                13    10209  12.so.0.9[.0]
+ *    1.2.9                   13    10209  12.so.0.9[.0]
+ *    1.2.10beta1-8           13    10210  12.so.0.10[.0]
+ *    1.2.10rc1-3             13    10210  12.so.0.10[.0]
+ *    1.2.10                  13    10210  12.so.0.10[.0]
+ *    1.2.11beta1-4           13    10211  12.so.0.11[.0]
+ *    1.0.19rc1-5             10    10019  10.so.0.19[.0]
+ *    1.2.11rc1-5             13    10211  12.so.0.11[.0]
+ *    1.0.19                  10    10019  10.so.0.19[.0]
+ *    1.2.11                  13    10211  12.so.0.11[.0]
+ *    1.0.20                  10    10020  10.so.0.20[.0]
+ *    1.2.12                  13    10212  12.so.0.12[.0]
+ *    1.2.13beta1             13    10213  12.so.0.13[.0]
+ *    1.0.21                  10    10021  10.so.0.21[.0]
+ *    1.2.13                  13    10213  12.so.0.13[.0]
+ *    1.2.14beta1-2           13    10214  12.so.0.14[.0]
+ *    1.0.22rc1               10    10022  10.so.0.22[.0]
+ *    1.2.14rc1               13    10214  12.so.0.14[.0]
+ *    1.0.22                  10    10022  10.so.0.22[.0]
+ *    1.2.14                  13    10214  12.so.0.14[.0]
+ *    1.2.15beta1-6           13    10215  12.so.0.15[.0]
+ *    1.0.23rc1-5             10    10023  10.so.0.23[.0]
+ *    1.2.15rc1-5             13    10215  12.so.0.15[.0]
+ *    1.0.23                  10    10023  10.so.0.23[.0]
+ *    1.2.15                  13    10215  12.so.0.15[.0]
+ *    1.2.16beta1-2           13    10216  12.so.0.16[.0]
+ *    1.2.16rc1               13    10216  12.so.0.16[.0]
+ *    1.0.24                  10    10024  10.so.0.24[.0]
+ *    1.2.16                  13    10216  12.so.0.16[.0]
+ *    1.2.17beta1-2           13    10217  12.so.0.17[.0]
+ *    1.0.25rc1               10    10025  10.so.0.25[.0]
+ *    1.2.17rc1-3             13    10217  12.so.0.17[.0]
+ *    1.0.25                  10    10025  10.so.0.25[.0]
+ *    1.2.17                  13    10217  12.so.0.17[.0]
+ *    1.0.26                  10    10026  10.so.0.26[.0]
+ *    1.2.18                  13    10218  12.so.0.18[.0]
+ *    1.2.19beta1-31          13    10219  12.so.0.19[.0]
+ *    1.0.27rc1-6             10    10027  10.so.0.27[.0]
+ *    1.2.19rc1-6             13    10219  12.so.0.19[.0]
+ *    1.0.27                  10    10027  10.so.0.27[.0]
+ *    1.2.19                  13    10219  12.so.0.19[.0]
+ *    1.2.20beta01-04         13    10220  12.so.0.20[.0]
+ *    1.0.28rc1-6             10    10028  10.so.0.28[.0]
+ *    1.2.20rc1-6             13    10220  12.so.0.20[.0]
+ *    1.0.28                  10    10028  10.so.0.28[.0]
+ *    1.2.20                  13    10220  12.so.0.20[.0]
+ *    1.2.21beta1-2           13    10221  12.so.0.21[.0]
+ *    1.2.21rc1-3             13    10221  12.so.0.21[.0]
+ *    1.0.29                  10    10029  10.so.0.29[.0]
+ *    1.2.21                  13    10221  12.so.0.21[.0]
+ *    1.2.22beta1-4           13    10222  12.so.0.22[.0]
+ *    1.0.30rc1               10    10030  10.so.0.30[.0]
+ *    1.2.22rc1               13    10222  12.so.0.22[.0]
+ *    1.0.30                  10    10030  10.so.0.30[.0]
+ *    1.2.22                  13    10222  12.so.0.22[.0]
+ *    1.2.23beta01-05         13    10223  12.so.0.23[.0]
+ *    1.2.23rc01              13    10223  12.so.0.23[.0]
+ *    1.2.23                  13    10223  12.so.0.23[.0]
+ *    1.2.24beta01-02         13    10224  12.so.0.24[.0]
+ *    1.2.24rc01              13    10224  12.so.0.24[.0]
+ *    1.2.24                  13    10224  12.so.0.24[.0]
+ *    1.2.25beta01-06         13    10225  12.so.0.25[.0]
+ *    1.2.25rc01-02           13    10225  12.so.0.25[.0]
+ *    1.0.31                  10    10031  10.so.0.31[.0]
+ *    1.2.25                  13    10225  12.so.0.25[.0]
+ *    1.2.26beta01-06         13    10226  12.so.0.26[.0]
+ *    1.2.26rc01              13    10226  12.so.0.26[.0]
+ *    1.2.26                  13    10226  12.so.0.26[.0]
+ *    1.0.32                  10    10032  10.so.0.32[.0]
+ *    1.2.27beta01-06         13    10227  12.so.0.27[.0]
+ *    1.2.27rc01              13    10227  12.so.0.27[.0]
+ *    1.0.33                  10    10033  10.so.0.33[.0]
+ *    1.2.27                  13    10227  12.so.0.27[.0]
+ *    1.0.34                  10    10034  10.so.0.34[.0]
+ *    1.2.28                  13    10228  12.so.0.28[.0]
+ *    1.2.29beta01-03         13    10229  12.so.0.29[.0]
+ *    1.2.29rc01              13    10229  12.so.0.29[.0]
+ *    1.0.35                  10    10035  10.so.0.35[.0]
+ *    1.2.29                  13    10229  12.so.0.29[.0]
+ *    1.0.37                  10    10037  10.so.0.37[.0]
+ *    1.2.30beta01-04         13    10230  12.so.0.30[.0]
+ *    1.0.38rc01-08           10    10038  10.so.0.38[.0]
+ *    1.2.30rc01-08           13    10230  12.so.0.30[.0]
+ *    1.0.38                  10    10038  10.so.0.38[.0]
+ *    1.2.30                  13    10230  12.so.0.30[.0]
+ *    1.0.39rc01-03           10    10039  10.so.0.39[.0]
+ *    1.2.31rc01-03           13    10231  12.so.0.31[.0]
+ *    1.0.39                  10    10039  10.so.0.39[.0]
+ *    1.2.31                  13    10231  12.so.0.31[.0]
+ *    1.2.32beta01-02         13    10232  12.so.0.32[.0]
+ *    1.0.40rc01              10    10040  10.so.0.40[.0]
+ *    1.2.32rc01              13    10232  12.so.0.32[.0]
+ *    1.0.40                  10    10040  10.so.0.40[.0]
+ *    1.2.32                  13    10232  12.so.0.32[.0]
+ *    1.2.33beta01-02         13    10233  12.so.0.33[.0]
+ *    1.2.33rc01-02           13    10233  12.so.0.33[.0]
+ *    1.0.41rc01              10    10041  10.so.0.41[.0]
+ *    1.2.33                  13    10233  12.so.0.33[.0]
+ *    1.0.41                  10    10041  10.so.0.41[.0]
+ *    1.2.34beta01-07         13    10234  12.so.0.34[.0]
+ *    1.0.42rc01              10    10042  10.so.0.42[.0]
+ *    1.2.34rc01              13    10234  12.so.0.34[.0]
+ *    1.0.42                  10    10042  10.so.0.42[.0]
+ *    1.2.34                  13    10234  12.so.0.34[.0]
+ *    1.2.35beta01-03         13    10235  12.so.0.35[.0]
+ *    1.0.43rc01-02           10    10043  10.so.0.43[.0]
+ *    1.2.35rc01-02           13    10235  12.so.0.35[.0]
+ *    1.0.43                  10    10043  10.so.0.43[.0]
+ *    1.2.35                  13    10235  12.so.0.35[.0]
+ *    1.2.36beta01-05         13    10236  12.so.0.36[.0]
+ *    1.2.36rc01              13    10236  12.so.0.36[.0]
+ *    1.0.44                  10    10044  10.so.0.44[.0]
+ *    1.2.36                  13    10236  12.so.0.36[.0]
+ *    1.2.37beta01-03         13    10237  12.so.0.37[.0]
+ *    1.2.37rc01              13    10237  12.so.0.37[.0]
+ *    1.2.37                  13    10237  12.so.0.37[.0]
+ *
+ *    Henceforth the source version will match the shared-library major
+ *    and minor numbers; the shared-library major version number will be
+ *    used for changes in backward compatibility, as it is intended.  The
+ *    PNG_LIBPNG_VER macro, which is not used within libpng but is available
+ *    for applications, is an unsigned integer of the form xyyzz corresponding
+ *    to the source version x.y.z (leading zeros in y and z).  Beta versions
+ *    were given the previous public release number plus a letter, until
+ *    version 1.0.6j; from then on they were given the upcoming public
+ *    release number plus "betaNN" or "rcNN".
+ *
+ *    Binary incompatibility exists only when applications make direct access
+ *    to the info_ptr or png_ptr members through png.h, and the compiled
+ *    application is loaded with a different version of the library.
+ *
+ *    DLLNUM will change each time there are forward or backward changes
+ *    in binary compatibility (e.g., when a new feature is added).
+ *
+ * See libpng.txt or libpng.3 for more information.  The PNG specification
+ * is available as a W3C Recommendation and as an ISO Specification,
+ * <http://www.w3.org/TR/2003/REC-PNG-20031110/
+ */
+
+/*
+ * COPYRIGHT NOTICE, DISCLAIMER, and LICENSE:
+ *
+ * If you modify libpng you may insert additional notices immediately following
+ * this sentence.
+ *
+ * libpng versions 1.2.6, August 15, 2004, through 1.2.37, June 4, 2009, are
+ * Copyright (c) 2004, 2006-2009 Glenn Randers-Pehrson, and are
+ * distributed according to the same disclaimer and license as libpng-1.2.5
+ * with the following individual added to the list of Contributing Authors:
+ *
+ *    Cosmin Truta
+ *
+ * libpng versions 1.0.7, July 1, 2000, through 1.2.5, October 3, 2002, are
+ * Copyright (c) 2000-2002 Glenn Randers-Pehrson, and are
+ * distributed according to the same disclaimer and license as libpng-1.0.6
+ * with the following individuals added to the list of Contributing Authors:
+ *
+ *    Simon-Pierre Cadieux
+ *    Eric S. Raymond
+ *    Gilles Vollant
+ *
+ * and with the following additions to the disclaimer:
+ *
+ *    There is no warranty against interference with your enjoyment of the
+ *    library or against infringement.  There is no warranty that our
+ *    efforts or the library will fulfill any of your particular purposes
+ *    or needs.  This library is provided with all faults, and the entire
+ *    risk of satisfactory quality, performance, accuracy, and effort is with
+ *    the user.
+ *
+ * libpng versions 0.97, January 1998, through 1.0.6, March 20, 2000, are
+ * Copyright (c) 1998, 1999, 2000 Glenn Randers-Pehrson, and are
+ * distributed according to the same disclaimer and license as libpng-0.96,
+ * with the following individuals added to the list of Contributing Authors:
+ *
+ *    Tom Lane
+ *    Glenn Randers-Pehrson
+ *    Willem van Schaik
+ *
+ * libpng versions 0.89, June 1996, through 0.96, May 1997, are
+ * Copyright (c) 1996, 1997 Andreas Dilger
+ * Distributed according to the same disclaimer and license as libpng-0.88,
+ * with the following individuals added to the list of Contributing Authors:
+ *
+ *    John Bowler
+ *    Kevin Bracey
+ *    Sam Bushell
+ *    Magnus Holmgren
+ *    Greg Roelofs
+ *    Tom Tanner
+ *
+ * libpng versions 0.5, May 1995, through 0.88, January 1996, are
+ * Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.
+ *
+ * For the purposes of this copyright and license, "Contributing Authors"
+ * is defined as the following set of individuals:
+ *
+ *    Andreas Dilger
+ *    Dave Martindale
+ *    Guy Eric Schalnat
+ *    Paul Schmidt
+ *    Tim Wegner
+ *
+ * The PNG Reference Library is supplied "AS IS".  The Contributing Authors
+ * and Group 42, Inc. disclaim all warranties, expressed or implied,
+ * including, without limitation, the warranties of merchantability and of
+ * fitness for any purpose.  The Contributing Authors and Group 42, Inc.
+ * assume no liability for direct, indirect, incidental, special, exemplary,
+ * or consequential damages, which may result from the use of the PNG
+ * Reference Library, even if advised of the possibility of such damage.
+ *
+ * Permission is hereby granted to use, copy, modify, and distribute this
+ * source code, or portions hereof, for any purpose, without fee, subject
+ * to the following restrictions:
+ *
+ * 1. The origin of this source code must not be misrepresented.
+ *
+ * 2. Altered versions must be plainly marked as such and
+ * must not be misrepresented as being the original source.
+ *
+ * 3. This Copyright notice may not be removed or altered from
+ *    any source or altered source distribution.
+ *
+ * The Contributing Authors and Group 42, Inc. specifically permit, without
+ * fee, and encourage the use of this source code as a component to
+ * supporting the PNG file format in commercial products.  If you use this
+ * source code in a product, acknowledgment is not required but would be
+ * appreciated.
+ */
+
+/*
+ * A "png_get_copyright" function is available, for convenient use in "about"
+ * boxes and the like:
+ *
+ * printf("%s",png_get_copyright(NULL));
+ *
+ * Also, the PNG logo (in PNG format, of course) is supplied in the
+ * files "pngbar.png" and "pngbar.jpg (88x31) and "pngnow.png" (98x31).
+ */
+
+/*
+ * Libpng is OSI Certified Open Source Software.  OSI Certified is a
+ * certification mark of the Open Source Initiative.
+ */
+
+/*
+ * The contributing authors would like to thank all those who helped
+ * with testing, bug fixes, and patience.  This wouldn't have been
+ * possible without all of you.
+ *
+ * Thanks to Frank J. T. Wojcik for helping with the documentation.
+ */
+
+/*
+ * Y2K compliance in libpng:
+ * =========================
+ *
+ *    June 4, 2009
+ *
+ *    Since the PNG Development group is an ad-hoc body, we can't make
+ *    an official declaration.
+ *
+ *    This is your unofficial assurance that libpng from version 0.71 and
+ *    upward through 1.2.37 are Y2K compliant.  It is my belief that earlier
+ *    versions were also Y2K compliant.
+ *
+ *    Libpng only has three year fields.  One is a 2-byte unsigned integer
+ *    that will hold years up to 65535.  The other two hold the date in text
+ *    format, and will hold years up to 9999.
+ *
+ *    The integer is
+ *        "png_uint_16 year" in png_time_struct.
+ *
+ *    The strings are
+ *        "png_charp time_buffer" in png_struct and
+ *        "near_time_buffer", which is a local character string in png.c.
+ *
+ *    There are seven time-related functions:
+ *        png.c: png_convert_to_rfc_1123() in png.c
+ *          (formerly png_convert_to_rfc_1152() in error)
+ *        png_convert_from_struct_tm() in pngwrite.c, called in pngwrite.c
+ *        png_convert_from_time_t() in pngwrite.c
+ *        png_get_tIME() in pngget.c
+ *        png_handle_tIME() in pngrutil.c, called in pngread.c
+ *        png_set_tIME() in pngset.c
+ *        png_write_tIME() in pngwutil.c, called in pngwrite.c
+ *
+ *    All handle dates properly in a Y2K environment.  The
+ *    png_convert_from_time_t() function calls gmtime() to convert from system
+ *    clock time, which returns (year - 1900), which we properly convert to
+ *    the full 4-digit year.  There is a possibility that applications using
+ *    libpng are not passing 4-digit years into the png_convert_to_rfc_1123()
+ *    function, or that they are incorrectly passing only a 2-digit year
+ *    instead of "year - 1900" into the png_convert_from_struct_tm() function,
+ *    but this is not under our control.  The libpng documentation has always
+ *    stated that it works with 4-digit years, and the APIs have been
+ *    documented as such.
+ *
+ *    The tIME chunk itself is also Y2K compliant.  It uses a 2-byte unsigned
+ *    integer to hold the year, and can hold years as large as 65535.
+ *
+ *    zlib, upon which libpng depends, is also Y2K compliant.  It contains
+ *    no date-related code.
+ *
+ *       Glenn Randers-Pehrson
+ *       libpng maintainer
+ *       PNG Development Group
+ */
+
+#ifndef PNG_H
+#define PNG_H
+
+/* This is not the place to learn how to use libpng.  The file libpng.txt
+ * describes how to use libpng, and the file example.c summarizes it
+ * with some code on which to build.  This file is useful for looking
+ * at the actual function definitions and structure components.
+ */
+
+/* Version information for png.h - this should match the version in png.c */
+#define PNG_LIBPNG_VER_STRING "1.2.37"
+#define PNG_HEADER_VERSION_STRING \
+   " libpng version 1.2.37 - June 4, 2009\n"
+
+#define PNG_LIBPNG_VER_SONUM   0
+#define PNG_LIBPNG_VER_DLLNUM  13
+
+/* These should match the first 3 components of PNG_LIBPNG_VER_STRING: */
+#define PNG_LIBPNG_VER_MAJOR   1
+#define PNG_LIBPNG_VER_MINOR   2
+#define PNG_LIBPNG_VER_RELEASE 37
+/* This should match the numeric part of the final component of
+ * PNG_LIBPNG_VER_STRING, omitting any leading zero: */
+
+#define PNG_LIBPNG_VER_BUILD  0
+
+/* Release Status */
+#define PNG_LIBPNG_BUILD_ALPHA    1
+#define PNG_LIBPNG_BUILD_BETA     2
+#define PNG_LIBPNG_BUILD_RC       3
+#define PNG_LIBPNG_BUILD_STABLE   4
+#define PNG_LIBPNG_BUILD_RELEASE_STATUS_MASK 7
+  
+/* Release-Specific Flags */
+#define PNG_LIBPNG_BUILD_PATCH    8 /* Can be OR'ed with
+                                       PNG_LIBPNG_BUILD_STABLE only */
+#define PNG_LIBPNG_BUILD_PRIVATE 16 /* Cannot be OR'ed with
+                                       PNG_LIBPNG_BUILD_SPECIAL */
+#define PNG_LIBPNG_BUILD_SPECIAL 32 /* Cannot be OR'ed with
+                                       PNG_LIBPNG_BUILD_PRIVATE */
+
+#define PNG_LIBPNG_BUILD_BASE_TYPE PNG_LIBPNG_BUILD_STABLE
+
+/* Careful here.  At one time, Guy wanted to use 082, but that would be octal.
+ * We must not include leading zeros.
+ * Versions 0.7 through 1.0.0 were in the range 0 to 100 here (only
+ * version 1.0.0 was mis-numbered 100 instead of 10000).  From
+ * version 1.0.1 it's    xxyyzz, where x=major, y=minor, z=release */
+#define PNG_LIBPNG_VER 10237 /* 1.2.37 */
+
+#ifndef PNG_VERSION_INFO_ONLY
+/* Guoshen Yu, Windows version, 2010.10.16 */
+/* include the compression library's header */
+#include "../zlib/zlib.h"
+#endif
+
+/* include all user configurable info, including optional assembler routines */
+#include "pngconf.h"
+
+/*
+ * Added at libpng-1.2.8 */
+/* Ref MSDN: Private as priority over Special
+ * VS_FF_PRIVATEBUILD File *was not* built using standard release
+ * procedures. If this value is given, the StringFileInfo block must
+ * contain a PrivateBuild string. 
+ *
+ * VS_FF_SPECIALBUILD File *was* built by the original company using
+ * standard release procedures but is a variation of the standard
+ * file of the same version number. If this value is given, the
+ * StringFileInfo block must contain a SpecialBuild string. 
+ */
+
+#if defined(PNG_USER_PRIVATEBUILD)
+#  define PNG_LIBPNG_BUILD_TYPE \
+          (PNG_LIBPNG_BUILD_BASE_TYPE | PNG_LIBPNG_BUILD_PRIVATE)
+#else
+#  if defined(PNG_LIBPNG_SPECIALBUILD)
+#    define PNG_LIBPNG_BUILD_TYPE \
+            (PNG_LIBPNG_BUILD_BASE_TYPE | PNG_LIBPNG_BUILD_SPECIAL)
+#  else
+#    define PNG_LIBPNG_BUILD_TYPE (PNG_LIBPNG_BUILD_BASE_TYPE)
+#  endif
+#endif
+
+#ifndef PNG_VERSION_INFO_ONLY
+
+/* Inhibit C++ name-mangling for libpng functions but not for system calls. */
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/* This file is arranged in several sections.  The first section contains
+ * structure and type definitions.  The second section contains the external
+ * library functions, while the third has the internal library functions,
+ * which applications aren't expected to use directly.
+ */
+
+#ifndef PNG_NO_TYPECAST_NULL
+#define int_p_NULL                (int *)NULL
+#define png_bytep_NULL            (png_bytep)NULL
+#define png_bytepp_NULL           (png_bytepp)NULL
+#define png_doublep_NULL          (png_doublep)NULL
+#define png_error_ptr_NULL        (png_error_ptr)NULL
+#define png_flush_ptr_NULL        (png_flush_ptr)NULL
+#define png_free_ptr_NULL         (png_free_ptr)NULL
+#define png_infopp_NULL           (png_infopp)NULL
+#define png_malloc_ptr_NULL       (png_malloc_ptr)NULL
+#define png_read_status_ptr_NULL  (png_read_status_ptr)NULL
+#define png_rw_ptr_NULL           (png_rw_ptr)NULL
+#define png_structp_NULL          (png_structp)NULL
+#define png_uint_16p_NULL         (png_uint_16p)NULL
+#define png_voidp_NULL            (png_voidp)NULL
+#define png_write_status_ptr_NULL (png_write_status_ptr)NULL
+#else
+#define int_p_NULL                NULL
+#define png_bytep_NULL            NULL
+#define png_bytepp_NULL           NULL
+#define png_doublep_NULL          NULL
+#define png_error_ptr_NULL        NULL
+#define png_flush_ptr_NULL        NULL
+#define png_free_ptr_NULL         NULL
+#define png_infopp_NULL           NULL
+#define png_malloc_ptr_NULL       NULL
+#define png_read_status_ptr_NULL  NULL
+#define png_rw_ptr_NULL           NULL
+#define png_structp_NULL          NULL
+#define png_uint_16p_NULL         NULL
+#define png_voidp_NULL            NULL
+#define png_write_status_ptr_NULL NULL
+#endif
+
+/* variables declared in png.c - only it needs to define PNG_NO_EXTERN */
+#if !defined(PNG_NO_EXTERN) || defined(PNG_ALWAYS_EXTERN)
+/* Version information for C files, stored in png.c.  This had better match
+ * the version above.
+ */
+#ifdef PNG_USE_GLOBAL_ARRAYS
+PNG_EXPORT_VAR (PNG_CONST char) png_libpng_ver[18];
+  /* need room for 99.99.99beta99z */
+#else
+#define png_libpng_ver png_get_header_ver(NULL)
+#endif
+
+#ifdef PNG_USE_GLOBAL_ARRAYS
+/* This was removed in version 1.0.5c */
+/* Structures to facilitate easy interlacing.  See png.c for more details */
+PNG_EXPORT_VAR (PNG_CONST int FARDATA) png_pass_start[7];
+PNG_EXPORT_VAR (PNG_CONST int FARDATA) png_pass_inc[7];
+PNG_EXPORT_VAR (PNG_CONST int FARDATA) png_pass_ystart[7];
+PNG_EXPORT_VAR (PNG_CONST int FARDATA) png_pass_yinc[7];
+PNG_EXPORT_VAR (PNG_CONST int FARDATA) png_pass_mask[7];
+PNG_EXPORT_VAR (PNG_CONST int FARDATA) png_pass_dsp_mask[7];
+/* This isn't currently used.  If you need it, see png.c for more details.
+PNG_EXPORT_VAR (PNG_CONST int FARDATA) png_pass_height[7];
+*/
+#endif
+
+#endif /* PNG_NO_EXTERN */
+
+/* Three color definitions.  The order of the red, green, and blue, (and the
+ * exact size) is not important, although the size of the fields need to
+ * be png_byte or png_uint_16 (as defined below).
+ */
+typedef struct png_color_struct
+{
+   png_byte red;
+   png_byte green;
+   png_byte blue;
+} png_color;
+typedef png_color FAR * png_colorp;
+typedef png_color FAR * FAR * png_colorpp;
+
+typedef struct png_color_16_struct
+{
+   png_byte index;    /* used for palette files */
+   png_uint_16 red;   /* for use in red green blue files */
+   png_uint_16 green;
+   png_uint_16 blue;
+   png_uint_16 gray;  /* for use in grayscale files */
+} png_color_16;
+typedef png_color_16 FAR * png_color_16p;
+typedef png_color_16 FAR * FAR * png_color_16pp;
+
+typedef struct png_color_8_struct
+{
+   png_byte red;   /* for use in red green blue files */
+   png_byte green;
+   png_byte blue;
+   png_byte gray;  /* for use in grayscale files */
+   png_byte alpha; /* for alpha channel files */
+} png_color_8;
+typedef png_color_8 FAR * png_color_8p;
+typedef png_color_8 FAR * FAR * png_color_8pp;
+
+/*
+ * The following two structures are used for the in-core representation
+ * of sPLT chunks.
+ */
+typedef struct png_sPLT_entry_struct
+{
+   png_uint_16 red;
+   png_uint_16 green;
+   png_uint_16 blue;
+   png_uint_16 alpha;
+   png_uint_16 frequency;
+} png_sPLT_entry;
+typedef png_sPLT_entry FAR * png_sPLT_entryp;
+typedef png_sPLT_entry FAR * FAR * png_sPLT_entrypp;
+
+/*  When the depth of the sPLT palette is 8 bits, the color and alpha samples
+ *  occupy the LSB of their respective members, and the MSB of each member
+ *  is zero-filled.  The frequency member always occupies the full 16 bits.
+ */
+
+typedef struct png_sPLT_struct
+{
+   png_charp name;           /* palette name */
+   png_byte depth;           /* depth of palette samples */
+   png_sPLT_entryp entries;  /* palette entries */
+   png_int_32 nentries;      /* number of palette entries */
+} png_sPLT_t;
+typedef png_sPLT_t FAR * png_sPLT_tp;
+typedef png_sPLT_t FAR * FAR * png_sPLT_tpp;
+
+#ifdef PNG_TEXT_SUPPORTED
+/* png_text holds the contents of a text/ztxt/itxt chunk in a PNG file,
+ * and whether that contents is compressed or not.  The "key" field
+ * points to a regular zero-terminated C string.  The "text", "lang", and
+ * "lang_key" fields can be regular C strings, empty strings, or NULL pointers.
+ * However, the * structure returned by png_get_text() will always contain
+ * regular zero-terminated C strings (possibly empty), never NULL pointers,
+ * so they can be safely used in printf() and other string-handling functions.
+ */
+typedef struct png_text_struct
+{
+   int  compression;       /* compression value:
+                             -1: tEXt, none
+                              0: zTXt, deflate
+                              1: iTXt, none
+                              2: iTXt, deflate  */
+   png_charp key;          /* keyword, 1-79 character description of "text" */
+   png_charp text;         /* comment, may be an empty string (ie "")
+                              or a NULL pointer */
+   png_size_t text_length; /* length of the text string */
+#ifdef PNG_iTXt_SUPPORTED
+   png_size_t itxt_length; /* length of the itxt string */
+   png_charp lang;         /* language code, 0-79 characters
+                              or a NULL pointer */
+   png_charp lang_key;     /* keyword translated UTF-8 string, 0 or more
+                              chars or a NULL pointer */
+#endif
+} png_text;
+typedef png_text FAR * png_textp;
+typedef png_text FAR * FAR * png_textpp;
+#endif
+
+/* Supported compression types for text in PNG files (tEXt, and zTXt).
+ * The values of the PNG_TEXT_COMPRESSION_ defines should NOT be changed. */
+#define PNG_TEXT_COMPRESSION_NONE_WR -3
+#define PNG_TEXT_COMPRESSION_zTXt_WR -2
+#define PNG_TEXT_COMPRESSION_NONE    -1
+#define PNG_TEXT_COMPRESSION_zTXt     0
+#define PNG_ITXT_COMPRESSION_NONE     1
+#define PNG_ITXT_COMPRESSION_zTXt     2
+#define PNG_TEXT_COMPRESSION_LAST     3  /* Not a valid value */
+
+/* png_time is a way to hold the time in an machine independent way.
+ * Two conversions are provided, both from time_t and struct tm.  There
+ * is no portable way to convert to either of these structures, as far
+ * as I know.  If you know of a portable way, send it to me.  As a side
+ * note - PNG has always been Year 2000 compliant!
+ */
+typedef struct png_time_struct
+{
+   png_uint_16 year; /* full year, as in, 1995 */
+   png_byte month;   /* month of year, 1 - 12 */
+   png_byte day;     /* day of month, 1 - 31 */
+   png_byte hour;    /* hour of day, 0 - 23 */
+   png_byte minute;  /* minute of hour, 0 - 59 */
+   png_byte second;  /* second of minute, 0 - 60 (for leap seconds) */
+} png_time;
+typedef png_time FAR * png_timep;
+typedef png_time FAR * FAR * png_timepp;
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+/* png_unknown_chunk is a structure to hold queued chunks for which there is
+ * no specific support.  The idea is that we can use this to queue
+ * up private chunks for output even though the library doesn't actually
+ * know about their semantics.
+ */
+#define PNG_CHUNK_NAME_LENGTH 5
+typedef struct png_unknown_chunk_t
+{
+    png_byte name[PNG_CHUNK_NAME_LENGTH];
+    png_byte *data;
+    png_size_t size;
+
+    /* libpng-using applications should NOT directly modify this byte. */
+    png_byte location; /* mode of operation at read time */
+}
+png_unknown_chunk;
+typedef png_unknown_chunk FAR * png_unknown_chunkp;
+typedef png_unknown_chunk FAR * FAR * png_unknown_chunkpp;
+#endif
+
+/* png_info is a structure that holds the information in a PNG file so
+ * that the application can find out the characteristics of the image.
+ * If you are reading the file, this structure will tell you what is
+ * in the PNG file.  If you are writing the file, fill in the information
+ * you want to put into the PNG file, then call png_write_info().
+ * The names chosen should be very close to the PNG specification, so
+ * consult that document for information about the meaning of each field.
+ *
+ * With libpng < 0.95, it was only possible to directly set and read the
+ * the values in the png_info_struct, which meant that the contents and
+ * order of the values had to remain fixed.  With libpng 0.95 and later,
+ * however, there are now functions that abstract the contents of
+ * png_info_struct from the application, so this makes it easier to use
+ * libpng with dynamic libraries, and even makes it possible to use
+ * libraries that don't have all of the libpng ancillary chunk-handing
+ * functionality.
+ *
+ * In any case, the order of the parameters in png_info_struct should NOT
+ * be changed for as long as possible to keep compatibility with applications
+ * that use the old direct-access method with png_info_struct.
+ *
+ * The following members may have allocated storage attached that should be
+ * cleaned up before the structure is discarded: palette, trans, text,
+ * pcal_purpose, pcal_units, pcal_params, hist, iccp_name, iccp_profile,
+ * splt_palettes, scal_unit, row_pointers, and unknowns.   By default, these
+ * are automatically freed when the info structure is deallocated, if they were
+ * allocated internally by libpng.  This behavior can be changed by means
+ * of the png_data_freer() function.
+ *
+ * More allocation details: all the chunk-reading functions that
+ * change these members go through the corresponding png_set_*
+ * functions.  A function to clear these members is available: see
+ * png_free_data().  The png_set_* functions do not depend on being
+ * able to point info structure members to any of the storage they are
+ * passed (they make their own copies), EXCEPT that the png_set_text
+ * functions use the same storage passed to them in the text_ptr or
+ * itxt_ptr structure argument, and the png_set_rows and png_set_unknowns
+ * functions do not make their own copies.
+ */
+typedef struct png_info_struct
+{
+   /* the following are necessary for every PNG file */
+   png_uint_32 width;       /* width of image in pixels (from IHDR) */
+   png_uint_32 height;      /* height of image in pixels (from IHDR) */
+   png_uint_32 valid;       /* valid chunk data (see PNG_INFO_ below) */
+   png_uint_32 rowbytes;    /* bytes needed to hold an untransformed row */
+   png_colorp palette;      /* array of color values (valid & PNG_INFO_PLTE) */
+   png_uint_16 num_palette; /* number of color entries in "palette" (PLTE) */
+   png_uint_16 num_trans;   /* number of transparent palette color (tRNS) */
+   png_byte bit_depth;      /* 1, 2, 4, 8, or 16 bits/channel (from IHDR) */
+   png_byte color_type;     /* see PNG_COLOR_TYPE_ below (from IHDR) */
+   /* The following three should have been named *_method not *_type */
+   png_byte compression_type; /* must be PNG_COMPRESSION_TYPE_BASE (IHDR) */
+   png_byte filter_type;    /* must be PNG_FILTER_TYPE_BASE (from IHDR) */
+   png_byte interlace_type; /* One of PNG_INTERLACE_NONE, PNG_INTERLACE_ADAM7 */
+
+   /* The following is informational only on read, and not used on writes. */
+   png_byte channels;       /* number of data channels per pixel (1, 2, 3, 4) */
+   png_byte pixel_depth;    /* number of bits per pixel */
+   png_byte spare_byte;     /* to align the data, and for future use */
+   png_byte signature[8];   /* magic bytes read by libpng from start of file */
+
+   /* The rest of the data is optional.  If you are reading, check the
+    * valid field to see if the information in these are valid.  If you
+    * are writing, set the valid field to those chunks you want written,
+    * and initialize the appropriate fields below.
+    */
+
+#if defined(PNG_gAMA_SUPPORTED) && defined(PNG_FLOATING_POINT_SUPPORTED)
+   /* The gAMA chunk describes the gamma characteristics of the system
+    * on which the image was created, normally in the range [1.0, 2.5].
+    * Data is valid if (valid & PNG_INFO_gAMA) is non-zero.
+    */
+   float gamma; /* gamma value of image, if (valid & PNG_INFO_gAMA) */
+#endif
+
+#if defined(PNG_sRGB_SUPPORTED)
+    /* GR-P, 0.96a */
+    /* Data valid if (valid & PNG_INFO_sRGB) non-zero. */
+   png_byte srgb_intent; /* sRGB rendering intent [0, 1, 2, or 3] */
+#endif
+
+#if defined(PNG_TEXT_SUPPORTED)
+   /* The tEXt, and zTXt chunks contain human-readable textual data in
+    * uncompressed, compressed, and optionally compressed forms, respectively.
+    * The data in "text" is an array of pointers to uncompressed,
+    * null-terminated C strings. Each chunk has a keyword that describes the
+    * textual data contained in that chunk.  Keywords are not required to be
+    * unique, and the text string may be empty.  Any number of text chunks may
+    * be in an image.
+    */
+   int num_text; /* number of comments read/to write */
+   int max_text; /* current size of text array */
+   png_textp text; /* array of comments read/to write */
+#endif /* PNG_TEXT_SUPPORTED */
+
+#if defined(PNG_tIME_SUPPORTED)
+   /* The tIME chunk holds the last time the displayed image data was
+    * modified.  See the png_time struct for the contents of this struct.
+    */
+   png_time mod_time;
+#endif
+
+#if defined(PNG_sBIT_SUPPORTED)
+   /* The sBIT chunk specifies the number of significant high-order bits
+    * in the pixel data.  Values are in the range [1, bit_depth], and are
+    * only specified for the channels in the pixel data.  The contents of
+    * the low-order bits is not specified.  Data is valid if
+    * (valid & PNG_INFO_sBIT) is non-zero.
+    */
+   png_color_8 sig_bit; /* significant bits in color channels */
+#endif
+
+#if defined(PNG_tRNS_SUPPORTED) || defined(PNG_READ_EXPAND_SUPPORTED) || \
+defined(PNG_READ_BACKGROUND_SUPPORTED)
+   /* The tRNS chunk supplies transparency data for paletted images and
+    * other image types that don't need a full alpha channel.  There are
+    * "num_trans" transparency values for a paletted image, stored in the
+    * same order as the palette colors, starting from index 0.  Values
+    * for the data are in the range [0, 255], ranging from fully transparent
+    * to fully opaque, respectively.  For non-paletted images, there is a
+    * single color specified that should be treated as fully transparent.
+    * Data is valid if (valid & PNG_INFO_tRNS) is non-zero.
+    */
+   png_bytep trans; /* transparent values for paletted image */
+   png_color_16 trans_values; /* transparent color for non-palette image */
+#endif
+
+#if defined(PNG_bKGD_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED)
+   /* The bKGD chunk gives the suggested image background color if the
+    * display program does not have its own background color and the image
+    * is needs to composited onto a background before display.  The colors
+    * in "background" are normally in the same color space/depth as the
+    * pixel data.  Data is valid if (valid & PNG_INFO_bKGD) is non-zero.
+    */
+   png_color_16 background;
+#endif
+
+#if defined(PNG_oFFs_SUPPORTED)
+   /* The oFFs chunk gives the offset in "offset_unit_type" units rightwards
+    * and downwards from the top-left corner of the display, page, or other
+    * application-specific co-ordinate space.  See the PNG_OFFSET_ defines
+    * below for the unit types.  Valid if (valid & PNG_INFO_oFFs) non-zero.
+    */
+   png_int_32 x_offset; /* x offset on page */
+   png_int_32 y_offset; /* y offset on page */
+   png_byte offset_unit_type; /* offset units type */
+#endif
+
+#if defined(PNG_pHYs_SUPPORTED)
+   /* The pHYs chunk gives the physical pixel density of the image for
+    * display or printing in "phys_unit_type" units (see PNG_RESOLUTION_
+    * defines below).  Data is valid if (valid & PNG_INFO_pHYs) is non-zero.
+    */
+   png_uint_32 x_pixels_per_unit; /* horizontal pixel density */
+   png_uint_32 y_pixels_per_unit; /* vertical pixel density */
+   png_byte phys_unit_type; /* resolution type (see PNG_RESOLUTION_ below) */
+#endif
+
+#if defined(PNG_hIST_SUPPORTED)
+   /* The hIST chunk contains the relative frequency or importance of the
+    * various palette entries, so that a viewer can intelligently select a
+    * reduced-color palette, if required.  Data is an array of "num_palette"
+    * values in the range [0,65535]. Data valid if (valid & PNG_INFO_hIST)
+    * is non-zero.
+    */
+   png_uint_16p hist;
+#endif
+
+#ifdef PNG_cHRM_SUPPORTED
+   /* The cHRM chunk describes the CIE color characteristics of the monitor
+    * on which the PNG was created.  This data allows the viewer to do gamut
+    * mapping of the input image to ensure that the viewer sees the same
+    * colors in the image as the creator.  Values are in the range
+    * [0.0, 0.8].  Data valid if (valid & PNG_INFO_cHRM) non-zero.
+    */
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   float x_white;
+   float y_white;
+   float x_red;
+   float y_red;
+   float x_green;
+   float y_green;
+   float x_blue;
+   float y_blue;
+#endif
+#endif
+
+#if defined(PNG_pCAL_SUPPORTED)
+   /* The pCAL chunk describes a transformation between the stored pixel
+    * values and original physical data values used to create the image.
+    * The integer range [0, 2^bit_depth - 1] maps to the floating-point
+    * range given by [pcal_X0, pcal_X1], and are further transformed by a
+    * (possibly non-linear) transformation function given by "pcal_type"
+    * and "pcal_params" into "pcal_units".  Please see the PNG_EQUATION_
+    * defines below, and the PNG-Group's PNG extensions document for a
+    * complete description of the transformations and how they should be
+    * implemented, and for a description of the ASCII parameter strings.
+    * Data values are valid if (valid & PNG_INFO_pCAL) non-zero.
+    */
+   png_charp pcal_purpose;  /* pCAL chunk description string */
+   png_int_32 pcal_X0;      /* minimum value */
+   png_int_32 pcal_X1;      /* maximum value */
+   png_charp pcal_units;    /* Latin-1 string giving physical units */
+   png_charpp pcal_params;  /* ASCII strings containing parameter values */
+   png_byte pcal_type;      /* equation type (see PNG_EQUATION_ below) */
+   png_byte pcal_nparams;   /* number of parameters given in pcal_params */
+#endif
+
+/* New members added in libpng-1.0.6 */
+#ifdef PNG_FREE_ME_SUPPORTED
+   png_uint_32 free_me;     /* flags items libpng is responsible for freeing */
+#endif
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+   /* storage for unknown chunks that the library doesn't recognize. */
+   png_unknown_chunkp unknown_chunks;
+   png_size_t unknown_chunks_num;
+#endif
+
+#if defined(PNG_iCCP_SUPPORTED)
+   /* iCCP chunk data. */
+   png_charp iccp_name;     /* profile name */
+   png_charp iccp_profile;  /* International Color Consortium profile data */
+                            /* Note to maintainer: should be png_bytep */
+   png_uint_32 iccp_proflen;  /* ICC profile data length */
+   png_byte iccp_compression; /* Always zero */
+#endif
+
+#if defined(PNG_sPLT_SUPPORTED)
+   /* data on sPLT chunks (there may be more than one). */
+   png_sPLT_tp splt_palettes;
+   png_uint_32 splt_palettes_num;
+#endif
+
+#if defined(PNG_sCAL_SUPPORTED)
+   /* The sCAL chunk describes the actual physical dimensions of the
+    * subject matter of the graphic.  The chunk contains a unit specification
+    * a byte value, and two ASCII strings representing floating-point
+    * values.  The values are width and height corresponsing to one pixel
+    * in the image.  This external representation is converted to double
+    * here.  Data values are valid if (valid & PNG_INFO_sCAL) is non-zero.
+    */
+   png_byte scal_unit;         /* unit of physical scale */
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   double scal_pixel_width;    /* width of one pixel */
+   double scal_pixel_height;   /* height of one pixel */
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   png_charp scal_s_width;     /* string containing height */
+   png_charp scal_s_height;    /* string containing width */
+#endif
+#endif
+
+#if defined(PNG_INFO_IMAGE_SUPPORTED)
+   /* Memory has been allocated if (valid & PNG_ALLOCATED_INFO_ROWS) non-zero */
+   /* Data valid if (valid & PNG_INFO_IDAT) non-zero */
+   png_bytepp row_pointers;        /* the image bits */
+#endif
+
+#if defined(PNG_FIXED_POINT_SUPPORTED) && defined(PNG_gAMA_SUPPORTED)
+   png_fixed_point int_gamma; /* gamma of image, if (valid & PNG_INFO_gAMA) */
+#endif
+
+#if defined(PNG_cHRM_SUPPORTED) && defined(PNG_FIXED_POINT_SUPPORTED)
+   png_fixed_point int_x_white;
+   png_fixed_point int_y_white;
+   png_fixed_point int_x_red;
+   png_fixed_point int_y_red;
+   png_fixed_point int_x_green;
+   png_fixed_point int_y_green;
+   png_fixed_point int_x_blue;
+   png_fixed_point int_y_blue;
+#endif
+
+} png_info;
+
+typedef png_info FAR * png_infop;
+typedef png_info FAR * FAR * png_infopp;
+
+/* Maximum positive integer used in PNG is (2^31)-1 */
+#define PNG_UINT_31_MAX ((png_uint_32)0x7fffffffL)
+#define PNG_UINT_32_MAX ((png_uint_32)(-1))
+#define PNG_SIZE_MAX ((png_size_t)(-1))
+#if defined(PNG_1_0_X) || defined (PNG_1_2_X)
+/* PNG_MAX_UINT is deprecated; use PNG_UINT_31_MAX instead. */
+#define PNG_MAX_UINT PNG_UINT_31_MAX
+#endif
+
+/* These describe the color_type field in png_info. */
+/* color type masks */
+#define PNG_COLOR_MASK_PALETTE    1
+#define PNG_COLOR_MASK_COLOR      2
+#define PNG_COLOR_MASK_ALPHA      4
+
+/* color types.  Note that not all combinations are legal */
+#define PNG_COLOR_TYPE_GRAY 0
+#define PNG_COLOR_TYPE_PALETTE  (PNG_COLOR_MASK_COLOR | PNG_COLOR_MASK_PALETTE)
+#define PNG_COLOR_TYPE_RGB        (PNG_COLOR_MASK_COLOR)
+#define PNG_COLOR_TYPE_RGB_ALPHA  (PNG_COLOR_MASK_COLOR | PNG_COLOR_MASK_ALPHA)
+#define PNG_COLOR_TYPE_GRAY_ALPHA (PNG_COLOR_MASK_ALPHA)
+/* aliases */
+#define PNG_COLOR_TYPE_RGBA  PNG_COLOR_TYPE_RGB_ALPHA
+#define PNG_COLOR_TYPE_GA  PNG_COLOR_TYPE_GRAY_ALPHA
+
+/* This is for compression type. PNG 1.0-1.2 only define the single type. */
+#define PNG_COMPRESSION_TYPE_BASE 0 /* Deflate method 8, 32K window */
+#define PNG_COMPRESSION_TYPE_DEFAULT PNG_COMPRESSION_TYPE_BASE
+
+/* This is for filter type. PNG 1.0-1.2 only define the single type. */
+#define PNG_FILTER_TYPE_BASE      0 /* Single row per-byte filtering */
+#define PNG_INTRAPIXEL_DIFFERENCING 64 /* Used only in MNG datastreams */
+#define PNG_FILTER_TYPE_DEFAULT   PNG_FILTER_TYPE_BASE
+
+/* These are for the interlacing type.  These values should NOT be changed. */
+#define PNG_INTERLACE_NONE        0 /* Non-interlaced image */
+#define PNG_INTERLACE_ADAM7       1 /* Adam7 interlacing */
+#define PNG_INTERLACE_LAST        2 /* Not a valid value */
+
+/* These are for the oFFs chunk.  These values should NOT be changed. */
+#define PNG_OFFSET_PIXEL          0 /* Offset in pixels */
+#define PNG_OFFSET_MICROMETER     1 /* Offset in micrometers (1/10^6 meter) */
+#define PNG_OFFSET_LAST           2 /* Not a valid value */
+
+/* These are for the pCAL chunk.  These values should NOT be changed. */
+#define PNG_EQUATION_LINEAR       0 /* Linear transformation */
+#define PNG_EQUATION_BASE_E       1 /* Exponential base e transform */
+#define PNG_EQUATION_ARBITRARY    2 /* Arbitrary base exponential transform */
+#define PNG_EQUATION_HYPERBOLIC   3 /* Hyperbolic sine transformation */
+#define PNG_EQUATION_LAST         4 /* Not a valid value */
+
+/* These are for the sCAL chunk.  These values should NOT be changed. */
+#define PNG_SCALE_UNKNOWN         0 /* unknown unit (image scale) */
+#define PNG_SCALE_METER           1 /* meters per pixel */
+#define PNG_SCALE_RADIAN          2 /* radians per pixel */
+#define PNG_SCALE_LAST            3 /* Not a valid value */
+
+/* These are for the pHYs chunk.  These values should NOT be changed. */
+#define PNG_RESOLUTION_UNKNOWN    0 /* pixels/unknown unit (aspect ratio) */
+#define PNG_RESOLUTION_METER      1 /* pixels/meter */
+#define PNG_RESOLUTION_LAST       2 /* Not a valid value */
+
+/* These are for the sRGB chunk.  These values should NOT be changed. */
+#define PNG_sRGB_INTENT_PERCEPTUAL 0
+#define PNG_sRGB_INTENT_RELATIVE   1
+#define PNG_sRGB_INTENT_SATURATION 2
+#define PNG_sRGB_INTENT_ABSOLUTE   3
+#define PNG_sRGB_INTENT_LAST       4 /* Not a valid value */
+
+/* This is for text chunks */
+#define PNG_KEYWORD_MAX_LENGTH     79
+
+/* Maximum number of entries in PLTE/sPLT/tRNS arrays */
+#define PNG_MAX_PALETTE_LENGTH    256
+
+/* These determine if an ancillary chunk's data has been successfully read
+ * from the PNG header, or if the application has filled in the corresponding
+ * data in the info_struct to be written into the output file.  The values
+ * of the PNG_INFO_<chunk> defines should NOT be changed.
+ */
+#define PNG_INFO_gAMA 0x0001
+#define PNG_INFO_sBIT 0x0002
+#define PNG_INFO_cHRM 0x0004
+#define PNG_INFO_PLTE 0x0008
+#define PNG_INFO_tRNS 0x0010
+#define PNG_INFO_bKGD 0x0020
+#define PNG_INFO_hIST 0x0040
+#define PNG_INFO_pHYs 0x0080
+#define PNG_INFO_oFFs 0x0100
+#define PNG_INFO_tIME 0x0200
+#define PNG_INFO_pCAL 0x0400
+#define PNG_INFO_sRGB 0x0800   /* GR-P, 0.96a */
+#define PNG_INFO_iCCP 0x1000   /* ESR, 1.0.6 */
+#define PNG_INFO_sPLT 0x2000   /* ESR, 1.0.6 */
+#define PNG_INFO_sCAL 0x4000   /* ESR, 1.0.6 */
+#define PNG_INFO_IDAT 0x8000L  /* ESR, 1.0.6 */
+
+/* This is used for the transformation routines, as some of them
+ * change these values for the row.  It also should enable using
+ * the routines for other purposes.
+ */
+typedef struct png_row_info_struct
+{
+   png_uint_32 width; /* width of row */
+   png_uint_32 rowbytes; /* number of bytes in row */
+   png_byte color_type; /* color type of row */
+   png_byte bit_depth; /* bit depth of row */
+   png_byte channels; /* number of channels (1, 2, 3, or 4) */
+   png_byte pixel_depth; /* bits per pixel (depth * channels) */
+} png_row_info;
+
+typedef png_row_info FAR * png_row_infop;
+typedef png_row_info FAR * FAR * png_row_infopp;
+
+/* These are the function types for the I/O functions and for the functions
+ * that allow the user to override the default I/O functions with his or her
+ * own.  The png_error_ptr type should match that of user-supplied warning
+ * and error functions, while the png_rw_ptr type should match that of the
+ * user read/write data functions.
+ */
+typedef struct png_struct_def png_struct;
+typedef png_struct FAR * png_structp;
+
+typedef void (PNGAPI *png_error_ptr) PNGARG((png_structp, png_const_charp));
+typedef void (PNGAPI *png_rw_ptr) PNGARG((png_structp, png_bytep, png_size_t));
+typedef void (PNGAPI *png_flush_ptr) PNGARG((png_structp));
+typedef void (PNGAPI *png_read_status_ptr) PNGARG((png_structp, png_uint_32,
+   int));
+typedef void (PNGAPI *png_write_status_ptr) PNGARG((png_structp, png_uint_32,
+   int));
+
+#ifdef PNG_PROGRESSIVE_READ_SUPPORTED
+typedef void (PNGAPI *png_progressive_info_ptr) PNGARG((png_structp, png_infop));
+typedef void (PNGAPI *png_progressive_end_ptr) PNGARG((png_structp, png_infop));
+typedef void (PNGAPI *png_progressive_row_ptr) PNGARG((png_structp, png_bytep,
+   png_uint_32, int));
+#endif
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_LEGACY_SUPPORTED)
+typedef void (PNGAPI *png_user_transform_ptr) PNGARG((png_structp,
+    png_row_infop, png_bytep));
+#endif
+
+#if defined(PNG_USER_CHUNKS_SUPPORTED)
+typedef int (PNGAPI *png_user_chunk_ptr) PNGARG((png_structp, png_unknown_chunkp));
+#endif
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+typedef void (PNGAPI *png_unknown_chunk_ptr) PNGARG((png_structp));
+#endif
+
+/* Transform masks for the high-level interface */
+#define PNG_TRANSFORM_IDENTITY       0x0000    /* read and write */
+#define PNG_TRANSFORM_STRIP_16       0x0001    /* read only */
+#define PNG_TRANSFORM_STRIP_ALPHA    0x0002    /* read only */
+#define PNG_TRANSFORM_PACKING        0x0004    /* read and write */
+#define PNG_TRANSFORM_PACKSWAP       0x0008    /* read and write */
+#define PNG_TRANSFORM_EXPAND         0x0010    /* read only */
+#define PNG_TRANSFORM_INVERT_MONO    0x0020    /* read and write */
+#define PNG_TRANSFORM_SHIFT          0x0040    /* read and write */
+#define PNG_TRANSFORM_BGR            0x0080    /* read and write */
+#define PNG_TRANSFORM_SWAP_ALPHA     0x0100    /* read and write */
+#define PNG_TRANSFORM_SWAP_ENDIAN    0x0200    /* read and write */
+#define PNG_TRANSFORM_INVERT_ALPHA   0x0400    /* read and write */
+#define PNG_TRANSFORM_STRIP_FILLER   0x0800    /* WRITE only, deprecated */
+/* Added to libpng-1.2.34 */
+#define PNG_TRANSFORM_STRIP_FILLER_BEFORE 0x0800  /* WRITE only */
+#define PNG_TRANSFORM_STRIP_FILLER_AFTER  0x1000  /* WRITE only */
+
+/* Flags for MNG supported features */
+#define PNG_FLAG_MNG_EMPTY_PLTE     0x01
+#define PNG_FLAG_MNG_FILTER_64      0x04
+#define PNG_ALL_MNG_FEATURES        0x05
+
+typedef png_voidp (*png_malloc_ptr) PNGARG((png_structp, png_size_t));
+typedef void (*png_free_ptr) PNGARG((png_structp, png_voidp));
+
+/* The structure that holds the information to read and write PNG files.
+ * The only people who need to care about what is inside of this are the
+ * people who will be modifying the library for their own special needs.
+ * It should NOT be accessed directly by an application, except to store
+ * the jmp_buf.
+ */
+
+struct png_struct_def
+{
+#ifdef PNG_SETJMP_SUPPORTED
+   jmp_buf jmpbuf;            /* used in png_error */
+#endif
+   png_error_ptr error_fn;    /* function for printing errors and aborting */
+   png_error_ptr warning_fn;  /* function for printing warnings */
+   png_voidp error_ptr;       /* user supplied struct for error functions */
+   png_rw_ptr write_data_fn;  /* function for writing output data */
+   png_rw_ptr read_data_fn;   /* function for reading input data */
+   png_voidp io_ptr;          /* ptr to application struct for I/O functions */
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED)
+   png_user_transform_ptr read_user_transform_fn; /* user read transform */
+#endif
+
+#if defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED)
+   png_user_transform_ptr write_user_transform_fn; /* user write transform */
+#endif
+
+/* These were added in libpng-1.0.2 */
+#if defined(PNG_USER_TRANSFORM_PTR_SUPPORTED)
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED)
+   png_voidp user_transform_ptr; /* user supplied struct for user transform */
+   png_byte user_transform_depth;    /* bit depth of user transformed pixels */
+   png_byte user_transform_channels; /* channels in user transformed pixels */
+#endif
+#endif
+
+   png_uint_32 mode;          /* tells us where we are in the PNG file */
+   png_uint_32 flags;         /* flags indicating various things to libpng */
+   png_uint_32 transformations; /* which transformations to perform */
+
+   z_stream zstream;          /* pointer to decompression structure (below) */
+   png_bytep zbuf;            /* buffer for zlib */
+   png_size_t zbuf_size;      /* size of zbuf */
+   int zlib_level;            /* holds zlib compression level */
+   int zlib_method;           /* holds zlib compression method */
+   int zlib_window_bits;      /* holds zlib compression window bits */
+   int zlib_mem_level;        /* holds zlib compression memory level */
+   int zlib_strategy;         /* holds zlib compression strategy */
+
+   png_uint_32 width;         /* width of image in pixels */
+   png_uint_32 height;        /* height of image in pixels */
+   png_uint_32 num_rows;      /* number of rows in current pass */
+   png_uint_32 usr_width;     /* width of row at start of write */
+   png_uint_32 rowbytes;      /* size of row in bytes */
+   png_uint_32 irowbytes;     /* size of current interlaced row in bytes */
+   png_uint_32 iwidth;        /* width of current interlaced row in pixels */
+   png_uint_32 row_number;    /* current row in interlace pass */
+   png_bytep prev_row;        /* buffer to save previous (unfiltered) row */
+   png_bytep row_buf;         /* buffer to save current (unfiltered) row */
+#ifndef PNG_NO_WRITE_FILTER
+   png_bytep sub_row;         /* buffer to save "sub" row when filtering */
+   png_bytep up_row;          /* buffer to save "up" row when filtering */
+   png_bytep avg_row;         /* buffer to save "avg" row when filtering */
+   png_bytep paeth_row;       /* buffer to save "Paeth" row when filtering */
+#endif
+   png_row_info row_info;     /* used for transformation routines */
+
+   png_uint_32 idat_size;     /* current IDAT size for read */
+   png_uint_32 crc;           /* current chunk CRC value */
+   png_colorp palette;        /* palette from the input file */
+   png_uint_16 num_palette;   /* number of color entries in palette */
+   png_uint_16 num_trans;     /* number of transparency values */
+   png_byte chunk_name[5];    /* null-terminated name of current chunk */
+   png_byte compression;      /* file compression type (always 0) */
+   png_byte filter;           /* file filter type (always 0) */
+   png_byte interlaced;       /* PNG_INTERLACE_NONE, PNG_INTERLACE_ADAM7 */
+   png_byte pass;             /* current interlace pass (0 - 6) */
+   png_byte do_filter;        /* row filter flags (see PNG_FILTER_ below ) */
+   png_byte color_type;       /* color type of file */
+   png_byte bit_depth;        /* bit depth of file */
+   png_byte usr_bit_depth;    /* bit depth of users row */
+   png_byte pixel_depth;      /* number of bits per pixel */
+   png_byte channels;         /* number of channels in file */
+   png_byte usr_channels;     /* channels at start of write */
+   png_byte sig_bytes;        /* magic bytes read/written from start of file */
+
+#if defined(PNG_READ_FILLER_SUPPORTED) || defined(PNG_WRITE_FILLER_SUPPORTED)
+#ifdef PNG_LEGACY_SUPPORTED
+   png_byte filler;           /* filler byte for pixel expansion */
+#else
+   png_uint_16 filler;           /* filler bytes for pixel expansion */
+#endif
+#endif
+
+#if defined(PNG_bKGD_SUPPORTED)
+   png_byte background_gamma_type;
+#  ifdef PNG_FLOATING_POINT_SUPPORTED
+   float background_gamma;
+#  endif
+   png_color_16 background;   /* background color in screen gamma space */
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+   png_color_16 background_1; /* background normalized to gamma 1.0 */
+#endif
+#endif /* PNG_bKGD_SUPPORTED */
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+   png_flush_ptr output_flush_fn;/* Function for flushing output */
+   png_uint_32 flush_dist;    /* how many rows apart to flush, 0 - no flush */
+   png_uint_32 flush_rows;    /* number of rows written since last flush */
+#endif
+
+#if defined(PNG_READ_GAMMA_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED)
+   int gamma_shift;      /* number of "insignificant" bits 16-bit gamma */
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   float gamma;          /* file gamma value */
+   float screen_gamma;   /* screen gamma value (display_exponent) */
+#endif
+#endif
+
+#if defined(PNG_READ_GAMMA_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED)
+   png_bytep gamma_table;     /* gamma table for 8-bit depth files */
+   png_bytep gamma_from_1;    /* converts from 1.0 to screen */
+   png_bytep gamma_to_1;      /* converts from file to 1.0 */
+   png_uint_16pp gamma_16_table; /* gamma table for 16-bit depth files */
+   png_uint_16pp gamma_16_from_1; /* converts from 1.0 to screen */
+   png_uint_16pp gamma_16_to_1; /* converts from file to 1.0 */
+#endif
+
+#if defined(PNG_READ_GAMMA_SUPPORTED) || defined(PNG_sBIT_SUPPORTED)
+   png_color_8 sig_bit;       /* significant bits in each available channel */
+#endif
+
+#if defined(PNG_READ_SHIFT_SUPPORTED) || defined(PNG_WRITE_SHIFT_SUPPORTED)
+   png_color_8 shift;         /* shift for significant bit tranformation */
+#endif
+
+#if defined(PNG_tRNS_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED) \
+ || defined(PNG_READ_EXPAND_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED)
+   png_bytep trans;           /* transparency values for paletted files */
+   png_color_16 trans_values; /* transparency values for non-paletted files */
+#endif
+
+   png_read_status_ptr read_row_fn;   /* called after each row is decoded */
+   png_write_status_ptr write_row_fn; /* called after each row is encoded */
+#ifdef PNG_PROGRESSIVE_READ_SUPPORTED
+   png_progressive_info_ptr info_fn; /* called after header data fully read */
+   png_progressive_row_ptr row_fn;   /* called after each prog. row is decoded */
+   png_progressive_end_ptr end_fn;   /* called after image is complete */
+   png_bytep save_buffer_ptr;        /* current location in save_buffer */
+   png_bytep save_buffer;            /* buffer for previously read data */
+   png_bytep current_buffer_ptr;     /* current location in current_buffer */
+   png_bytep current_buffer;         /* buffer for recently used data */
+   png_uint_32 push_length;          /* size of current input chunk */
+   png_uint_32 skip_length;          /* bytes to skip in input data */
+   png_size_t save_buffer_size;      /* amount of data now in save_buffer */
+   png_size_t save_buffer_max;       /* total size of save_buffer */
+   png_size_t buffer_size;           /* total amount of available input data */
+   png_size_t current_buffer_size;   /* amount of data now in current_buffer */
+   int process_mode;                 /* what push library is currently doing */
+   int cur_palette;                  /* current push library palette index */
+
+#  if defined(PNG_TEXT_SUPPORTED)
+     png_size_t current_text_size;   /* current size of text input data */
+     png_size_t current_text_left;   /* how much text left to read in input */
+     png_charp current_text;         /* current text chunk buffer */
+     png_charp current_text_ptr;     /* current location in current_text */
+#  endif /* PNG_TEXT_SUPPORTED */
+#endif /* PNG_PROGRESSIVE_READ_SUPPORTED */
+
+#if defined(__TURBOC__) && !defined(_Windows) && !defined(__FLAT__)
+/* for the Borland special 64K segment handler */
+   png_bytepp offset_table_ptr;
+   png_bytep offset_table;
+   png_uint_16 offset_table_number;
+   png_uint_16 offset_table_count;
+   png_uint_16 offset_table_count_free;
+#endif
+
+#if defined(PNG_READ_DITHER_SUPPORTED)
+   png_bytep palette_lookup;         /* lookup table for dithering */
+   png_bytep dither_index;           /* index translation for palette files */
+#endif
+
+#if defined(PNG_READ_DITHER_SUPPORTED) || defined(PNG_hIST_SUPPORTED)
+   png_uint_16p hist;                /* histogram */
+#endif
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+   png_byte heuristic_method;        /* heuristic for row filter selection */
+   png_byte num_prev_filters;        /* number of weights for previous rows */
+   png_bytep prev_filters;           /* filter type(s) of previous row(s) */
+   png_uint_16p filter_weights;      /* weight(s) for previous line(s) */
+   png_uint_16p inv_filter_weights;  /* 1/weight(s) for previous line(s) */
+   png_uint_16p filter_costs;        /* relative filter calculation cost */
+   png_uint_16p inv_filter_costs;    /* 1/relative filter calculation cost */
+#endif
+
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+   png_charp time_buffer;            /* String to hold RFC 1123 time text */
+#endif
+
+/* New members added in libpng-1.0.6 */
+
+#ifdef PNG_FREE_ME_SUPPORTED
+   png_uint_32 free_me;       /* flags items libpng is responsible for freeing */
+#endif
+
+#if defined(PNG_USER_CHUNKS_SUPPORTED)
+   png_voidp user_chunk_ptr;
+   png_user_chunk_ptr read_user_chunk_fn; /* user read chunk handler */
+#endif
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+   int num_chunk_list;
+   png_bytep chunk_list;
+#endif
+
+/* New members added in libpng-1.0.3 */
+#if defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+   png_byte rgb_to_gray_status;
+   /* These were changed from png_byte in libpng-1.0.6 */
+   png_uint_16 rgb_to_gray_red_coeff;
+   png_uint_16 rgb_to_gray_green_coeff;
+   png_uint_16 rgb_to_gray_blue_coeff;
+#endif
+
+/* New member added in libpng-1.0.4 (renamed in 1.0.9) */
+#if defined(PNG_MNG_FEATURES_SUPPORTED) || \
+    defined(PNG_READ_EMPTY_PLTE_SUPPORTED) || \
+    defined(PNG_WRITE_EMPTY_PLTE_SUPPORTED)
+/* changed from png_byte to png_uint_32 at version 1.2.0 */
+#ifdef PNG_1_0_X
+   png_byte mng_features_permitted;
+#else
+   png_uint_32 mng_features_permitted;
+#endif /* PNG_1_0_X */
+#endif
+
+/* New member added in libpng-1.0.7 */
+#if defined(PNG_READ_GAMMA_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED)
+   png_fixed_point int_gamma;
+#endif
+
+/* New member added in libpng-1.0.9, ifdef'ed out in 1.0.12, enabled in 1.2.0 */
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+   png_byte filter_type;
+#endif
+
+#if defined(PNG_1_0_X)
+/* New member added in libpng-1.0.10, ifdef'ed out in 1.2.0 */
+   png_uint_32 row_buf_size;
+#endif
+
+/* New members added in libpng-1.2.0 */
+#if defined(PNG_ASSEMBLER_CODE_SUPPORTED)
+#  if !defined(PNG_1_0_X)
+#    if defined(PNG_MMX_CODE_SUPPORTED)
+   png_byte     mmx_bitdepth_threshold;
+   png_uint_32  mmx_rowbytes_threshold;
+#    endif
+   png_uint_32  asm_flags;
+#  endif
+#endif
+
+/* New members added in libpng-1.0.2 but first enabled by default in 1.2.0 */
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_voidp mem_ptr;                /* user supplied struct for mem functions */
+   png_malloc_ptr malloc_fn;         /* function for allocating memory */
+   png_free_ptr free_fn;             /* function for freeing memory */
+#endif
+
+/* New member added in libpng-1.0.13 and 1.2.0 */
+   png_bytep big_row_buf;         /* buffer to save current (unfiltered) row */
+
+#if defined(PNG_READ_DITHER_SUPPORTED)
+/* The following three members were added at version 1.0.14 and 1.2.4 */
+   png_bytep dither_sort;            /* working sort array */
+   png_bytep index_to_palette;       /* where the original index currently is */
+                                     /* in the palette */
+   png_bytep palette_to_index;       /* which original index points to this */
+                                     /* palette color */
+#endif
+
+/* New members added in libpng-1.0.16 and 1.2.6 */
+   png_byte compression_type;
+
+#ifdef PNG_SET_USER_LIMITS_SUPPORTED
+   png_uint_32 user_width_max;
+   png_uint_32 user_height_max;
+#endif
+
+/* New member added in libpng-1.0.25 and 1.2.17 */
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+   /* storage for unknown chunk that the library doesn't recognize. */
+   png_unknown_chunk unknown_chunk;
+#endif
+
+/* New members added in libpng-1.2.26 */
+  png_uint_32 old_big_row_buf_size, old_prev_row_size;
+
+/* New member added in libpng-1.2.30 */
+  png_charp chunkdata;  /* buffer for reading chunk data */
+
+};
+
+
+/* This triggers a compiler error in png.c, if png.c and png.h
+ * do not agree upon the version number.
+ */
+typedef png_structp version_1_2_37;
+
+typedef png_struct FAR * FAR * png_structpp;
+
+/* Here are the function definitions most commonly used.  This is not
+ * the place to find out how to use libpng.  See libpng.txt for the
+ * full explanation, see example.c for the summary.  This just provides
+ * a simple one line description of the use of each function.
+ */
+
+/* Returns the version number of the library */
+extern PNG_EXPORT(png_uint_32,png_access_version_number) PNGARG((void));
+
+/* Tell lib we have already handled the first <num_bytes> magic bytes.
+ * Handling more than 8 bytes from the beginning of the file is an error.
+ */
+extern PNG_EXPORT(void,png_set_sig_bytes) PNGARG((png_structp png_ptr,
+   int num_bytes));
+
+/* Check sig[start] through sig[start + num_to_check - 1] to see if it's a
+ * PNG file.  Returns zero if the supplied bytes match the 8-byte PNG
+ * signature, and non-zero otherwise.  Having num_to_check == 0 or
+ * start > 7 will always fail (ie return non-zero).
+ */
+extern PNG_EXPORT(int,png_sig_cmp) PNGARG((png_bytep sig, png_size_t start,
+   png_size_t num_to_check));
+
+/* Simple signature checking function.  This is the same as calling
+ * png_check_sig(sig, n) := !png_sig_cmp(sig, 0, n).
+ */
+extern PNG_EXPORT(int,png_check_sig) PNGARG((png_bytep sig, int num));
+
+/* Allocate and initialize png_ptr struct for reading, and any other memory. */
+extern PNG_EXPORT(png_structp,png_create_read_struct)
+   PNGARG((png_const_charp user_png_ver, png_voidp error_ptr,
+   png_error_ptr error_fn, png_error_ptr warn_fn));
+
+/* Allocate and initialize png_ptr struct for writing, and any other memory */
+extern PNG_EXPORT(png_structp,png_create_write_struct)
+   PNGARG((png_const_charp user_png_ver, png_voidp error_ptr,
+   png_error_ptr error_fn, png_error_ptr warn_fn));
+
+#ifdef PNG_WRITE_SUPPORTED
+extern PNG_EXPORT(png_uint_32,png_get_compression_buffer_size)
+   PNGARG((png_structp png_ptr));
+#endif
+
+#ifdef PNG_WRITE_SUPPORTED
+extern PNG_EXPORT(void,png_set_compression_buffer_size)
+   PNGARG((png_structp png_ptr, png_uint_32 size));
+#endif
+
+/* Reset the compression stream */
+extern PNG_EXPORT(int,png_reset_zstream) PNGARG((png_structp png_ptr));
+
+/* New functions added in libpng-1.0.2 (not enabled by default until 1.2.0) */
+#ifdef PNG_USER_MEM_SUPPORTED
+extern PNG_EXPORT(png_structp,png_create_read_struct_2)
+   PNGARG((png_const_charp user_png_ver, png_voidp error_ptr,
+   png_error_ptr error_fn, png_error_ptr warn_fn, png_voidp mem_ptr,
+   png_malloc_ptr malloc_fn, png_free_ptr free_fn));
+extern PNG_EXPORT(png_structp,png_create_write_struct_2)
+   PNGARG((png_const_charp user_png_ver, png_voidp error_ptr,
+   png_error_ptr error_fn, png_error_ptr warn_fn, png_voidp mem_ptr,
+   png_malloc_ptr malloc_fn, png_free_ptr free_fn));
+#endif
+
+/* Write a PNG chunk - size, type, (optional) data, CRC. */
+extern PNG_EXPORT(void,png_write_chunk) PNGARG((png_structp png_ptr,
+   png_bytep chunk_name, png_bytep data, png_size_t length));
+
+/* Write the start of a PNG chunk - length and chunk name. */
+extern PNG_EXPORT(void,png_write_chunk_start) PNGARG((png_structp png_ptr,
+   png_bytep chunk_name, png_uint_32 length));
+
+/* Write the data of a PNG chunk started with png_write_chunk_start(). */
+extern PNG_EXPORT(void,png_write_chunk_data) PNGARG((png_structp png_ptr,
+   png_bytep data, png_size_t length));
+
+/* Finish a chunk started with png_write_chunk_start() (includes CRC). */
+extern PNG_EXPORT(void,png_write_chunk_end) PNGARG((png_structp png_ptr));
+
+/* Allocate and initialize the info structure */
+extern PNG_EXPORT(png_infop,png_create_info_struct)
+   PNGARG((png_structp png_ptr));
+
+#if defined(PNG_1_0_X) || defined (PNG_1_2_X)
+/* Initialize the info structure (old interface - DEPRECATED) */
+extern PNG_EXPORT(void,png_info_init) PNGARG((png_infop info_ptr));
+#undef png_info_init
+#define png_info_init(info_ptr) png_info_init_3(&info_ptr,\
+    png_sizeof(png_info));
+#endif
+
+extern PNG_EXPORT(void,png_info_init_3) PNGARG((png_infopp info_ptr,
+    png_size_t png_info_struct_size));
+
+/* Writes all the PNG information before the image. */
+extern PNG_EXPORT(void,png_write_info_before_PLTE) PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+extern PNG_EXPORT(void,png_write_info) PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+/* read the information before the actual image data. */
+extern PNG_EXPORT(void,png_read_info) PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+#endif
+
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+extern PNG_EXPORT(png_charp,png_convert_to_rfc1123)
+   PNGARG((png_structp png_ptr, png_timep ptime));
+#endif
+
+#if !defined(_WIN32_WCE)
+/* "time.h" functions are not supported on WindowsCE */
+#if defined(PNG_WRITE_tIME_SUPPORTED)
+/* convert from a struct tm to png_time */
+extern PNG_EXPORT(void,png_convert_from_struct_tm) PNGARG((png_timep ptime,
+   struct tm FAR * ttime));
+
+/* convert from time_t to png_time.  Uses gmtime() */
+extern PNG_EXPORT(void,png_convert_from_time_t) PNGARG((png_timep ptime,
+   time_t ttime));
+#endif /* PNG_WRITE_tIME_SUPPORTED */
+#endif /* _WIN32_WCE */
+
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+/* Expand data to 24-bit RGB, or 8-bit grayscale, with alpha if available. */
+extern PNG_EXPORT(void,png_set_expand) PNGARG((png_structp png_ptr));
+#if !defined(PNG_1_0_X)
+extern PNG_EXPORT(void,png_set_expand_gray_1_2_4_to_8) PNGARG((png_structp
+  png_ptr));
+#endif
+extern PNG_EXPORT(void,png_set_palette_to_rgb) PNGARG((png_structp png_ptr));
+extern PNG_EXPORT(void,png_set_tRNS_to_alpha) PNGARG((png_structp png_ptr));
+#if defined(PNG_1_0_X) || defined (PNG_1_2_X)
+/* Deprecated */
+extern PNG_EXPORT(void,png_set_gray_1_2_4_to_8) PNGARG((png_structp png_ptr));
+#endif
+#endif
+
+#if defined(PNG_READ_BGR_SUPPORTED) || defined(PNG_WRITE_BGR_SUPPORTED)
+/* Use blue, green, red order for pixels. */
+extern PNG_EXPORT(void,png_set_bgr) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_GRAY_TO_RGB_SUPPORTED)
+/* Expand the grayscale to 24-bit RGB if necessary. */
+extern PNG_EXPORT(void,png_set_gray_to_rgb) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+/* Reduce RGB to grayscale. */
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(void,png_set_rgb_to_gray) PNGARG((png_structp png_ptr,
+   int error_action, double red, double green ));
+#endif
+extern PNG_EXPORT(void,png_set_rgb_to_gray_fixed) PNGARG((png_structp png_ptr,
+   int error_action, png_fixed_point red, png_fixed_point green ));
+extern PNG_EXPORT(png_byte,png_get_rgb_to_gray_status) PNGARG((png_structp
+   png_ptr));
+#endif
+
+extern PNG_EXPORT(void,png_build_grayscale_palette) PNGARG((int bit_depth,
+   png_colorp palette));
+
+#if defined(PNG_READ_STRIP_ALPHA_SUPPORTED)
+extern PNG_EXPORT(void,png_set_strip_alpha) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_SWAP_ALPHA_SUPPORTED) || \
+    defined(PNG_WRITE_SWAP_ALPHA_SUPPORTED)
+extern PNG_EXPORT(void,png_set_swap_alpha) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_INVERT_ALPHA_SUPPORTED) || \
+    defined(PNG_WRITE_INVERT_ALPHA_SUPPORTED)
+extern PNG_EXPORT(void,png_set_invert_alpha) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_FILLER_SUPPORTED) || defined(PNG_WRITE_FILLER_SUPPORTED)
+/* Add a filler byte to 8-bit Gray or 24-bit RGB images. */
+extern PNG_EXPORT(void,png_set_filler) PNGARG((png_structp png_ptr,
+   png_uint_32 filler, int flags));
+/* The values of the PNG_FILLER_ defines should NOT be changed */
+#define PNG_FILLER_BEFORE 0
+#define PNG_FILLER_AFTER 1
+/* Add an alpha byte to 8-bit Gray or 24-bit RGB images. */
+#if !defined(PNG_1_0_X)
+extern PNG_EXPORT(void,png_set_add_alpha) PNGARG((png_structp png_ptr,
+   png_uint_32 filler, int flags));
+#endif
+#endif /* PNG_READ_FILLER_SUPPORTED || PNG_WRITE_FILLER_SUPPORTED */
+
+#if defined(PNG_READ_SWAP_SUPPORTED) || defined(PNG_WRITE_SWAP_SUPPORTED)
+/* Swap bytes in 16-bit depth files. */
+extern PNG_EXPORT(void,png_set_swap) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_PACK_SUPPORTED) || defined(PNG_WRITE_PACK_SUPPORTED)
+/* Use 1 byte per pixel in 1, 2, or 4-bit depth files. */
+extern PNG_EXPORT(void,png_set_packing) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED) || defined(PNG_WRITE_PACKSWAP_SUPPORTED)
+/* Swap packing order of pixels in bytes. */
+extern PNG_EXPORT(void,png_set_packswap) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_SHIFT_SUPPORTED) || defined(PNG_WRITE_SHIFT_SUPPORTED)
+/* Converts files to legal bit depths. */
+extern PNG_EXPORT(void,png_set_shift) PNGARG((png_structp png_ptr,
+   png_color_8p true_bits));
+#endif
+
+#if defined(PNG_READ_INTERLACING_SUPPORTED) || \
+    defined(PNG_WRITE_INTERLACING_SUPPORTED)
+/* Have the code handle the interlacing.  Returns the number of passes. */
+extern PNG_EXPORT(int,png_set_interlace_handling) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_INVERT_SUPPORTED) || defined(PNG_WRITE_INVERT_SUPPORTED)
+/* Invert monochrome files */
+extern PNG_EXPORT(void,png_set_invert_mono) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+/* Handle alpha and tRNS by replacing with a background color. */
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(void,png_set_background) PNGARG((png_structp png_ptr,
+   png_color_16p background_color, int background_gamma_code,
+   int need_expand, double background_gamma));
+#endif
+#define PNG_BACKGROUND_GAMMA_UNKNOWN 0
+#define PNG_BACKGROUND_GAMMA_SCREEN  1
+#define PNG_BACKGROUND_GAMMA_FILE    2
+#define PNG_BACKGROUND_GAMMA_UNIQUE  3
+#endif
+
+#if defined(PNG_READ_16_TO_8_SUPPORTED)
+/* strip the second byte of information from a 16-bit depth file. */
+extern PNG_EXPORT(void,png_set_strip_16) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_DITHER_SUPPORTED)
+/* Turn on dithering, and reduce the palette to the number of colors available. */
+extern PNG_EXPORT(void,png_set_dither) PNGARG((png_structp png_ptr,
+   png_colorp palette, int num_palette, int maximum_colors,
+   png_uint_16p histogram, int full_dither));
+#endif
+
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+/* Handle gamma correction. Screen_gamma=(display_exponent) */
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(void,png_set_gamma) PNGARG((png_structp png_ptr,
+   double screen_gamma, double default_file_gamma));
+#endif
+#endif
+
+#if defined(PNG_1_0_X) || defined (PNG_1_2_X)
+#if defined(PNG_READ_EMPTY_PLTE_SUPPORTED) || \
+    defined(PNG_WRITE_EMPTY_PLTE_SUPPORTED)
+/* Permit or disallow empty PLTE (0: not permitted, 1: permitted) */
+/* Deprecated and will be removed.  Use png_permit_mng_features() instead. */
+extern PNG_EXPORT(void,png_permit_empty_plte) PNGARG((png_structp png_ptr,
+   int empty_plte_permitted));
+#endif
+#endif
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+/* Set how many lines between output flushes - 0 for no flushing */
+extern PNG_EXPORT(void,png_set_flush) PNGARG((png_structp png_ptr, int nrows));
+/* Flush the current PNG output buffer */
+extern PNG_EXPORT(void,png_write_flush) PNGARG((png_structp png_ptr));
+#endif
+
+/* optional update palette with requested transformations */
+extern PNG_EXPORT(void,png_start_read_image) PNGARG((png_structp png_ptr));
+
+/* optional call to update the users info structure */
+extern PNG_EXPORT(void,png_read_update_info) PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+/* read one or more rows of image data. */
+extern PNG_EXPORT(void,png_read_rows) PNGARG((png_structp png_ptr,
+   png_bytepp row, png_bytepp display_row, png_uint_32 num_rows));
+#endif
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+/* read a row of data. */
+extern PNG_EXPORT(void,png_read_row) PNGARG((png_structp png_ptr,
+   png_bytep row,
+   png_bytep display_row));
+#endif
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+/* read the whole image into memory at once. */
+extern PNG_EXPORT(void,png_read_image) PNGARG((png_structp png_ptr,
+   png_bytepp image));
+#endif
+
+/* write a row of image data */
+extern PNG_EXPORT(void,png_write_row) PNGARG((png_structp png_ptr,
+   png_bytep row));
+
+/* write a few rows of image data */
+extern PNG_EXPORT(void,png_write_rows) PNGARG((png_structp png_ptr,
+   png_bytepp row, png_uint_32 num_rows));
+
+/* write the image data */
+extern PNG_EXPORT(void,png_write_image) PNGARG((png_structp png_ptr,
+   png_bytepp image));
+
+/* writes the end of the PNG file. */
+extern PNG_EXPORT(void,png_write_end) PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+/* read the end of the PNG file. */
+extern PNG_EXPORT(void,png_read_end) PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+#endif
+
+/* free any memory associated with the png_info_struct */
+extern PNG_EXPORT(void,png_destroy_info_struct) PNGARG((png_structp png_ptr,
+   png_infopp info_ptr_ptr));
+
+/* free any memory associated with the png_struct and the png_info_structs */
+extern PNG_EXPORT(void,png_destroy_read_struct) PNGARG((png_structpp
+   png_ptr_ptr, png_infopp info_ptr_ptr, png_infopp end_info_ptr_ptr));
+
+/* free all memory used by the read (old method - NOT DLL EXPORTED) */
+extern void png_read_destroy PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_infop end_info_ptr));
+
+/* free any memory associated with the png_struct and the png_info_structs */
+extern PNG_EXPORT(void,png_destroy_write_struct)
+   PNGARG((png_structpp png_ptr_ptr, png_infopp info_ptr_ptr));
+
+/* free any memory used in png_ptr struct (old method - NOT DLL EXPORTED) */
+extern void png_write_destroy PNGARG((png_structp png_ptr));
+
+/* set the libpng method of handling chunk CRC errors */
+extern PNG_EXPORT(void,png_set_crc_action) PNGARG((png_structp png_ptr,
+   int crit_action, int ancil_action));
+
+/* Values for png_set_crc_action() to say how to handle CRC errors in
+ * ancillary and critical chunks, and whether to use the data contained
+ * therein.  Note that it is impossible to "discard" data in a critical
+ * chunk.  For versions prior to 0.90, the action was always error/quit,
+ * whereas in version 0.90 and later, the action for CRC errors in ancillary
+ * chunks is warn/discard.  These values should NOT be changed.
+ *
+ *      value                       action:critical     action:ancillary
+ */
+#define PNG_CRC_DEFAULT       0  /* error/quit          warn/discard data */
+#define PNG_CRC_ERROR_QUIT    1  /* error/quit          error/quit        */
+#define PNG_CRC_WARN_DISCARD  2  /* (INVALID)           warn/discard data */
+#define PNG_CRC_WARN_USE      3  /* warn/use data       warn/use data     */
+#define PNG_CRC_QUIET_USE     4  /* quiet/use data      quiet/use data    */
+#define PNG_CRC_NO_CHANGE     5  /* use current value   use current value */
+
+/* These functions give the user control over the scan-line filtering in
+ * libpng and the compression methods used by zlib.  These functions are
+ * mainly useful for testing, as the defaults should work with most users.
+ * Those users who are tight on memory or want faster performance at the
+ * expense of compression can modify them.  See the compression library
+ * header file (zlib.h) for an explination of the compression functions.
+ */
+
+/* set the filtering method(s) used by libpng.  Currently, the only valid
+ * value for "method" is 0.
+ */
+extern PNG_EXPORT(void,png_set_filter) PNGARG((png_structp png_ptr, int method,
+   int filters));
+
+/* Flags for png_set_filter() to say which filters to use.  The flags
+ * are chosen so that they don't conflict with real filter types
+ * below, in case they are supplied instead of the #defined constants.
+ * These values should NOT be changed.
+ */
+#define PNG_NO_FILTERS     0x00
+#define PNG_FILTER_NONE    0x08
+#define PNG_FILTER_SUB     0x10
+#define PNG_FILTER_UP      0x20
+#define PNG_FILTER_AVG     0x40
+#define PNG_FILTER_PAETH   0x80
+#define PNG_ALL_FILTERS (PNG_FILTER_NONE | PNG_FILTER_SUB | PNG_FILTER_UP | \
+                         PNG_FILTER_AVG | PNG_FILTER_PAETH)
+
+/* Filter values (not flags) - used in pngwrite.c, pngwutil.c for now.
+ * These defines should NOT be changed.
+ */
+#define PNG_FILTER_VALUE_NONE  0
+#define PNG_FILTER_VALUE_SUB   1
+#define PNG_FILTER_VALUE_UP    2
+#define PNG_FILTER_VALUE_AVG   3
+#define PNG_FILTER_VALUE_PAETH 4
+#define PNG_FILTER_VALUE_LAST  5
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED) /* EXPERIMENTAL */
+/* The "heuristic_method" is given by one of the PNG_FILTER_HEURISTIC_
+ * defines, either the default (minimum-sum-of-absolute-differences), or
+ * the experimental method (weighted-minimum-sum-of-absolute-differences).
+ *
+ * Weights are factors >= 1.0, indicating how important it is to keep the
+ * filter type consistent between rows.  Larger numbers mean the current
+ * filter is that many times as likely to be the same as the "num_weights"
+ * previous filters.  This is cumulative for each previous row with a weight.
+ * There needs to be "num_weights" values in "filter_weights", or it can be
+ * NULL if the weights aren't being specified.  Weights have no influence on
+ * the selection of the first row filter.  Well chosen weights can (in theory)
+ * improve the compression for a given image.
+ *
+ * Costs are factors >= 1.0 indicating the relative decoding costs of a
+ * filter type.  Higher costs indicate more decoding expense, and are
+ * therefore less likely to be selected over a filter with lower computational
+ * costs.  There needs to be a value in "filter_costs" for each valid filter
+ * type (given by PNG_FILTER_VALUE_LAST), or it can be NULL if you aren't
+ * setting the costs.  Costs try to improve the speed of decompression without
+ * unduly increasing the compressed image size.
+ *
+ * A negative weight or cost indicates the default value is to be used, and
+ * values in the range [0.0, 1.0) indicate the value is to remain unchanged.
+ * The default values for both weights and costs are currently 1.0, but may
+ * change if good general weighting/cost heuristics can be found.  If both
+ * the weights and costs are set to 1.0, this degenerates the WEIGHTED method
+ * to the UNWEIGHTED method, but with added encoding time/computation.
+ */
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(void,png_set_filter_heuristics) PNGARG((png_structp png_ptr,
+   int heuristic_method, int num_weights, png_doublep filter_weights,
+   png_doublep filter_costs));
+#endif
+#endif /*  PNG_WRITE_WEIGHTED_FILTER_SUPPORTED */
+
+/* Heuristic used for row filter selection.  These defines should NOT be
+ * changed.
+ */
+#define PNG_FILTER_HEURISTIC_DEFAULT    0  /* Currently "UNWEIGHTED" */
+#define PNG_FILTER_HEURISTIC_UNWEIGHTED 1  /* Used by libpng < 0.95 */
+#define PNG_FILTER_HEURISTIC_WEIGHTED   2  /* Experimental feature */
+#define PNG_FILTER_HEURISTIC_LAST       3  /* Not a valid value */
+
+/* Set the library compression level.  Currently, valid values range from
+ * 0 - 9, corresponding directly to the zlib compression levels 0 - 9
+ * (0 - no compression, 9 - "maximal" compression).  Note that tests have
+ * shown that zlib compression levels 3-6 usually perform as well as level 9
+ * for PNG images, and do considerably fewer caclulations.  In the future,
+ * these values may not correspond directly to the zlib compression levels.
+ */
+extern PNG_EXPORT(void,png_set_compression_level) PNGARG((png_structp png_ptr,
+   int level));
+
+extern PNG_EXPORT(void,png_set_compression_mem_level)
+   PNGARG((png_structp png_ptr, int mem_level));
+
+extern PNG_EXPORT(void,png_set_compression_strategy)
+   PNGARG((png_structp png_ptr, int strategy));
+
+extern PNG_EXPORT(void,png_set_compression_window_bits)
+   PNGARG((png_structp png_ptr, int window_bits));
+
+extern PNG_EXPORT(void,png_set_compression_method) PNGARG((png_structp png_ptr,
+   int method));
+
+/* These next functions are called for input/output, memory, and error
+ * handling.  They are in the file pngrio.c, pngwio.c, and pngerror.c,
+ * and call standard C I/O routines such as fread(), fwrite(), and
+ * fprintf().  These functions can be made to use other I/O routines
+ * at run time for those applications that need to handle I/O in a
+ * different manner by calling png_set_???_fn().  See libpng.txt for
+ * more information.
+ */
+
+#if !defined(PNG_NO_STDIO)
+/* Initialize the input/output for the PNG file to the default functions. */
+extern PNG_EXPORT(void,png_init_io) PNGARG((png_structp png_ptr, png_FILE_p fp));
+#endif
+
+/* Replace the (error and abort), and warning functions with user
+ * supplied functions.  If no messages are to be printed you must still
+ * write and use replacement functions. The replacement error_fn should
+ * still do a longjmp to the last setjmp location if you are using this
+ * method of error handling.  If error_fn or warning_fn is NULL, the
+ * default function will be used.
+ */
+
+extern PNG_EXPORT(void,png_set_error_fn) PNGARG((png_structp png_ptr,
+   png_voidp error_ptr, png_error_ptr error_fn, png_error_ptr warning_fn));
+
+/* Return the user pointer associated with the error functions */
+extern PNG_EXPORT(png_voidp,png_get_error_ptr) PNGARG((png_structp png_ptr));
+
+/* Replace the default data output functions with a user supplied one(s).
+ * If buffered output is not used, then output_flush_fn can be set to NULL.
+ * If PNG_WRITE_FLUSH_SUPPORTED is not defined at libpng compile time
+ * output_flush_fn will be ignored (and thus can be NULL).
+ * It is probably a mistake to use NULL for output_flush_fn if
+ * write_data_fn is not also NULL unless you have built libpng with
+ * PNG_WRITE_FLUSH_SUPPORTED undefined, because in this case libpng's
+ * default flush function, which uses the standard *FILE structure, will
+ * be used.
+ */
+extern PNG_EXPORT(void,png_set_write_fn) PNGARG((png_structp png_ptr,
+   png_voidp io_ptr, png_rw_ptr write_data_fn, png_flush_ptr output_flush_fn));
+
+/* Replace the default data input function with a user supplied one. */
+extern PNG_EXPORT(void,png_set_read_fn) PNGARG((png_structp png_ptr,
+   png_voidp io_ptr, png_rw_ptr read_data_fn));
+
+/* Return the user pointer associated with the I/O functions */
+extern PNG_EXPORT(png_voidp,png_get_io_ptr) PNGARG((png_structp png_ptr));
+
+extern PNG_EXPORT(void,png_set_read_status_fn) PNGARG((png_structp png_ptr,
+   png_read_status_ptr read_row_fn));
+
+extern PNG_EXPORT(void,png_set_write_status_fn) PNGARG((png_structp png_ptr,
+   png_write_status_ptr write_row_fn));
+
+#ifdef PNG_USER_MEM_SUPPORTED
+/* Replace the default memory allocation functions with user supplied one(s). */
+extern PNG_EXPORT(void,png_set_mem_fn) PNGARG((png_structp png_ptr,
+   png_voidp mem_ptr, png_malloc_ptr malloc_fn, png_free_ptr free_fn));
+/* Return the user pointer associated with the memory functions */
+extern PNG_EXPORT(png_voidp,png_get_mem_ptr) PNGARG((png_structp png_ptr));
+#endif
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_LEGACY_SUPPORTED)
+extern PNG_EXPORT(void,png_set_read_user_transform_fn) PNGARG((png_structp
+   png_ptr, png_user_transform_ptr read_user_transform_fn));
+#endif
+
+#if defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_LEGACY_SUPPORTED)
+extern PNG_EXPORT(void,png_set_write_user_transform_fn) PNGARG((png_structp
+   png_ptr, png_user_transform_ptr write_user_transform_fn));
+#endif
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_LEGACY_SUPPORTED)
+extern PNG_EXPORT(void,png_set_user_transform_info) PNGARG((png_structp
+   png_ptr, png_voidp user_transform_ptr, int user_transform_depth,
+   int user_transform_channels));
+/* Return the user pointer associated with the user transform functions */
+extern PNG_EXPORT(png_voidp,png_get_user_transform_ptr)
+   PNGARG((png_structp png_ptr));
+#endif
+
+#ifdef PNG_USER_CHUNKS_SUPPORTED
+extern PNG_EXPORT(void,png_set_read_user_chunk_fn) PNGARG((png_structp png_ptr,
+   png_voidp user_chunk_ptr, png_user_chunk_ptr read_user_chunk_fn));
+extern PNG_EXPORT(png_voidp,png_get_user_chunk_ptr) PNGARG((png_structp
+   png_ptr));
+#endif
+
+#ifdef PNG_PROGRESSIVE_READ_SUPPORTED
+/* Sets the function callbacks for the push reader, and a pointer to a
+ * user-defined structure available to the callback functions.
+ */
+extern PNG_EXPORT(void,png_set_progressive_read_fn) PNGARG((png_structp png_ptr,
+   png_voidp progressive_ptr,
+   png_progressive_info_ptr info_fn, png_progressive_row_ptr row_fn,
+   png_progressive_end_ptr end_fn));
+
+/* returns the user pointer associated with the push read functions */
+extern PNG_EXPORT(png_voidp,png_get_progressive_ptr)
+   PNGARG((png_structp png_ptr));
+
+/* function to be called when data becomes available */
+extern PNG_EXPORT(void,png_process_data) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_bytep buffer, png_size_t buffer_size));
+
+/* function that combines rows.  Not very much different than the
+ * png_combine_row() call.  Is this even used?????
+ */
+extern PNG_EXPORT(void,png_progressive_combine_row) PNGARG((png_structp png_ptr,
+   png_bytep old_row, png_bytep new_row));
+#endif /* PNG_PROGRESSIVE_READ_SUPPORTED */
+
+extern PNG_EXPORT(png_voidp,png_malloc) PNGARG((png_structp png_ptr,
+   png_uint_32 size));
+
+#if defined(PNG_1_0_X)
+#  define png_malloc_warn png_malloc
+#else
+/* Added at libpng version 1.2.4 */
+extern PNG_EXPORT(png_voidp,png_malloc_warn) PNGARG((png_structp png_ptr,
+   png_uint_32 size));
+#endif
+
+/* frees a pointer allocated by png_malloc() */
+extern PNG_EXPORT(void,png_free) PNGARG((png_structp png_ptr, png_voidp ptr));
+
+#if defined(PNG_1_0_X)
+/* Function to allocate memory for zlib. */
+extern PNG_EXPORT(voidpf,png_zalloc) PNGARG((voidpf png_ptr, uInt items,
+   uInt size));
+
+/* Function to free memory for zlib */
+extern PNG_EXPORT(void,png_zfree) PNGARG((voidpf png_ptr, voidpf ptr));
+#endif
+
+/* Free data that was allocated internally */
+extern PNG_EXPORT(void,png_free_data) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_32 free_me, int num));
+#ifdef PNG_FREE_ME_SUPPORTED
+/* Reassign responsibility for freeing existing data, whether allocated
+ * by libpng or by the application */
+extern PNG_EXPORT(void,png_data_freer) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, int freer, png_uint_32 mask));
+#endif
+/* assignments for png_data_freer */
+#define PNG_DESTROY_WILL_FREE_DATA 1
+#define PNG_SET_WILL_FREE_DATA 1
+#define PNG_USER_WILL_FREE_DATA 2
+/* Flags for png_ptr->free_me and info_ptr->free_me */
+#define PNG_FREE_HIST 0x0008
+#define PNG_FREE_ICCP 0x0010
+#define PNG_FREE_SPLT 0x0020
+#define PNG_FREE_ROWS 0x0040
+#define PNG_FREE_PCAL 0x0080
+#define PNG_FREE_SCAL 0x0100
+#define PNG_FREE_UNKN 0x0200
+#define PNG_FREE_LIST 0x0400
+#define PNG_FREE_PLTE 0x1000
+#define PNG_FREE_TRNS 0x2000
+#define PNG_FREE_TEXT 0x4000
+#define PNG_FREE_ALL  0x7fff
+#define PNG_FREE_MUL  0x4220 /* PNG_FREE_SPLT|PNG_FREE_TEXT|PNG_FREE_UNKN */
+
+#ifdef PNG_USER_MEM_SUPPORTED
+extern PNG_EXPORT(png_voidp,png_malloc_default) PNGARG((png_structp png_ptr,
+   png_uint_32 size));
+extern PNG_EXPORT(void,png_free_default) PNGARG((png_structp png_ptr,
+   png_voidp ptr));
+#endif
+
+extern PNG_EXPORT(png_voidp,png_memcpy_check) PNGARG((png_structp png_ptr,
+   png_voidp s1, png_voidp s2, png_uint_32 size));
+
+extern PNG_EXPORT(png_voidp,png_memset_check) PNGARG((png_structp png_ptr,
+   png_voidp s1, int value, png_uint_32 size));
+
+#if defined(USE_FAR_KEYWORD)  /* memory model conversion function */
+extern void *png_far_to_near PNGARG((png_structp png_ptr,png_voidp ptr,
+   int check));
+#endif /* USE_FAR_KEYWORD */
+
+#ifndef PNG_NO_ERROR_TEXT
+/* Fatal error in PNG image of libpng - can't continue */
+extern PNG_EXPORT(void,png_error) PNGARG((png_structp png_ptr,
+   png_const_charp error_message));
+
+/* The same, but the chunk name is prepended to the error string. */
+extern PNG_EXPORT(void,png_chunk_error) PNGARG((png_structp png_ptr,
+   png_const_charp error_message));
+#else
+/* Fatal error in PNG image of libpng - can't continue */
+extern PNG_EXPORT(void,png_err) PNGARG((png_structp png_ptr));
+#endif
+
+#ifndef PNG_NO_WARNINGS
+/* Non-fatal error in libpng.  Can continue, but may have a problem. */
+extern PNG_EXPORT(void,png_warning) PNGARG((png_structp png_ptr,
+   png_const_charp warning_message));
+
+#ifdef PNG_READ_SUPPORTED
+/* Non-fatal error in libpng, chunk name is prepended to message. */
+extern PNG_EXPORT(void,png_chunk_warning) PNGARG((png_structp png_ptr,
+   png_const_charp warning_message));
+#endif /* PNG_READ_SUPPORTED */
+#endif /* PNG_NO_WARNINGS */
+
+/* The png_set_<chunk> functions are for storing values in the png_info_struct.
+ * Similarly, the png_get_<chunk> calls are used to read values from the
+ * png_info_struct, either storing the parameters in the passed variables, or
+ * setting pointers into the png_info_struct where the data is stored.  The
+ * png_get_<chunk> functions return a non-zero value if the data was available
+ * in info_ptr, or return zero and do not change any of the parameters if the
+ * data was not available.
+ *
+ * These functions should be used instead of directly accessing png_info
+ * to avoid problems with future changes in the size and internal layout of
+ * png_info_struct.
+ */
+/* Returns "flag" if chunk data is valid in info_ptr. */
+extern PNG_EXPORT(png_uint_32,png_get_valid) PNGARG((png_structp png_ptr,
+png_infop info_ptr, png_uint_32 flag));
+
+/* Returns number of bytes needed to hold a transformed row. */
+extern PNG_EXPORT(png_uint_32,png_get_rowbytes) PNGARG((png_structp png_ptr,
+png_infop info_ptr));
+
+#if defined(PNG_INFO_IMAGE_SUPPORTED)
+/* Returns row_pointers, which is an array of pointers to scanlines that was
+returned from png_read_png(). */
+extern PNG_EXPORT(png_bytepp,png_get_rows) PNGARG((png_structp png_ptr,
+png_infop info_ptr));
+/* Set row_pointers, which is an array of pointers to scanlines for use
+by png_write_png(). */
+extern PNG_EXPORT(void,png_set_rows) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_bytepp row_pointers));
+#endif
+
+/* Returns number of color channels in image. */
+extern PNG_EXPORT(png_byte,png_get_channels) PNGARG((png_structp png_ptr,
+png_infop info_ptr));
+
+#ifdef PNG_EASY_ACCESS_SUPPORTED
+/* Returns image width in pixels. */
+extern PNG_EXPORT(png_uint_32, png_get_image_width) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+
+/* Returns image height in pixels. */
+extern PNG_EXPORT(png_uint_32, png_get_image_height) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+
+/* Returns image bit_depth. */
+extern PNG_EXPORT(png_byte, png_get_bit_depth) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+
+/* Returns image color_type. */
+extern PNG_EXPORT(png_byte, png_get_color_type) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+
+/* Returns image filter_type. */
+extern PNG_EXPORT(png_byte, png_get_filter_type) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+
+/* Returns image interlace_type. */
+extern PNG_EXPORT(png_byte, png_get_interlace_type) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+
+/* Returns image compression_type. */
+extern PNG_EXPORT(png_byte, png_get_compression_type) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+
+/* Returns image resolution in pixels per meter, from pHYs chunk data. */
+extern PNG_EXPORT(png_uint_32, png_get_pixels_per_meter) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+extern PNG_EXPORT(png_uint_32, png_get_x_pixels_per_meter) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+extern PNG_EXPORT(png_uint_32, png_get_y_pixels_per_meter) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+
+/* Returns pixel aspect ratio, computed from pHYs chunk data.  */
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(float, png_get_pixel_aspect_ratio) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+#endif
+
+/* Returns image x, y offset in pixels or microns, from oFFs chunk data. */
+extern PNG_EXPORT(png_int_32, png_get_x_offset_pixels) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+extern PNG_EXPORT(png_int_32, png_get_y_offset_pixels) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+extern PNG_EXPORT(png_int_32, png_get_x_offset_microns) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+extern PNG_EXPORT(png_int_32, png_get_y_offset_microns) PNGARG((png_structp
+png_ptr, png_infop info_ptr));
+
+#endif /* PNG_EASY_ACCESS_SUPPORTED */
+
+/* Returns pointer to signature string read from PNG header */
+extern PNG_EXPORT(png_bytep,png_get_signature) PNGARG((png_structp png_ptr,
+png_infop info_ptr));
+
+#if defined(PNG_bKGD_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_bKGD) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_color_16p *background));
+#endif
+
+#if defined(PNG_bKGD_SUPPORTED)
+extern PNG_EXPORT(void,png_set_bKGD) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_color_16p background));
+#endif
+
+#if defined(PNG_cHRM_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(png_uint_32,png_get_cHRM) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, double *white_x, double *white_y, double *red_x,
+   double *red_y, double *green_x, double *green_y, double *blue_x,
+   double *blue_y));
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+extern PNG_EXPORT(png_uint_32,png_get_cHRM_fixed) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_fixed_point *int_white_x, png_fixed_point
+   *int_white_y, png_fixed_point *int_red_x, png_fixed_point *int_red_y,
+   png_fixed_point *int_green_x, png_fixed_point *int_green_y, png_fixed_point
+   *int_blue_x, png_fixed_point *int_blue_y));
+#endif
+#endif
+
+#if defined(PNG_cHRM_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(void,png_set_cHRM) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, double white_x, double white_y, double red_x,
+   double red_y, double green_x, double green_y, double blue_x, double blue_y));
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+extern PNG_EXPORT(void,png_set_cHRM_fixed) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_fixed_point int_white_x, png_fixed_point int_white_y,
+   png_fixed_point int_red_x, png_fixed_point int_red_y, png_fixed_point
+   int_green_x, png_fixed_point int_green_y, png_fixed_point int_blue_x,
+   png_fixed_point int_blue_y));
+#endif
+#endif
+
+#if defined(PNG_gAMA_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(png_uint_32,png_get_gAMA) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, double *file_gamma));
+#endif
+extern PNG_EXPORT(png_uint_32,png_get_gAMA_fixed) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_fixed_point *int_file_gamma));
+#endif
+
+#if defined(PNG_gAMA_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(void,png_set_gAMA) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, double file_gamma));
+#endif
+extern PNG_EXPORT(void,png_set_gAMA_fixed) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_fixed_point int_file_gamma));
+#endif
+
+#if defined(PNG_hIST_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_hIST) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_16p *hist));
+#endif
+
+#if defined(PNG_hIST_SUPPORTED)
+extern PNG_EXPORT(void,png_set_hIST) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_16p hist));
+#endif
+
+extern PNG_EXPORT(png_uint_32,png_get_IHDR) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_32 *width, png_uint_32 *height,
+   int *bit_depth, int *color_type, int *interlace_method,
+   int *compression_method, int *filter_method));
+
+extern PNG_EXPORT(void,png_set_IHDR) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_32 width, png_uint_32 height, int bit_depth,
+   int color_type, int interlace_method, int compression_method,
+   int filter_method));
+
+#if defined(PNG_oFFs_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_oFFs) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_int_32 *offset_x, png_int_32 *offset_y,
+   int *unit_type));
+#endif
+
+#if defined(PNG_oFFs_SUPPORTED)
+extern PNG_EXPORT(void,png_set_oFFs) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_int_32 offset_x, png_int_32 offset_y,
+   int unit_type));
+#endif
+
+#if defined(PNG_pCAL_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_pCAL) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_charp *purpose, png_int_32 *X0, png_int_32 *X1,
+   int *type, int *nparams, png_charp *units, png_charpp *params));
+#endif
+
+#if defined(PNG_pCAL_SUPPORTED)
+extern PNG_EXPORT(void,png_set_pCAL) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_charp purpose, png_int_32 X0, png_int_32 X1,
+   int type, int nparams, png_charp units, png_charpp params));
+#endif
+
+#if defined(PNG_pHYs_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_pHYs) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_32 *res_x, png_uint_32 *res_y, int *unit_type));
+#endif
+
+#if defined(PNG_pHYs_SUPPORTED)
+extern PNG_EXPORT(void,png_set_pHYs) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_32 res_x, png_uint_32 res_y, int unit_type));
+#endif
+
+extern PNG_EXPORT(png_uint_32,png_get_PLTE) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_colorp *palette, int *num_palette));
+
+extern PNG_EXPORT(void,png_set_PLTE) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_colorp palette, int num_palette));
+
+#if defined(PNG_sBIT_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_sBIT) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_color_8p *sig_bit));
+#endif
+
+#if defined(PNG_sBIT_SUPPORTED)
+extern PNG_EXPORT(void,png_set_sBIT) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_color_8p sig_bit));
+#endif
+
+#if defined(PNG_sRGB_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_sRGB) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, int *intent));
+#endif
+
+#if defined(PNG_sRGB_SUPPORTED)
+extern PNG_EXPORT(void,png_set_sRGB) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, int intent));
+extern PNG_EXPORT(void,png_set_sRGB_gAMA_and_cHRM) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, int intent));
+#endif
+
+#if defined(PNG_iCCP_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_iCCP) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_charpp name, int *compression_type,
+   png_charpp profile, png_uint_32 *proflen));
+   /* Note to maintainer: profile should be png_bytepp */
+#endif
+
+#if defined(PNG_iCCP_SUPPORTED)
+extern PNG_EXPORT(void,png_set_iCCP) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_charp name, int compression_type,
+   png_charp profile, png_uint_32 proflen));
+   /* Note to maintainer: profile should be png_bytep */
+#endif
+
+#if defined(PNG_sPLT_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_sPLT) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_sPLT_tpp entries));
+#endif
+
+#if defined(PNG_sPLT_SUPPORTED)
+extern PNG_EXPORT(void,png_set_sPLT) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_sPLT_tp entries, int nentries));
+#endif
+
+#if defined(PNG_TEXT_SUPPORTED)
+/* png_get_text also returns the number of text chunks in *num_text */
+extern PNG_EXPORT(png_uint_32,png_get_text) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_textp *text_ptr, int *num_text));
+#endif
+
+/*
+ *  Note while png_set_text() will accept a structure whose text,
+ *  language, and  translated keywords are NULL pointers, the structure
+ *  returned by png_get_text will always contain regular
+ *  zero-terminated C strings.  They might be empty strings but
+ *  they will never be NULL pointers.
+ */
+
+#if defined(PNG_TEXT_SUPPORTED)
+extern PNG_EXPORT(void,png_set_text) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_textp text_ptr, int num_text));
+#endif
+
+#if defined(PNG_tIME_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_tIME) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_timep *mod_time));
+#endif
+
+#if defined(PNG_tIME_SUPPORTED)
+extern PNG_EXPORT(void,png_set_tIME) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_timep mod_time));
+#endif
+
+#if defined(PNG_tRNS_SUPPORTED)
+extern PNG_EXPORT(png_uint_32,png_get_tRNS) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_bytep *trans, int *num_trans,
+   png_color_16p *trans_values));
+#endif
+
+#if defined(PNG_tRNS_SUPPORTED)
+extern PNG_EXPORT(void,png_set_tRNS) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_bytep trans, int num_trans,
+   png_color_16p trans_values));
+#endif
+
+#if defined(PNG_tRNS_SUPPORTED)
+#endif
+
+#if defined(PNG_sCAL_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(png_uint_32,png_get_sCAL) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, int *unit, double *width, double *height));
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+extern PNG_EXPORT(png_uint_32,png_get_sCAL_s) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, int *unit, png_charpp swidth, png_charpp sheight));
+#endif
+#endif
+#endif /* PNG_sCAL_SUPPORTED */
+
+#if defined(PNG_sCAL_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+extern PNG_EXPORT(void,png_set_sCAL) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, int unit, double width, double height));
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+extern PNG_EXPORT(void,png_set_sCAL_s) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, int unit, png_charp swidth, png_charp sheight));
+#endif
+#endif
+#endif /* PNG_sCAL_SUPPORTED || PNG_WRITE_sCAL_SUPPORTED */
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+/* provide a list of chunks and how they are to be handled, if the built-in
+   handling or default unknown chunk handling is not desired.  Any chunks not
+   listed will be handled in the default manner.  The IHDR and IEND chunks
+   must not be listed.
+      keep = 0: follow default behaviour
+           = 1: do not keep
+           = 2: keep only if safe-to-copy
+           = 3: keep even if unsafe-to-copy
+*/
+extern PNG_EXPORT(void, png_set_keep_unknown_chunks) PNGARG((png_structp
+   png_ptr, int keep, png_bytep chunk_list, int num_chunks));
+extern PNG_EXPORT(void, png_set_unknown_chunks) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_unknown_chunkp unknowns, int num_unknowns));
+extern PNG_EXPORT(void, png_set_unknown_chunk_location)
+   PNGARG((png_structp png_ptr, png_infop info_ptr, int chunk, int location));
+extern PNG_EXPORT(png_uint_32,png_get_unknown_chunks) PNGARG((png_structp
+   png_ptr, png_infop info_ptr, png_unknown_chunkpp entries));
+#endif
+#ifdef PNG_HANDLE_AS_UNKNOWN_SUPPORTED
+PNG_EXPORT(int,png_handle_as_unknown) PNGARG((png_structp png_ptr, png_bytep
+   chunk_name));
+#endif
+
+/* Png_free_data() will turn off the "valid" flag for anything it frees.
+   If you need to turn it off for a chunk that your application has freed,
+   you can use png_set_invalid(png_ptr, info_ptr, PNG_INFO_CHNK); */
+extern PNG_EXPORT(void, png_set_invalid) PNGARG((png_structp png_ptr,
+   png_infop info_ptr, int mask));
+
+#if defined(PNG_INFO_IMAGE_SUPPORTED)
+/* The "params" pointer is currently not used and is for future expansion. */
+extern PNG_EXPORT(void, png_read_png) PNGARG((png_structp png_ptr,
+                        png_infop info_ptr,
+                        int transforms,
+                        png_voidp params));
+extern PNG_EXPORT(void, png_write_png) PNGARG((png_structp png_ptr,
+                        png_infop info_ptr,
+                        int transforms,
+                        png_voidp params));
+#endif
+
+/* Define PNG_DEBUG at compile time for debugging information.  Higher
+ * numbers for PNG_DEBUG mean more debugging information.  This has
+ * only been added since version 0.95 so it is not implemented throughout
+ * libpng yet, but more support will be added as needed.
+ */
+#ifdef PNG_DEBUG
+#if (PNG_DEBUG > 0)
+#if !defined(PNG_DEBUG_FILE) && defined(_MSC_VER)
+#include <crtdbg.h>
+#if (PNG_DEBUG > 1)
+#ifndef _DEBUG
+#  define _DEBUG
+#endif
+#ifndef png_debug
+#define png_debug(l,m)  _RPT0(_CRT_WARN,m PNG_STRING_NEWLINE)
+#endif
+#ifndef png_debug1
+#define png_debug1(l,m,p1)  _RPT1(_CRT_WARN,m PNG_STRING_NEWLINE,p1)
+#endif
+#ifndef png_debug2
+#define png_debug2(l,m,p1,p2) _RPT2(_CRT_WARN,m PNG_STRING_NEWLINE,p1,p2)
+#endif
+#endif
+#else /* PNG_DEBUG_FILE || !_MSC_VER */
+#ifndef PNG_DEBUG_FILE
+#define PNG_DEBUG_FILE stderr
+#endif /* PNG_DEBUG_FILE */
+
+#if (PNG_DEBUG > 1)
+/* Note: ["%s"m PNG_STRING_NEWLINE] probably does not work on
+ * non-ISO compilers */
+#  ifdef __STDC__
+#    ifndef png_debug
+#      define png_debug(l,m) \
+       { \
+       int num_tabs=l; \
+       fprintf(PNG_DEBUG_FILE,"%s"m PNG_STRING_NEWLINE,(num_tabs==1 ? "\t" : \
+         (num_tabs==2 ? "\t\t":(num_tabs>2 ? "\t\t\t":"")))); \
+       }
+#    endif
+#    ifndef png_debug1
+#      define png_debug1(l,m,p1) \
+       { \
+       int num_tabs=l; \
+       fprintf(PNG_DEBUG_FILE,"%s"m PNG_STRING_NEWLINE,(num_tabs==1 ? "\t" : \
+         (num_tabs==2 ? "\t\t":(num_tabs>2 ? "\t\t\t":""))),p1); \
+       }
+#    endif
+#    ifndef png_debug2
+#      define png_debug2(l,m,p1,p2) \
+       { \
+       int num_tabs=l; \
+       fprintf(PNG_DEBUG_FILE,"%s"m PNG_STRING_NEWLINE,(num_tabs==1 ? "\t" : \
+         (num_tabs==2 ? "\t\t":(num_tabs>2 ? "\t\t\t":""))),p1,p2); \
+       }
+#    endif
+#  else /* __STDC __ */
+#    ifndef png_debug
+#      define png_debug(l,m) \
+       { \
+       int num_tabs=l; \
+       char format[256]; \
+       snprintf(format,256,"%s%s%s",(num_tabs==1 ? "\t" : \
+         (num_tabs==2 ? "\t\t":(num_tabs>2 ? "\t\t\t":""))), \
+         m,PNG_STRING_NEWLINE); \
+       fprintf(PNG_DEBUG_FILE,format); \
+       }
+#    endif
+#    ifndef png_debug1
+#      define png_debug1(l,m,p1) \
+       { \
+       int num_tabs=l; \
+       char format[256]; \
+       snprintf(format,256,"%s%s%s",(num_tabs==1 ? "\t" : \
+         (num_tabs==2 ? "\t\t":(num_tabs>2 ? "\t\t\t":""))), \
+         m,PNG_STRING_NEWLINE); \
+       fprintf(PNG_DEBUG_FILE,format,p1); \
+       }
+#    endif
+#    ifndef png_debug2
+#      define png_debug2(l,m,p1,p2) \
+       { \
+       int num_tabs=l; \
+       char format[256]; \
+       snprintf(format,256,"%s%s%s",(num_tabs==1 ? "\t" : \
+         (num_tabs==2 ? "\t\t":(num_tabs>2 ? "\t\t\t":""))), \
+         m,PNG_STRING_NEWLINE); \
+       fprintf(PNG_DEBUG_FILE,format,p1,p2); \
+       }
+#    endif
+#  endif /* __STDC __ */
+#endif /* (PNG_DEBUG > 1) */
+
+#endif /* _MSC_VER */
+#endif /* (PNG_DEBUG > 0) */
+#endif /* PNG_DEBUG */
+#ifndef png_debug
+#define png_debug(l, m)
+#endif
+#ifndef png_debug1
+#define png_debug1(l, m, p1)
+#endif
+#ifndef png_debug2
+#define png_debug2(l, m, p1, p2)
+#endif
+
+extern PNG_EXPORT(png_charp,png_get_copyright) PNGARG((png_structp png_ptr));
+extern PNG_EXPORT(png_charp,png_get_header_ver) PNGARG((png_structp png_ptr));
+extern PNG_EXPORT(png_charp,png_get_header_version) PNGARG((png_structp png_ptr));
+extern PNG_EXPORT(png_charp,png_get_libpng_ver) PNGARG((png_structp png_ptr));
+
+#ifdef PNG_MNG_FEATURES_SUPPORTED
+extern PNG_EXPORT(png_uint_32,png_permit_mng_features) PNGARG((png_structp
+   png_ptr, png_uint_32 mng_features_permitted));
+#endif
+
+/* For use in png_set_keep_unknown, added to version 1.2.6 */
+#define PNG_HANDLE_CHUNK_AS_DEFAULT   0
+#define PNG_HANDLE_CHUNK_NEVER        1
+#define PNG_HANDLE_CHUNK_IF_SAFE      2
+#define PNG_HANDLE_CHUNK_ALWAYS       3
+
+/* Added to version 1.2.0 */
+#if defined(PNG_ASSEMBLER_CODE_SUPPORTED)
+#if defined(PNG_MMX_CODE_SUPPORTED)
+#define PNG_ASM_FLAG_MMX_SUPPORT_COMPILED  0x01  /* not user-settable */
+#define PNG_ASM_FLAG_MMX_SUPPORT_IN_CPU    0x02  /* not user-settable */
+#define PNG_ASM_FLAG_MMX_READ_COMBINE_ROW  0x04
+#define PNG_ASM_FLAG_MMX_READ_INTERLACE    0x08
+#define PNG_ASM_FLAG_MMX_READ_FILTER_SUB   0x10
+#define PNG_ASM_FLAG_MMX_READ_FILTER_UP    0x20
+#define PNG_ASM_FLAG_MMX_READ_FILTER_AVG   0x40
+#define PNG_ASM_FLAG_MMX_READ_FILTER_PAETH 0x80
+#define PNG_ASM_FLAGS_INITIALIZED          0x80000000  /* not user-settable */
+
+#define PNG_MMX_READ_FLAGS ( PNG_ASM_FLAG_MMX_READ_COMBINE_ROW  \
+                           | PNG_ASM_FLAG_MMX_READ_INTERLACE    \
+                           | PNG_ASM_FLAG_MMX_READ_FILTER_SUB   \
+                           | PNG_ASM_FLAG_MMX_READ_FILTER_UP    \
+                           | PNG_ASM_FLAG_MMX_READ_FILTER_AVG   \
+                           | PNG_ASM_FLAG_MMX_READ_FILTER_PAETH )
+#define PNG_MMX_WRITE_FLAGS ( 0 )
+
+#define PNG_MMX_FLAGS ( PNG_ASM_FLAG_MMX_SUPPORT_COMPILED \
+                      | PNG_ASM_FLAG_MMX_SUPPORT_IN_CPU   \
+                      | PNG_MMX_READ_FLAGS                \
+                      | PNG_MMX_WRITE_FLAGS )
+
+#define PNG_SELECT_READ   1
+#define PNG_SELECT_WRITE  2
+#endif /* PNG_MMX_CODE_SUPPORTED */
+
+#if !defined(PNG_1_0_X)
+/* pngget.c */
+extern PNG_EXPORT(png_uint_32,png_get_mmx_flagmask)
+   PNGARG((int flag_select, int *compilerID));
+
+/* pngget.c */
+extern PNG_EXPORT(png_uint_32,png_get_asm_flagmask)
+   PNGARG((int flag_select));
+
+/* pngget.c */
+extern PNG_EXPORT(png_uint_32,png_get_asm_flags)
+   PNGARG((png_structp png_ptr));
+
+/* pngget.c */
+extern PNG_EXPORT(png_byte,png_get_mmx_bitdepth_threshold)
+   PNGARG((png_structp png_ptr));
+
+/* pngget.c */
+extern PNG_EXPORT(png_uint_32,png_get_mmx_rowbytes_threshold)
+   PNGARG((png_structp png_ptr));
+
+/* pngset.c */
+extern PNG_EXPORT(void,png_set_asm_flags)
+   PNGARG((png_structp png_ptr, png_uint_32 asm_flags));
+
+/* pngset.c */
+extern PNG_EXPORT(void,png_set_mmx_thresholds)
+   PNGARG((png_structp png_ptr, png_byte mmx_bitdepth_threshold,
+   png_uint_32 mmx_rowbytes_threshold));
+
+#endif /* PNG_1_0_X */
+
+#if !defined(PNG_1_0_X)
+/* png.c, pnggccrd.c, or pngvcrd.c */
+extern PNG_EXPORT(int,png_mmx_support) PNGARG((void));
+#endif /* PNG_1_0_X */
+#endif /* PNG_ASSEMBLER_CODE_SUPPORTED */
+
+/* Strip the prepended error numbers ("#nnn ") from error and warning
+ * messages before passing them to the error or warning handler. */
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+extern PNG_EXPORT(void,png_set_strip_error_numbers) PNGARG((png_structp
+   png_ptr, png_uint_32 strip_mode));
+#endif
+
+/* Added at libpng-1.2.6 */
+#ifdef PNG_SET_USER_LIMITS_SUPPORTED
+extern PNG_EXPORT(void,png_set_user_limits) PNGARG((png_structp
+   png_ptr, png_uint_32 user_width_max, png_uint_32 user_height_max));
+extern PNG_EXPORT(png_uint_32,png_get_user_width_max) PNGARG((png_structp
+   png_ptr));
+extern PNG_EXPORT(png_uint_32,png_get_user_height_max) PNGARG((png_structp
+   png_ptr));
+#endif
+
+
+/* Maintainer: Put new public prototypes here ^, in libpng.3, and project defs */
+
+#ifdef PNG_READ_COMPOSITE_NODIV_SUPPORTED
+/* With these routines we avoid an integer divide, which will be slower on
+ * most machines.  However, it does take more operations than the corresponding
+ * divide method, so it may be slower on a few RISC systems.  There are two
+ * shifts (by 8 or 16 bits) and an addition, versus a single integer divide.
+ *
+ * Note that the rounding factors are NOT supposed to be the same!  128 and
+ * 32768 are correct for the NODIV code; 127 and 32767 are correct for the
+ * standard method.
+ *
+ * [Optimized code by Greg Roelofs and Mark Adler...blame us for bugs. :-) ]
+ */
+
+ /* fg and bg should be in `gamma 1.0' space; alpha is the opacity          */
+
+#  define png_composite(composite, fg, alpha, bg)                            \
+     { png_uint_16 temp = (png_uint_16)((png_uint_16)(fg) * (png_uint_16)(alpha) \
+                        +        (png_uint_16)(bg)*(png_uint_16)(255 -       \
+                        (png_uint_16)(alpha)) + (png_uint_16)128);           \
+       (composite) = (png_byte)((temp + (temp >> 8)) >> 8); }
+
+#  define png_composite_16(composite, fg, alpha, bg)                         \
+     { png_uint_32 temp = (png_uint_32)((png_uint_32)(fg) * (png_uint_32)(alpha) \
+                        + (png_uint_32)(bg)*(png_uint_32)(65535L -           \
+                        (png_uint_32)(alpha)) + (png_uint_32)32768L);        \
+       (composite) = (png_uint_16)((temp + (temp >> 16)) >> 16); }
+
+#else  /* standard method using integer division */
+
+#  define png_composite(composite, fg, alpha, bg)                            \
+     (composite) = (png_byte)(((png_uint_16)(fg) * (png_uint_16)(alpha) +    \
+       (png_uint_16)(bg) * (png_uint_16)(255 - (png_uint_16)(alpha)) +       \
+       (png_uint_16)127) / 255)
+
+#  define png_composite_16(composite, fg, alpha, bg)                         \
+     (composite) = (png_uint_16)(((png_uint_32)(fg) * (png_uint_32)(alpha) + \
+       (png_uint_32)(bg)*(png_uint_32)(65535L - (png_uint_32)(alpha)) +      \
+       (png_uint_32)32767) / (png_uint_32)65535L)
+
+#endif /* PNG_READ_COMPOSITE_NODIV_SUPPORTED */
+
+/* Inline macros to do direct reads of bytes from the input buffer.  These
+ * require that you are using an architecture that uses PNG byte ordering
+ * (MSB first) and supports unaligned data storage.  I think that PowerPC
+ * in big-endian mode and 680x0 are the only ones that will support this.
+ * The x86 line of processors definitely do not.  The png_get_int_32()
+ * routine also assumes we are using two's complement format for negative
+ * values, which is almost certainly true.
+ */
+#if defined(PNG_READ_BIG_ENDIAN_SUPPORTED)
+#  define png_get_uint_32(buf) ( *((png_uint_32p) (buf)))
+#  define png_get_uint_16(buf) ( *((png_uint_16p) (buf)))
+#  define png_get_int_32(buf)  ( *((png_int_32p)  (buf)))
+#else
+extern PNG_EXPORT(png_uint_32,png_get_uint_32) PNGARG((png_bytep buf));
+extern PNG_EXPORT(png_uint_16,png_get_uint_16) PNGARG((png_bytep buf));
+extern PNG_EXPORT(png_int_32,png_get_int_32) PNGARG((png_bytep buf));
+#endif /* !PNG_READ_BIG_ENDIAN_SUPPORTED */
+extern PNG_EXPORT(png_uint_32,png_get_uint_31)
+  PNGARG((png_structp png_ptr, png_bytep buf));
+/* No png_get_int_16 -- may be added if there's a real need for it. */
+
+/* Place a 32-bit number into a buffer in PNG byte order (big-endian).
+ */
+extern PNG_EXPORT(void,png_save_uint_32)
+   PNGARG((png_bytep buf, png_uint_32 i));
+extern PNG_EXPORT(void,png_save_int_32)
+   PNGARG((png_bytep buf, png_int_32 i));
+
+/* Place a 16-bit number into a buffer in PNG byte order.
+ * The parameter is declared unsigned int, not png_uint_16,
+ * just to avoid potential problems on pre-ANSI C compilers.
+ */
+extern PNG_EXPORT(void,png_save_uint_16)
+   PNGARG((png_bytep buf, unsigned int i));
+/* No png_save_int_16 -- may be added if there's a real need for it. */
+
+/* ************************************************************************* */
+
+/* These next functions are used internally in the code.  They generally
+ * shouldn't be used unless you are writing code to add or replace some
+ * functionality in libpng.  More information about most functions can
+ * be found in the files where the functions are located.
+ */
+
+
+/* Various modes of operation, that are visible to applications because
+ * they are used for unknown chunk location.
+ */
+#define PNG_HAVE_IHDR               0x01
+#define PNG_HAVE_PLTE               0x02
+#define PNG_HAVE_IDAT               0x04
+#define PNG_AFTER_IDAT              0x08 /* Have complete zlib datastream */
+#define PNG_HAVE_IEND               0x10
+
+#if defined(PNG_INTERNAL)
+
+/* More modes of operation.  Note that after an init, mode is set to
+ * zero automatically when the structure is created.
+ */
+#define PNG_HAVE_gAMA               0x20
+#define PNG_HAVE_cHRM               0x40
+#define PNG_HAVE_sRGB               0x80
+#define PNG_HAVE_CHUNK_HEADER      0x100
+#define PNG_WROTE_tIME             0x200
+#define PNG_WROTE_INFO_BEFORE_PLTE 0x400
+#define PNG_BACKGROUND_IS_GRAY     0x800
+#define PNG_HAVE_PNG_SIGNATURE    0x1000
+#define PNG_HAVE_CHUNK_AFTER_IDAT 0x2000 /* Have another chunk after IDAT */
+
+/* flags for the transformations the PNG library does on the image data */
+#define PNG_BGR                0x0001
+#define PNG_INTERLACE          0x0002
+#define PNG_PACK               0x0004
+#define PNG_SHIFT              0x0008
+#define PNG_SWAP_BYTES         0x0010
+#define PNG_INVERT_MONO        0x0020
+#define PNG_DITHER             0x0040
+#define PNG_BACKGROUND         0x0080
+#define PNG_BACKGROUND_EXPAND  0x0100
+                          /*   0x0200 unused */
+#define PNG_16_TO_8            0x0400
+#define PNG_RGBA               0x0800
+#define PNG_EXPAND             0x1000
+#define PNG_GAMMA              0x2000
+#define PNG_GRAY_TO_RGB        0x4000
+#define PNG_FILLER             0x8000L
+#define PNG_PACKSWAP          0x10000L
+#define PNG_SWAP_ALPHA        0x20000L
+#define PNG_STRIP_ALPHA       0x40000L
+#define PNG_INVERT_ALPHA      0x80000L
+#define PNG_USER_TRANSFORM   0x100000L
+#define PNG_RGB_TO_GRAY_ERR  0x200000L
+#define PNG_RGB_TO_GRAY_WARN 0x400000L
+#define PNG_RGB_TO_GRAY      0x600000L  /* two bits, RGB_TO_GRAY_ERR|WARN */
+                       /*    0x800000L     Unused */
+#define PNG_ADD_ALPHA       0x1000000L  /* Added to libpng-1.2.7 */
+#define PNG_EXPAND_tRNS     0x2000000L  /* Added to libpng-1.2.9 */
+                       /*   0x4000000L  unused */
+                       /*   0x8000000L  unused */
+                       /*  0x10000000L  unused */
+                       /*  0x20000000L  unused */
+                       /*  0x40000000L  unused */
+
+/* flags for png_create_struct */
+#define PNG_STRUCT_PNG   0x0001
+#define PNG_STRUCT_INFO  0x0002
+
+/* Scaling factor for filter heuristic weighting calculations */
+#define PNG_WEIGHT_SHIFT 8
+#define PNG_WEIGHT_FACTOR (1<<(PNG_WEIGHT_SHIFT))
+#define PNG_COST_SHIFT 3
+#define PNG_COST_FACTOR (1<<(PNG_COST_SHIFT))
+
+/* flags for the png_ptr->flags rather than declaring a byte for each one */
+#define PNG_FLAG_ZLIB_CUSTOM_STRATEGY     0x0001
+#define PNG_FLAG_ZLIB_CUSTOM_LEVEL        0x0002
+#define PNG_FLAG_ZLIB_CUSTOM_MEM_LEVEL    0x0004
+#define PNG_FLAG_ZLIB_CUSTOM_WINDOW_BITS  0x0008
+#define PNG_FLAG_ZLIB_CUSTOM_METHOD       0x0010
+#define PNG_FLAG_ZLIB_FINISHED            0x0020
+#define PNG_FLAG_ROW_INIT                 0x0040
+#define PNG_FLAG_FILLER_AFTER             0x0080
+#define PNG_FLAG_CRC_ANCILLARY_USE        0x0100
+#define PNG_FLAG_CRC_ANCILLARY_NOWARN     0x0200
+#define PNG_FLAG_CRC_CRITICAL_USE         0x0400
+#define PNG_FLAG_CRC_CRITICAL_IGNORE      0x0800
+#define PNG_FLAG_FREE_PLTE                0x1000
+#define PNG_FLAG_FREE_TRNS                0x2000
+#define PNG_FLAG_FREE_HIST                0x4000
+#define PNG_FLAG_KEEP_UNKNOWN_CHUNKS      0x8000L
+#define PNG_FLAG_KEEP_UNSAFE_CHUNKS       0x10000L
+#define PNG_FLAG_LIBRARY_MISMATCH         0x20000L
+#define PNG_FLAG_STRIP_ERROR_NUMBERS      0x40000L
+#define PNG_FLAG_STRIP_ERROR_TEXT         0x80000L
+#define PNG_FLAG_MALLOC_NULL_MEM_OK       0x100000L
+#define PNG_FLAG_ADD_ALPHA                0x200000L  /* Added to libpng-1.2.8 */
+#define PNG_FLAG_STRIP_ALPHA              0x400000L  /* Added to libpng-1.2.8 */
+                                  /*      0x800000L  unused */
+                                  /*     0x1000000L  unused */
+                                  /*     0x2000000L  unused */
+                                  /*     0x4000000L  unused */
+                                  /*     0x8000000L  unused */
+                                  /*    0x10000000L  unused */
+                                  /*    0x20000000L  unused */
+                                  /*    0x40000000L  unused */
+
+#define PNG_FLAG_CRC_ANCILLARY_MASK (PNG_FLAG_CRC_ANCILLARY_USE | \
+                                     PNG_FLAG_CRC_ANCILLARY_NOWARN)
+
+#define PNG_FLAG_CRC_CRITICAL_MASK  (PNG_FLAG_CRC_CRITICAL_USE | \
+                                     PNG_FLAG_CRC_CRITICAL_IGNORE)
+
+#define PNG_FLAG_CRC_MASK           (PNG_FLAG_CRC_ANCILLARY_MASK | \
+                                     PNG_FLAG_CRC_CRITICAL_MASK)
+
+/* save typing and make code easier to understand */
+
+#define PNG_COLOR_DIST(c1, c2) (abs((int)((c1).red) - (int)((c2).red)) + \
+   abs((int)((c1).green) - (int)((c2).green)) + \
+   abs((int)((c1).blue) - (int)((c2).blue)))
+
+/* Added to libpng-1.2.6 JB */
+#define PNG_ROWBYTES(pixel_bits, width) \
+    ((pixel_bits) >= 8 ? \
+    ((width) * (((png_uint_32)(pixel_bits)) >> 3)) : \
+    (( ((width) * ((png_uint_32)(pixel_bits))) + 7) >> 3) )
+
+/* PNG_OUT_OF_RANGE returns true if value is outside the range
+   ideal-delta..ideal+delta.  Each argument is evaluated twice.
+   "ideal" and "delta" should be constants, normally simple
+   integers, "value" a variable. Added to libpng-1.2.6 JB */
+#define PNG_OUT_OF_RANGE(value, ideal, delta) \
+        ( (value) < (ideal)-(delta) || (value) > (ideal)+(delta) )
+
+/* variables declared in png.c - only it needs to define PNG_NO_EXTERN */
+#if !defined(PNG_NO_EXTERN) || defined(PNG_ALWAYS_EXTERN)
+/* place to hold the signature string for a PNG file. */
+#ifdef PNG_USE_GLOBAL_ARRAYS
+   PNG_EXPORT_VAR (PNG_CONST png_byte FARDATA) png_sig[8];
+#else
+#endif
+#endif /* PNG_NO_EXTERN */
+
+/* Constant strings for known chunk types.  If you need to add a chunk,
+ * define the name here, and add an invocation of the macro in png.c and
+ * wherever it's needed.
+ */
+#define PNG_IHDR png_byte png_IHDR[5] = { 73,  72,  68,  82, '\0'}
+#define PNG_IDAT png_byte png_IDAT[5] = { 73,  68,  65,  84, '\0'}
+#define PNG_IEND png_byte png_IEND[5] = { 73,  69,  78,  68, '\0'}
+#define PNG_PLTE png_byte png_PLTE[5] = { 80,  76,  84,  69, '\0'}
+#define PNG_bKGD png_byte png_bKGD[5] = { 98,  75,  71,  68, '\0'}
+#define PNG_cHRM png_byte png_cHRM[5] = { 99,  72,  82,  77, '\0'}
+#define PNG_gAMA png_byte png_gAMA[5] = {103,  65,  77,  65, '\0'}
+#define PNG_hIST png_byte png_hIST[5] = {104,  73,  83,  84, '\0'}
+#define PNG_iCCP png_byte png_iCCP[5] = {105,  67,  67,  80, '\0'}
+#define PNG_iTXt png_byte png_iTXt[5] = {105,  84,  88, 116, '\0'}
+#define PNG_oFFs png_byte png_oFFs[5] = {111,  70,  70, 115, '\0'}
+#define PNG_pCAL png_byte png_pCAL[5] = {112,  67,  65,  76, '\0'}
+#define PNG_sCAL png_byte png_sCAL[5] = {115,  67,  65,  76, '\0'}
+#define PNG_pHYs png_byte png_pHYs[5] = {112,  72,  89, 115, '\0'}
+#define PNG_sBIT png_byte png_sBIT[5] = {115,  66,  73,  84, '\0'}
+#define PNG_sPLT png_byte png_sPLT[5] = {115,  80,  76,  84, '\0'}
+#define PNG_sRGB png_byte png_sRGB[5] = {115,  82,  71,  66, '\0'}
+#define PNG_tEXt png_byte png_tEXt[5] = {116,  69,  88, 116, '\0'}
+#define PNG_tIME png_byte png_tIME[5] = {116,  73,  77,  69, '\0'}
+#define PNG_tRNS png_byte png_tRNS[5] = {116,  82,  78,  83, '\0'}
+#define PNG_zTXt png_byte png_zTXt[5] = {122,  84,  88, 116, '\0'}
+
+#ifdef PNG_USE_GLOBAL_ARRAYS
+PNG_EXPORT_VAR (png_byte FARDATA) png_IHDR[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_IDAT[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_IEND[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_PLTE[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_bKGD[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_cHRM[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_gAMA[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_hIST[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_iCCP[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_iTXt[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_oFFs[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_pCAL[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_sCAL[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_pHYs[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_sBIT[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_sPLT[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_sRGB[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_tEXt[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_tIME[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_tRNS[5];
+PNG_EXPORT_VAR (png_byte FARDATA) png_zTXt[5];
+#endif /* PNG_USE_GLOBAL_ARRAYS */
+
+#if defined(PNG_1_0_X) || defined (PNG_1_2_X)
+/* Initialize png_ptr struct for reading, and allocate any other memory.
+ * (old interface - DEPRECATED - use png_create_read_struct instead).
+ */
+extern PNG_EXPORT(void,png_read_init) PNGARG((png_structp png_ptr));
+#undef png_read_init
+#define png_read_init(png_ptr) png_read_init_3(&png_ptr, \
+    PNG_LIBPNG_VER_STRING,  png_sizeof(png_struct));
+#endif
+
+extern PNG_EXPORT(void,png_read_init_3) PNGARG((png_structpp ptr_ptr,
+    png_const_charp user_png_ver, png_size_t png_struct_size));
+#if defined(PNG_1_0_X) || defined (PNG_1_2_X)
+extern PNG_EXPORT(void,png_read_init_2) PNGARG((png_structp png_ptr,
+    png_const_charp user_png_ver, png_size_t png_struct_size, png_size_t
+    png_info_size));
+#endif
+
+#if defined(PNG_1_0_X) || defined (PNG_1_2_X)
+/* Initialize png_ptr struct for writing, and allocate any other memory.
+ * (old interface - DEPRECATED - use png_create_write_struct instead).
+ */
+extern PNG_EXPORT(void,png_write_init) PNGARG((png_structp png_ptr));
+#undef png_write_init
+#define png_write_init(png_ptr) png_write_init_3(&png_ptr, \
+    PNG_LIBPNG_VER_STRING, png_sizeof(png_struct));
+#endif
+
+extern PNG_EXPORT(void,png_write_init_3) PNGARG((png_structpp ptr_ptr,
+    png_const_charp user_png_ver, png_size_t png_struct_size));
+extern PNG_EXPORT(void,png_write_init_2) PNGARG((png_structp png_ptr,
+    png_const_charp user_png_ver, png_size_t png_struct_size, png_size_t
+    png_info_size));
+
+/* Allocate memory for an internal libpng struct */
+PNG_EXTERN png_voidp png_create_struct PNGARG((int type));
+
+/* Free memory from internal libpng struct */
+PNG_EXTERN void png_destroy_struct PNGARG((png_voidp struct_ptr));
+
+PNG_EXTERN png_voidp png_create_struct_2 PNGARG((int type, png_malloc_ptr
+  malloc_fn, png_voidp mem_ptr));
+PNG_EXTERN void png_destroy_struct_2 PNGARG((png_voidp struct_ptr,
+   png_free_ptr free_fn, png_voidp mem_ptr));
+
+/* Free any memory that info_ptr points to and reset struct. */
+PNG_EXTERN void png_info_destroy PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+
+#ifndef PNG_1_0_X
+/* Function to allocate memory for zlib. */
+PNG_EXTERN voidpf png_zalloc PNGARG((voidpf png_ptr, uInt items, uInt size));
+
+/* Function to free memory for zlib */
+PNG_EXTERN void png_zfree PNGARG((voidpf png_ptr, voidpf ptr));
+
+#ifdef PNG_SIZE_T
+/* Function to convert a sizeof an item to png_sizeof item */
+   PNG_EXTERN png_size_t PNGAPI png_convert_size PNGARG((size_t size));
+#endif
+
+/* Next four functions are used internally as callbacks.  PNGAPI is required
+ * but not PNG_EXPORT.  PNGAPI added at libpng version 1.2.3. */
+
+PNG_EXTERN void PNGAPI png_default_read_data PNGARG((png_structp png_ptr,
+   png_bytep data, png_size_t length));
+
+#ifdef PNG_PROGRESSIVE_READ_SUPPORTED
+PNG_EXTERN void PNGAPI png_push_fill_buffer PNGARG((png_structp png_ptr,
+   png_bytep buffer, png_size_t length));
+#endif
+
+PNG_EXTERN void PNGAPI png_default_write_data PNGARG((png_structp png_ptr,
+   png_bytep data, png_size_t length));
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+#if !defined(PNG_NO_STDIO)
+PNG_EXTERN void PNGAPI png_default_flush PNGARG((png_structp png_ptr));
+#endif
+#endif
+#else /* PNG_1_0_X */
+#ifdef PNG_PROGRESSIVE_READ_SUPPORTED
+PNG_EXTERN void png_push_fill_buffer PNGARG((png_structp png_ptr,
+   png_bytep buffer, png_size_t length));
+#endif
+#endif /* PNG_1_0_X */
+
+/* Reset the CRC variable */
+PNG_EXTERN void png_reset_crc PNGARG((png_structp png_ptr));
+
+/* Write the "data" buffer to whatever output you are using. */
+PNG_EXTERN void png_write_data PNGARG((png_structp png_ptr, png_bytep data,
+   png_size_t length));
+
+/* Read data from whatever input you are using into the "data" buffer */
+PNG_EXTERN void png_read_data PNGARG((png_structp png_ptr, png_bytep data,
+   png_size_t length));
+
+/* Read bytes into buf, and update png_ptr->crc */
+PNG_EXTERN void png_crc_read PNGARG((png_structp png_ptr, png_bytep buf,
+   png_size_t length));
+
+/* Decompress data in a chunk that uses compression */
+#if defined(PNG_zTXt_SUPPORTED) || defined(PNG_iTXt_SUPPORTED) || \
+    defined(PNG_iCCP_SUPPORTED) || defined(PNG_sPLT_SUPPORTED)
+PNG_EXTERN void png_decompress_chunk PNGARG((png_structp png_ptr,
+   int comp_type, png_size_t chunklength,
+   png_size_t prefix_length, png_size_t *data_length));
+#endif
+
+/* Read "skip" bytes, read the file crc, and (optionally) verify png_ptr->crc */
+PNG_EXTERN int png_crc_finish PNGARG((png_structp png_ptr, png_uint_32 skip));
+
+/* Read the CRC from the file and compare it to the libpng calculated CRC */
+PNG_EXTERN int png_crc_error PNGARG((png_structp png_ptr));
+
+/* Calculate the CRC over a section of data.  Note that we are only
+ * passing a maximum of 64K on systems that have this as a memory limit,
+ * since this is the maximum buffer size we can specify.
+ */
+PNG_EXTERN void png_calculate_crc PNGARG((png_structp png_ptr, png_bytep ptr,
+   png_size_t length));
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+PNG_EXTERN void png_flush PNGARG((png_structp png_ptr));
+#endif
+
+/* simple function to write the signature */
+PNG_EXTERN void png_write_sig PNGARG((png_structp png_ptr));
+
+/* write various chunks */
+
+/* Write the IHDR chunk, and update the png_struct with the necessary
+ * information.
+ */
+PNG_EXTERN void png_write_IHDR PNGARG((png_structp png_ptr, png_uint_32 width,
+   png_uint_32 height,
+   int bit_depth, int color_type, int compression_method, int filter_method,
+   int interlace_method));
+
+PNG_EXTERN void png_write_PLTE PNGARG((png_structp png_ptr, png_colorp palette,
+   png_uint_32 num_pal));
+
+PNG_EXTERN void png_write_IDAT PNGARG((png_structp png_ptr, png_bytep data,
+   png_size_t length));
+
+PNG_EXTERN void png_write_IEND PNGARG((png_structp png_ptr));
+
+#if defined(PNG_WRITE_gAMA_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+PNG_EXTERN void png_write_gAMA PNGARG((png_structp png_ptr, double file_gamma));
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+PNG_EXTERN void png_write_gAMA_fixed PNGARG((png_structp png_ptr, png_fixed_point
+    file_gamma));
+#endif
+#endif
+
+#if defined(PNG_WRITE_sBIT_SUPPORTED)
+PNG_EXTERN void png_write_sBIT PNGARG((png_structp png_ptr, png_color_8p sbit,
+   int color_type));
+#endif
+
+#if defined(PNG_WRITE_cHRM_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+PNG_EXTERN void png_write_cHRM PNGARG((png_structp png_ptr,
+   double white_x, double white_y,
+   double red_x, double red_y, double green_x, double green_y,
+   double blue_x, double blue_y));
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+PNG_EXTERN void png_write_cHRM_fixed PNGARG((png_structp png_ptr,
+   png_fixed_point int_white_x, png_fixed_point int_white_y,
+   png_fixed_point int_red_x, png_fixed_point int_red_y, png_fixed_point
+   int_green_x, png_fixed_point int_green_y, png_fixed_point int_blue_x,
+   png_fixed_point int_blue_y));
+#endif
+#endif
+
+#if defined(PNG_WRITE_sRGB_SUPPORTED)
+PNG_EXTERN void png_write_sRGB PNGARG((png_structp png_ptr,
+   int intent));
+#endif
+
+#if defined(PNG_WRITE_iCCP_SUPPORTED)
+PNG_EXTERN void png_write_iCCP PNGARG((png_structp png_ptr,
+   png_charp name, int compression_type,
+   png_charp profile, int proflen));
+   /* Note to maintainer: profile should be png_bytep */
+#endif
+
+#if defined(PNG_WRITE_sPLT_SUPPORTED)
+PNG_EXTERN void png_write_sPLT PNGARG((png_structp png_ptr,
+   png_sPLT_tp palette));
+#endif
+
+#if defined(PNG_WRITE_tRNS_SUPPORTED)
+PNG_EXTERN void png_write_tRNS PNGARG((png_structp png_ptr, png_bytep trans,
+   png_color_16p values, int number, int color_type));
+#endif
+
+#if defined(PNG_WRITE_bKGD_SUPPORTED)
+PNG_EXTERN void png_write_bKGD PNGARG((png_structp png_ptr,
+   png_color_16p values, int color_type));
+#endif
+
+#if defined(PNG_WRITE_hIST_SUPPORTED)
+PNG_EXTERN void png_write_hIST PNGARG((png_structp png_ptr, png_uint_16p hist,
+   int num_hist));
+#endif
+
+#if defined(PNG_WRITE_TEXT_SUPPORTED) || defined(PNG_WRITE_pCAL_SUPPORTED) || \
+    defined(PNG_WRITE_iCCP_SUPPORTED) || defined(PNG_WRITE_sPLT_SUPPORTED)
+PNG_EXTERN png_size_t png_check_keyword PNGARG((png_structp png_ptr,
+   png_charp key, png_charpp new_key));
+#endif
+
+#if defined(PNG_WRITE_tEXt_SUPPORTED)
+PNG_EXTERN void png_write_tEXt PNGARG((png_structp png_ptr, png_charp key,
+   png_charp text, png_size_t text_len));
+#endif
+
+#if defined(PNG_WRITE_zTXt_SUPPORTED)
+PNG_EXTERN void png_write_zTXt PNGARG((png_structp png_ptr, png_charp key,
+   png_charp text, png_size_t text_len, int compression));
+#endif
+
+#if defined(PNG_WRITE_iTXt_SUPPORTED)
+PNG_EXTERN void png_write_iTXt PNGARG((png_structp png_ptr,
+   int compression, png_charp key, png_charp lang, png_charp lang_key,
+   png_charp text));
+#endif
+
+#if defined(PNG_TEXT_SUPPORTED)  /* Added at version 1.0.14 and 1.2.4 */
+PNG_EXTERN int png_set_text_2 PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_textp text_ptr, int num_text));
+#endif
+
+#if defined(PNG_WRITE_oFFs_SUPPORTED)
+PNG_EXTERN void png_write_oFFs PNGARG((png_structp png_ptr,
+   png_int_32 x_offset, png_int_32 y_offset, int unit_type));
+#endif
+
+#if defined(PNG_WRITE_pCAL_SUPPORTED)
+PNG_EXTERN void png_write_pCAL PNGARG((png_structp png_ptr, png_charp purpose,
+   png_int_32 X0, png_int_32 X1, int type, int nparams,
+   png_charp units, png_charpp params));
+#endif
+
+#if defined(PNG_WRITE_pHYs_SUPPORTED)
+PNG_EXTERN void png_write_pHYs PNGARG((png_structp png_ptr,
+   png_uint_32 x_pixels_per_unit, png_uint_32 y_pixels_per_unit,
+   int unit_type));
+#endif
+
+#if defined(PNG_WRITE_tIME_SUPPORTED)
+PNG_EXTERN void png_write_tIME PNGARG((png_structp png_ptr,
+   png_timep mod_time));
+#endif
+
+#if defined(PNG_WRITE_sCAL_SUPPORTED)
+#if defined(PNG_FLOATING_POINT_SUPPORTED) && !defined(PNG_NO_STDIO)
+PNG_EXTERN void png_write_sCAL PNGARG((png_structp png_ptr,
+   int unit, double width, double height));
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+PNG_EXTERN void png_write_sCAL_s PNGARG((png_structp png_ptr,
+   int unit, png_charp width, png_charp height));
+#endif
+#endif
+#endif
+
+/* Called when finished processing a row of data */
+PNG_EXTERN void png_write_finish_row PNGARG((png_structp png_ptr));
+
+/* Internal use only.   Called before first row of data */
+PNG_EXTERN void png_write_start_row PNGARG((png_structp png_ptr));
+
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+PNG_EXTERN void png_build_gamma_table PNGARG((png_structp png_ptr));
+#endif
+
+/* combine a row of data, dealing with alpha, etc. if requested */
+PNG_EXTERN void png_combine_row PNGARG((png_structp png_ptr, png_bytep row,
+   int mask));
+
+#if defined(PNG_READ_INTERLACING_SUPPORTED)
+/* expand an interlaced row */
+/* OLD pre-1.0.9 interface:
+PNG_EXTERN void png_do_read_interlace PNGARG((png_row_infop row_info,
+   png_bytep row, int pass, png_uint_32 transformations));
+ */
+PNG_EXTERN void png_do_read_interlace PNGARG((png_structp png_ptr));
+#endif
+
+/* GRR TO DO (2.0 or whenever):  simplify other internal calling interfaces */
+
+#if defined(PNG_WRITE_INTERLACING_SUPPORTED)
+/* grab pixels out of a row for an interlaced pass */
+PNG_EXTERN void png_do_write_interlace PNGARG((png_row_infop row_info,
+   png_bytep row, int pass));
+#endif
+
+/* unfilter a row */
+PNG_EXTERN void png_read_filter_row PNGARG((png_structp png_ptr,
+   png_row_infop row_info, png_bytep row, png_bytep prev_row, int filter));
+
+/* Choose the best filter to use and filter the row data */
+PNG_EXTERN void png_write_find_filter PNGARG((png_structp png_ptr,
+   png_row_infop row_info));
+
+/* Write out the filtered row. */
+PNG_EXTERN void png_write_filtered_row PNGARG((png_structp png_ptr,
+   png_bytep filtered_row));
+/* finish a row while reading, dealing with interlacing passes, etc. */
+PNG_EXTERN void png_read_finish_row PNGARG((png_structp png_ptr));
+
+/* initialize the row buffers, etc. */
+PNG_EXTERN void png_read_start_row PNGARG((png_structp png_ptr));
+/* optional call to update the users info structure */
+PNG_EXTERN void png_read_transform_info PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+
+/* these are the functions that do the transformations */
+#if defined(PNG_READ_FILLER_SUPPORTED)
+PNG_EXTERN void png_do_read_filler PNGARG((png_row_infop row_info,
+   png_bytep row, png_uint_32 filler, png_uint_32 flags));
+#endif
+
+#if defined(PNG_READ_SWAP_ALPHA_SUPPORTED)
+PNG_EXTERN void png_do_read_swap_alpha PNGARG((png_row_infop row_info,
+   png_bytep row));
+#endif
+
+#if defined(PNG_WRITE_SWAP_ALPHA_SUPPORTED)
+PNG_EXTERN void png_do_write_swap_alpha PNGARG((png_row_infop row_info,
+   png_bytep row));
+#endif
+
+#if defined(PNG_READ_INVERT_ALPHA_SUPPORTED)
+PNG_EXTERN void png_do_read_invert_alpha PNGARG((png_row_infop row_info,
+   png_bytep row));
+#endif
+
+#if defined(PNG_WRITE_INVERT_ALPHA_SUPPORTED)
+PNG_EXTERN void png_do_write_invert_alpha PNGARG((png_row_infop row_info,
+   png_bytep row));
+#endif
+
+#if defined(PNG_WRITE_FILLER_SUPPORTED) || \
+    defined(PNG_READ_STRIP_ALPHA_SUPPORTED)
+PNG_EXTERN void png_do_strip_filler PNGARG((png_row_infop row_info,
+   png_bytep row, png_uint_32 flags));
+#endif
+
+#if defined(PNG_READ_SWAP_SUPPORTED) || defined(PNG_WRITE_SWAP_SUPPORTED)
+PNG_EXTERN void png_do_swap PNGARG((png_row_infop row_info, png_bytep row));
+#endif
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED) || defined(PNG_WRITE_PACKSWAP_SUPPORTED)
+PNG_EXTERN void png_do_packswap PNGARG((png_row_infop row_info, png_bytep row));
+#endif
+
+#if defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+PNG_EXTERN int png_do_rgb_to_gray PNGARG((png_structp png_ptr, png_row_infop
+   row_info, png_bytep row));
+#endif
+
+#if defined(PNG_READ_GRAY_TO_RGB_SUPPORTED)
+PNG_EXTERN void png_do_gray_to_rgb PNGARG((png_row_infop row_info,
+   png_bytep row));
+#endif
+
+#if defined(PNG_READ_PACK_SUPPORTED)
+PNG_EXTERN void png_do_unpack PNGARG((png_row_infop row_info, png_bytep row));
+#endif
+
+#if defined(PNG_READ_SHIFT_SUPPORTED)
+PNG_EXTERN void png_do_unshift PNGARG((png_row_infop row_info, png_bytep row,
+   png_color_8p sig_bits));
+#endif
+
+#if defined(PNG_READ_INVERT_SUPPORTED) || defined(PNG_WRITE_INVERT_SUPPORTED)
+PNG_EXTERN void png_do_invert PNGARG((png_row_infop row_info, png_bytep row));
+#endif
+
+#if defined(PNG_READ_16_TO_8_SUPPORTED)
+PNG_EXTERN void png_do_chop PNGARG((png_row_infop row_info, png_bytep row));
+#endif
+
+#if defined(PNG_READ_DITHER_SUPPORTED)
+PNG_EXTERN void png_do_dither PNGARG((png_row_infop row_info,
+   png_bytep row, png_bytep palette_lookup, png_bytep dither_lookup));
+
+#  if defined(PNG_CORRECT_PALETTE_SUPPORTED)
+PNG_EXTERN void png_correct_palette PNGARG((png_structp png_ptr,
+   png_colorp palette, int num_palette));
+#  endif
+#endif
+
+#if defined(PNG_READ_BGR_SUPPORTED) || defined(PNG_WRITE_BGR_SUPPORTED)
+PNG_EXTERN void png_do_bgr PNGARG((png_row_infop row_info, png_bytep row));
+#endif
+
+#if defined(PNG_WRITE_PACK_SUPPORTED)
+PNG_EXTERN void png_do_pack PNGARG((png_row_infop row_info,
+   png_bytep row, png_uint_32 bit_depth));
+#endif
+
+#if defined(PNG_WRITE_SHIFT_SUPPORTED)
+PNG_EXTERN void png_do_shift PNGARG((png_row_infop row_info, png_bytep row,
+   png_color_8p bit_depth));
+#endif
+
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+PNG_EXTERN void png_do_background PNGARG((png_row_infop row_info, png_bytep row,
+   png_color_16p trans_values, png_color_16p background,
+   png_color_16p background_1,
+   png_bytep gamma_table, png_bytep gamma_from_1, png_bytep gamma_to_1,
+   png_uint_16pp gamma_16, png_uint_16pp gamma_16_from_1,
+   png_uint_16pp gamma_16_to_1, int gamma_shift));
+#else
+PNG_EXTERN void png_do_background PNGARG((png_row_infop row_info, png_bytep row,
+   png_color_16p trans_values, png_color_16p background));
+#endif
+#endif
+
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+PNG_EXTERN void png_do_gamma PNGARG((png_row_infop row_info, png_bytep row,
+   png_bytep gamma_table, png_uint_16pp gamma_16_table,
+   int gamma_shift));
+#endif
+
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+PNG_EXTERN void png_do_expand_palette PNGARG((png_row_infop row_info,
+   png_bytep row, png_colorp palette, png_bytep trans, int num_trans));
+PNG_EXTERN void png_do_expand PNGARG((png_row_infop row_info,
+   png_bytep row, png_color_16p trans_value));
+#endif
+
+/* The following decodes the appropriate chunks, and does error correction,
+ * then calls the appropriate callback for the chunk if it is valid.
+ */
+
+/* decode the IHDR chunk */
+PNG_EXTERN void png_handle_IHDR PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+PNG_EXTERN void png_handle_PLTE PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+PNG_EXTERN void png_handle_IEND PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+
+#if defined(PNG_READ_bKGD_SUPPORTED)
+PNG_EXTERN void png_handle_bKGD PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_cHRM_SUPPORTED)
+PNG_EXTERN void png_handle_cHRM PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_gAMA_SUPPORTED)
+PNG_EXTERN void png_handle_gAMA PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_hIST_SUPPORTED)
+PNG_EXTERN void png_handle_hIST PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_iCCP_SUPPORTED)
+extern void png_handle_iCCP PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif /* PNG_READ_iCCP_SUPPORTED */
+
+#if defined(PNG_READ_iTXt_SUPPORTED)
+PNG_EXTERN void png_handle_iTXt PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_oFFs_SUPPORTED)
+PNG_EXTERN void png_handle_oFFs PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_pCAL_SUPPORTED)
+PNG_EXTERN void png_handle_pCAL PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_pHYs_SUPPORTED)
+PNG_EXTERN void png_handle_pHYs PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_sBIT_SUPPORTED)
+PNG_EXTERN void png_handle_sBIT PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_sCAL_SUPPORTED)
+PNG_EXTERN void png_handle_sCAL PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_sPLT_SUPPORTED)
+extern void png_handle_sPLT PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif /* PNG_READ_sPLT_SUPPORTED */
+
+#if defined(PNG_READ_sRGB_SUPPORTED)
+PNG_EXTERN void png_handle_sRGB PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_tEXt_SUPPORTED)
+PNG_EXTERN void png_handle_tEXt PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_tIME_SUPPORTED)
+PNG_EXTERN void png_handle_tIME PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_tRNS_SUPPORTED)
+PNG_EXTERN void png_handle_tRNS PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+#if defined(PNG_READ_zTXt_SUPPORTED)
+PNG_EXTERN void png_handle_zTXt PNGARG((png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 length));
+#endif
+
+PNG_EXTERN void png_handle_unknown PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_32 length));
+
+PNG_EXTERN void png_check_chunk_name PNGARG((png_structp png_ptr,
+   png_bytep chunk_name));
+
+/* handle the transformations for reading and writing */
+PNG_EXTERN void png_do_read_transformations PNGARG((png_structp png_ptr));
+PNG_EXTERN void png_do_write_transformations PNGARG((png_structp png_ptr));
+
+PNG_EXTERN void png_init_read_transformations PNGARG((png_structp png_ptr));
+
+#ifdef PNG_PROGRESSIVE_READ_SUPPORTED
+PNG_EXTERN void png_push_read_chunk PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+PNG_EXTERN void png_push_read_sig PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+PNG_EXTERN void png_push_check_crc PNGARG((png_structp png_ptr));
+PNG_EXTERN void png_push_crc_skip PNGARG((png_structp png_ptr,
+   png_uint_32 length));
+PNG_EXTERN void png_push_crc_finish PNGARG((png_structp png_ptr));
+PNG_EXTERN void png_push_save_buffer PNGARG((png_structp png_ptr));
+PNG_EXTERN void png_push_restore_buffer PNGARG((png_structp png_ptr,
+   png_bytep buffer, png_size_t buffer_length));
+PNG_EXTERN void png_push_read_IDAT PNGARG((png_structp png_ptr));
+PNG_EXTERN void png_process_IDAT_data PNGARG((png_structp png_ptr,
+   png_bytep buffer, png_size_t buffer_length));
+PNG_EXTERN void png_push_process_row PNGARG((png_structp png_ptr));
+PNG_EXTERN void png_push_handle_unknown PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_32 length));
+PNG_EXTERN void png_push_have_info PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+PNG_EXTERN void png_push_have_end PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+PNG_EXTERN void png_push_have_row PNGARG((png_structp png_ptr, png_bytep row));
+PNG_EXTERN void png_push_read_end PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+PNG_EXTERN void png_process_some_data PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+PNG_EXTERN void png_read_push_finish_row PNGARG((png_structp png_ptr));
+#if defined(PNG_READ_tEXt_SUPPORTED)
+PNG_EXTERN void png_push_handle_tEXt PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_32 length));
+PNG_EXTERN void png_push_read_tEXt PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+#endif
+#if defined(PNG_READ_zTXt_SUPPORTED)
+PNG_EXTERN void png_push_handle_zTXt PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_32 length));
+PNG_EXTERN void png_push_read_zTXt PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+#endif
+#if defined(PNG_READ_iTXt_SUPPORTED)
+PNG_EXTERN void png_push_handle_iTXt PNGARG((png_structp png_ptr,
+   png_infop info_ptr, png_uint_32 length));
+PNG_EXTERN void png_push_read_iTXt PNGARG((png_structp png_ptr,
+   png_infop info_ptr));
+#endif
+
+#endif /* PNG_PROGRESSIVE_READ_SUPPORTED */
+
+#ifdef PNG_MNG_FEATURES_SUPPORTED
+PNG_EXTERN void png_do_read_intrapixel PNGARG((png_row_infop row_info,
+   png_bytep row));
+PNG_EXTERN void png_do_write_intrapixel PNGARG((png_row_infop row_info,
+   png_bytep row));
+#endif
+
+#if defined(PNG_ASSEMBLER_CODE_SUPPORTED)
+#if defined(PNG_MMX_CODE_SUPPORTED)
+/* png.c */ /* PRIVATE */
+PNG_EXTERN void png_init_mmx_flags PNGARG((png_structp png_ptr));
+#endif
+#endif
+
+#if defined(PNG_INCH_CONVERSIONS) && defined(PNG_FLOATING_POINT_SUPPORTED)
+PNG_EXTERN png_uint_32 png_get_pixels_per_inch PNGARG((png_structp png_ptr,
+png_infop info_ptr));
+
+PNG_EXTERN png_uint_32 png_get_x_pixels_per_inch PNGARG((png_structp png_ptr,
+png_infop info_ptr));
+
+PNG_EXTERN png_uint_32 png_get_y_pixels_per_inch PNGARG((png_structp png_ptr,
+png_infop info_ptr));
+
+PNG_EXTERN float png_get_x_offset_inches PNGARG((png_structp png_ptr,
+png_infop info_ptr));
+
+PNG_EXTERN float png_get_y_offset_inches PNGARG((png_structp png_ptr,
+png_infop info_ptr));
+
+#if defined(PNG_pHYs_SUPPORTED)
+PNG_EXTERN png_uint_32 png_get_pHYs_dpi PNGARG((png_structp png_ptr,
+png_infop info_ptr, png_uint_32 *res_x, png_uint_32 *res_y, int *unit_type));
+#endif /* PNG_pHYs_SUPPORTED */
+#endif  /* PNG_INCH_CONVERSIONS && PNG_FLOATING_POINT_SUPPORTED */
+
+/* Read the chunk header (length + type name) */
+PNG_EXTERN png_uint_32 png_read_chunk_header PNGARG((png_structp png_ptr));
+
+/* Added at libpng version 1.2.34 */
+#if defined(PNG_cHRM_SUPPORTED)
+PNG_EXTERN int png_check_cHRM_fixed  PNGARG((png_structp png_ptr,
+   png_fixed_point int_white_x, png_fixed_point int_white_y,
+   png_fixed_point int_red_x, png_fixed_point int_red_y, png_fixed_point
+   int_green_x, png_fixed_point int_green_y, png_fixed_point int_blue_x,
+   png_fixed_point int_blue_y));
+#endif
+
+/* Maintainer: Put new private prototypes here ^ and in libpngpf.3 */
+
+#endif /* PNG_INTERNAL */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PNG_VERSION_INFO_ONLY */
+/* do not put anything past this line */
+#endif /* PNG_H */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngconf.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngconf.h
new file mode 100755
index 0000000..558b3e5
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngconf.h
@@ -0,0 +1,1496 @@
+
+/* pngconf.h - machine configurable file for libpng
+ *
+ * libpng version 1.2.37 - June 4, 2009
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+/* Any machine specific code is near the front of this file, so if you
+ * are configuring libpng for a machine, you may want to read the section
+ * starting here down to where it starts to typedef png_color, png_text,
+ * and png_info.
+ */
+
+#ifndef PNGCONF_H
+#define PNGCONF_H
+
+#define PNG_1_2_X
+
+/* 
+ * PNG_USER_CONFIG has to be defined on the compiler command line. This
+ * includes the resource compiler for Windows DLL configurations.
+ */
+#ifdef PNG_USER_CONFIG
+#  ifndef PNG_USER_PRIVATEBUILD
+#    define PNG_USER_PRIVATEBUILD
+#  endif
+#include "pngusr.h"
+#endif
+
+/* PNG_CONFIGURE_LIBPNG is set by the "configure" script. */
+#ifdef PNG_CONFIGURE_LIBPNG
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+#endif
+
+/*
+ * Added at libpng-1.2.8
+ *  
+ * If you create a private DLL you need to define in "pngusr.h" the followings:
+ * #define PNG_USER_PRIVATEBUILD <Describes by whom and why this version of
+ *        the DLL was built>
+ *  e.g. #define PNG_USER_PRIVATEBUILD "Build by MyCompany for xyz reasons."
+ * #define PNG_USER_DLLFNAME_POSTFIX <two-letter postfix that serve to
+ *        distinguish your DLL from those of the official release. These
+ *        correspond to the trailing letters that come after the version
+ *        number and must match your private DLL name>
+ *  e.g. // private DLL "libpng13gx.dll"
+ *       #define PNG_USER_DLLFNAME_POSTFIX "gx"
+ * 
+ * The following macros are also at your disposal if you want to complete the 
+ * DLL VERSIONINFO structure.
+ * - PNG_USER_VERSIONINFO_COMMENTS
+ * - PNG_USER_VERSIONINFO_COMPANYNAME
+ * - PNG_USER_VERSIONINFO_LEGALTRADEMARKS
+ */
+
+#ifdef __STDC__
+#ifdef SPECIALBUILD
+#  pragma message("PNG_LIBPNG_SPECIALBUILD (and deprecated SPECIALBUILD)\
+ are now LIBPNG reserved macros. Use PNG_USER_PRIVATEBUILD instead.")
+#endif
+
+#ifdef PRIVATEBUILD
+# pragma message("PRIVATEBUILD is deprecated.\
+ Use PNG_USER_PRIVATEBUILD instead.")
+# define PNG_USER_PRIVATEBUILD PRIVATEBUILD
+#endif
+#endif /* __STDC__ */
+
+#ifndef PNG_VERSION_INFO_ONLY
+
+/* End of material added to libpng-1.2.8 */
+
+/* Added at libpng-1.2.19, removed at libpng-1.2.20 because it caused trouble
+   Restored at libpng-1.2.21 */
+#if !defined(PNG_NO_WARN_UNINITIALIZED_ROW) && \
+    !defined(PNG_WARN_UNINITIALIZED_ROW)
+#  define PNG_WARN_UNINITIALIZED_ROW 1
+#endif
+/* End of material added at libpng-1.2.19/1.2.21 */
+
+/* This is the size of the compression buffer, and thus the size of
+ * an IDAT chunk.  Make this whatever size you feel is best for your
+ * machine.  One of these will be allocated per png_struct.  When this
+ * is full, it writes the data to the disk, and does some other
+ * calculations.  Making this an extremely small size will slow
+ * the library down, but you may want to experiment to determine
+ * where it becomes significant, if you are concerned with memory
+ * usage.  Note that zlib allocates at least 32Kb also.  For readers,
+ * this describes the size of the buffer available to read the data in.
+ * Unless this gets smaller than the size of a row (compressed),
+ * it should not make much difference how big this is.
+ */
+
+#ifndef PNG_ZBUF_SIZE
+#  define PNG_ZBUF_SIZE 8192
+#endif
+
+/* Enable if you want a write-only libpng */
+
+#ifndef PNG_NO_READ_SUPPORTED
+#  define PNG_READ_SUPPORTED
+#endif
+
+/* Enable if you want a read-only libpng */
+
+#ifndef PNG_NO_WRITE_SUPPORTED
+#  define PNG_WRITE_SUPPORTED
+#endif
+
+/* Enabled by default in 1.2.0.  You can disable this if you don't need to
+   support PNGs that are embedded in MNG datastreams */
+#if !defined(PNG_1_0_X) && !defined(PNG_NO_MNG_FEATURES)
+#  ifndef PNG_MNG_FEATURES_SUPPORTED
+#    define PNG_MNG_FEATURES_SUPPORTED
+#  endif
+#endif
+
+#ifndef PNG_NO_FLOATING_POINT_SUPPORTED
+#  ifndef PNG_FLOATING_POINT_SUPPORTED
+#    define PNG_FLOATING_POINT_SUPPORTED
+#  endif
+#endif
+
+/* If you are running on a machine where you cannot allocate more
+ * than 64K of memory at once, uncomment this.  While libpng will not
+ * normally need that much memory in a chunk (unless you load up a very
+ * large file), zlib needs to know how big of a chunk it can use, and
+ * libpng thus makes sure to check any memory allocation to verify it
+ * will fit into memory.
+#define PNG_MAX_MALLOC_64K
+ */
+#if defined(MAXSEG_64K) && !defined(PNG_MAX_MALLOC_64K)
+#  define PNG_MAX_MALLOC_64K
+#endif
+
+/* Special munging to support doing things the 'cygwin' way:
+ * 'Normal' png-on-win32 defines/defaults:
+ *   PNG_BUILD_DLL -- building dll
+ *   PNG_USE_DLL   -- building an application, linking to dll
+ *   (no define)   -- building static library, or building an
+ *                    application and linking to the static lib
+ * 'Cygwin' defines/defaults:
+ *   PNG_BUILD_DLL -- (ignored) building the dll
+ *   (no define)   -- (ignored) building an application, linking to the dll
+ *   PNG_STATIC    -- (ignored) building the static lib, or building an 
+ *                    application that links to the static lib.
+ *   ALL_STATIC    -- (ignored) building various static libs, or building an 
+ *                    application that links to the static libs.
+ * Thus,
+ * a cygwin user should define either PNG_BUILD_DLL or PNG_STATIC, and
+ * this bit of #ifdefs will define the 'correct' config variables based on
+ * that. If a cygwin user *wants* to define 'PNG_USE_DLL' that's okay, but
+ * unnecessary.
+ *
+ * Also, the precedence order is:
+ *   ALL_STATIC (since we can't #undef something outside our namespace)
+ *   PNG_BUILD_DLL
+ *   PNG_STATIC
+ *   (nothing) == PNG_USE_DLL
+ * 
+ * CYGWIN (2002-01-20): The preceding is now obsolete. With the advent
+ *   of auto-import in binutils, we no longer need to worry about 
+ *   __declspec(dllexport) / __declspec(dllimport) and friends.  Therefore,
+ *   we don't need to worry about PNG_STATIC or ALL_STATIC when it comes
+ *   to __declspec() stuff.  However, we DO need to worry about 
+ *   PNG_BUILD_DLL and PNG_STATIC because those change some defaults
+ *   such as CONSOLE_IO and whether GLOBAL_ARRAYS are allowed.
+ */
+#if defined(__CYGWIN__)
+#  if defined(ALL_STATIC)
+#    if defined(PNG_BUILD_DLL)
+#      undef PNG_BUILD_DLL
+#    endif
+#    if defined(PNG_USE_DLL)
+#      undef PNG_USE_DLL
+#    endif
+#    if defined(PNG_DLL)
+#      undef PNG_DLL
+#    endif
+#    if !defined(PNG_STATIC)
+#      define PNG_STATIC
+#    endif
+#  else
+#    if defined (PNG_BUILD_DLL)
+#      if defined(PNG_STATIC)
+#        undef PNG_STATIC
+#      endif
+#      if defined(PNG_USE_DLL)
+#        undef PNG_USE_DLL
+#      endif
+#      if !defined(PNG_DLL)
+#        define PNG_DLL
+#      endif
+#    else
+#      if defined(PNG_STATIC)
+#        if defined(PNG_USE_DLL)
+#          undef PNG_USE_DLL
+#        endif
+#        if defined(PNG_DLL)
+#          undef PNG_DLL
+#        endif
+#      else
+#        if !defined(PNG_USE_DLL)
+#          define PNG_USE_DLL
+#        endif
+#        if !defined(PNG_DLL)
+#          define PNG_DLL
+#        endif
+#      endif  
+#    endif  
+#  endif
+#endif
+
+/* This protects us against compilers that run on a windowing system
+ * and thus don't have or would rather us not use the stdio types:
+ * stdin, stdout, and stderr.  The only one currently used is stderr
+ * in png_error() and png_warning().  #defining PNG_NO_CONSOLE_IO will
+ * prevent these from being compiled and used. #defining PNG_NO_STDIO
+ * will also prevent these, plus will prevent the entire set of stdio
+ * macros and functions (FILE *, printf, etc.) from being compiled and used,
+ * unless (PNG_DEBUG > 0) has been #defined.
+ *
+ * #define PNG_NO_CONSOLE_IO
+ * #define PNG_NO_STDIO
+ */
+
+#if defined(_WIN32_WCE)
+#  include <windows.h>
+   /* Console I/O functions are not supported on WindowsCE */
+#  define PNG_NO_CONSOLE_IO
+   /* abort() may not be supported on some/all Windows CE platforms */
+#  define PNG_ABORT() exit(-1)
+#  ifdef PNG_DEBUG
+#    undef PNG_DEBUG
+#  endif
+#endif
+
+#ifdef PNG_BUILD_DLL
+#  ifndef PNG_CONSOLE_IO_SUPPORTED
+#    ifndef PNG_NO_CONSOLE_IO
+#      define PNG_NO_CONSOLE_IO
+#    endif
+#  endif
+#endif
+
+#  ifdef PNG_NO_STDIO
+#    ifndef PNG_NO_CONSOLE_IO
+#      define PNG_NO_CONSOLE_IO
+#    endif
+#    ifdef PNG_DEBUG
+#      if (PNG_DEBUG > 0)
+#        include <stdio.h>
+#      endif
+#    endif
+#  else
+#    if !defined(_WIN32_WCE)
+/* "stdio.h" functions are not supported on WindowsCE */
+#      include <stdio.h>
+#    endif
+#  endif
+
+/* This macro protects us against machines that don't have function
+ * prototypes (ie K&R style headers).  If your compiler does not handle
+ * function prototypes, define this macro and use the included ansi2knr.
+ * I've always been able to use _NO_PROTO as the indicator, but you may
+ * need to drag the empty declaration out in front of here, or change the
+ * ifdef to suit your own needs.
+ */
+#ifndef PNGARG
+
+#ifdef OF /* zlib prototype munger */
+#  define PNGARG(arglist) OF(arglist)
+#else
+
+#ifdef _NO_PROTO
+#  define PNGARG(arglist) ()
+#  ifndef PNG_TYPECAST_NULL
+#     define PNG_TYPECAST_NULL
+#  endif
+#else
+#  define PNGARG(arglist) arglist
+#endif /* _NO_PROTO */
+
+
+#endif /* OF */
+
+#endif /* PNGARG */
+
+/* Try to determine if we are compiling on a Mac.  Note that testing for
+ * just __MWERKS__ is not good enough, because the Codewarrior is now used
+ * on non-Mac platforms.
+ */
+#ifndef MACOS
+#  if (defined(__MWERKS__) && defined(macintosh)) || defined(applec) || \
+      defined(THINK_C) || defined(__SC__) || defined(TARGET_OS_MAC)
+#    define MACOS
+#  endif
+#endif
+
+/* enough people need this for various reasons to include it here */
+#if !defined(MACOS) && !defined(RISCOS) && !defined(_WIN32_WCE)
+#  include <sys/types.h>
+#endif
+
+#if !defined(PNG_SETJMP_NOT_SUPPORTED) && !defined(PNG_NO_SETJMP_SUPPORTED)
+#  define PNG_SETJMP_SUPPORTED
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+/* This is an attempt to force a single setjmp behaviour on Linux.  If
+ * the X config stuff didn't define _BSD_SOURCE we wouldn't need this.
+ *
+ * You can bypass this test if you know that your application uses exactly
+ * the same setjmp.h that was included when libpng was built.  Only define
+ * PNG_SKIP_SETJMP_CHECK while building your application, prior to the
+ * application's '#include "png.h"'. Don't define PNG_SKIP_SETJMP_CHECK
+ * while building a separate libpng library for general use.
+ */
+
+#  ifndef PNG_SKIP_SETJMP_CHECK
+#    ifdef __linux__
+#      ifdef _BSD_SOURCE
+#        define PNG_SAVE_BSD_SOURCE
+#        undef _BSD_SOURCE
+#      endif
+#      ifdef _SETJMP_H
+       /* If you encounter a compiler error here, see the explanation
+        * near the end of INSTALL.
+        */
+           __pngconf.h__ in libpng already includes setjmp.h;
+           __dont__ include it again.;
+#      endif
+#    endif /* __linux__ */
+#  endif /* PNG_SKIP_SETJMP_CHECK */
+
+   /* include setjmp.h for error handling */
+#  include <setjmp.h>
+
+#  ifdef __linux__
+#    ifdef PNG_SAVE_BSD_SOURCE
+#      ifndef _BSD_SOURCE
+#        define _BSD_SOURCE
+#      endif
+#      undef PNG_SAVE_BSD_SOURCE
+#    endif
+#  endif /* __linux__ */
+#endif /* PNG_SETJMP_SUPPORTED */
+
+#ifdef BSD
+#  include <strings.h>
+#else
+#  include <string.h>
+#endif
+
+/* Other defines for things like memory and the like can go here.  */
+#ifdef PNG_INTERNAL
+
+#include <stdlib.h>
+
+/* The functions exported by PNG_EXTERN are PNG_INTERNAL functions, which
+ * aren't usually used outside the library (as far as I know), so it is
+ * debatable if they should be exported at all.  In the future, when it is
+ * possible to have run-time registry of chunk-handling functions, some of
+ * these will be made available again.
+#define PNG_EXTERN extern
+ */
+#define PNG_EXTERN
+
+/* Other defines specific to compilers can go here.  Try to keep
+ * them inside an appropriate ifdef/endif pair for portability.
+ */
+
+#if defined(PNG_FLOATING_POINT_SUPPORTED)
+#  if defined(MACOS)
+     /* We need to check that <math.h> hasn't already been included earlier
+      * as it seems it doesn't agree with <fp.h>, yet we should really use
+      * <fp.h> if possible.
+      */
+#    if !defined(__MATH_H__) && !defined(__MATH_H) && !defined(__cmath__)
+#      include <fp.h>
+#    endif
+#  else
+#    include <math.h>
+#  endif
+#  if defined(_AMIGA) && defined(__SASC) && defined(_M68881)
+     /* Amiga SAS/C: We must include builtin FPU functions when compiling using
+      * MATH=68881
+      */
+#    include <m68881.h>
+#  endif
+#endif
+
+/* Codewarrior on NT has linking problems without this. */
+#if (defined(__MWERKS__) && defined(WIN32)) || defined(__STDC__)
+#  define PNG_ALWAYS_EXTERN
+#endif
+
+/* This provides the non-ANSI (far) memory allocation routines. */
+#if defined(__TURBOC__) && defined(__MSDOS__)
+#  include <mem.h>
+#  include <alloc.h>
+#endif
+
+/* I have no idea why is this necessary... */
+#if defined(_MSC_VER) && (defined(WIN32) || defined(_Windows) || \
+    defined(_WINDOWS) || defined(_WIN32) || defined(__WIN32__))
+#  include <malloc.h>
+#endif
+
+/* This controls how fine the dithering gets.  As this allocates
+ * a largish chunk of memory (32K), those who are not as concerned
+ * with dithering quality can decrease some or all of these.
+ */
+#ifndef PNG_DITHER_RED_BITS
+#  define PNG_DITHER_RED_BITS 5
+#endif
+#ifndef PNG_DITHER_GREEN_BITS
+#  define PNG_DITHER_GREEN_BITS 5
+#endif
+#ifndef PNG_DITHER_BLUE_BITS
+#  define PNG_DITHER_BLUE_BITS 5
+#endif
+
+/* This controls how fine the gamma correction becomes when you
+ * are only interested in 8 bits anyway.  Increasing this value
+ * results in more memory being used, and more pow() functions
+ * being called to fill in the gamma tables.  Don't set this value
+ * less then 8, and even that may not work (I haven't tested it).
+ */
+
+#ifndef PNG_MAX_GAMMA_8
+#  define PNG_MAX_GAMMA_8 11
+#endif
+
+/* This controls how much a difference in gamma we can tolerate before
+ * we actually start doing gamma conversion.
+ */
+#ifndef PNG_GAMMA_THRESHOLD
+#  define PNG_GAMMA_THRESHOLD 0.05
+#endif
+
+#endif /* PNG_INTERNAL */
+
+/* The following uses const char * instead of char * for error
+ * and warning message functions, so some compilers won't complain.
+ * If you do not want to use const, define PNG_NO_CONST here.
+ */
+
+#ifndef PNG_NO_CONST
+#  define PNG_CONST const
+#else
+#  define PNG_CONST
+#endif
+
+/* The following defines give you the ability to remove code from the
+ * library that you will not be using.  I wish I could figure out how to
+ * automate this, but I can't do that without making it seriously hard
+ * on the users.  So if you are not using an ability, change the #define
+ * to and #undef, and that part of the library will not be compiled.  If
+ * your linker can't find a function, you may want to make sure the
+ * ability is defined here.  Some of these depend upon some others being
+ * defined.  I haven't figured out all the interactions here, so you may
+ * have to experiment awhile to get everything to compile.  If you are
+ * creating or using a shared library, you probably shouldn't touch this,
+ * as it will affect the size of the structures, and this will cause bad
+ * things to happen if the library and/or application ever change.
+ */
+
+/* Any features you will not be using can be undef'ed here */
+
+/* GR-P, 0.96a: Set "*TRANSFORMS_SUPPORTED as default but allow user
+ * to turn it off with "*TRANSFORMS_NOT_SUPPORTED" or *PNG_NO_*_TRANSFORMS
+ * on the compile line, then pick and choose which ones to define without
+ * having to edit this file. It is safe to use the *TRANSFORMS_NOT_SUPPORTED
+ * if you only want to have a png-compliant reader/writer but don't need
+ * any of the extra transformations.  This saves about 80 kbytes in a
+ * typical installation of the library. (PNG_NO_* form added in version
+ * 1.0.1c, for consistency)
+ */
+
+/* The size of the png_text structure changed in libpng-1.0.6 when
+ * iTXt support was added.  iTXt support was turned off by default through
+ * libpng-1.2.x, to support old apps that malloc the png_text structure
+ * instead of calling png_set_text() and letting libpng malloc it.  It
+ * was turned on by default in libpng-1.3.0.
+ */
+
+#if defined(PNG_1_0_X) || defined (PNG_1_2_X)
+#  ifndef PNG_NO_iTXt_SUPPORTED
+#    define PNG_NO_iTXt_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_iTXt
+#    define PNG_NO_READ_iTXt
+#  endif
+#  ifndef PNG_NO_WRITE_iTXt
+#    define PNG_NO_WRITE_iTXt
+#  endif
+#endif
+
+#if !defined(PNG_NO_iTXt_SUPPORTED)
+#  if !defined(PNG_READ_iTXt_SUPPORTED) && !defined(PNG_NO_READ_iTXt)
+#    define PNG_READ_iTXt
+#  endif
+#  if !defined(PNG_WRITE_iTXt_SUPPORTED) && !defined(PNG_NO_WRITE_iTXt)
+#    define PNG_WRITE_iTXt
+#  endif
+#endif
+
+/* The following support, added after version 1.0.0, can be turned off here en
+ * masse by defining PNG_LEGACY_SUPPORTED in case you need binary compatibility
+ * with old applications that require the length of png_struct and png_info
+ * to remain unchanged.
+ */
+
+#ifdef PNG_LEGACY_SUPPORTED
+#  define PNG_NO_FREE_ME
+#  define PNG_NO_READ_UNKNOWN_CHUNKS
+#  define PNG_NO_WRITE_UNKNOWN_CHUNKS
+#  define PNG_NO_READ_USER_CHUNKS
+#  define PNG_NO_READ_iCCP
+#  define PNG_NO_WRITE_iCCP
+#  define PNG_NO_READ_iTXt
+#  define PNG_NO_WRITE_iTXt
+#  define PNG_NO_READ_sCAL
+#  define PNG_NO_WRITE_sCAL
+#  define PNG_NO_READ_sPLT
+#  define PNG_NO_WRITE_sPLT
+#  define PNG_NO_INFO_IMAGE
+#  define PNG_NO_READ_RGB_TO_GRAY
+#  define PNG_NO_READ_USER_TRANSFORM
+#  define PNG_NO_WRITE_USER_TRANSFORM
+#  define PNG_NO_USER_MEM
+#  define PNG_NO_READ_EMPTY_PLTE
+#  define PNG_NO_MNG_FEATURES
+#  define PNG_NO_FIXED_POINT_SUPPORTED
+#endif
+
+/* Ignore attempt to turn off both floating and fixed point support */
+#if !defined(PNG_FLOATING_POINT_SUPPORTED) || \
+    !defined(PNG_NO_FIXED_POINT_SUPPORTED)
+#  define PNG_FIXED_POINT_SUPPORTED
+#endif
+
+#ifndef PNG_NO_FREE_ME
+#  define PNG_FREE_ME_SUPPORTED
+#endif
+
+#if defined(PNG_READ_SUPPORTED)
+
+#if !defined(PNG_READ_TRANSFORMS_NOT_SUPPORTED) && \
+      !defined(PNG_NO_READ_TRANSFORMS)
+#  define PNG_READ_TRANSFORMS_SUPPORTED
+#endif
+
+#ifdef PNG_READ_TRANSFORMS_SUPPORTED
+#  ifndef PNG_NO_READ_EXPAND
+#    define PNG_READ_EXPAND_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_SHIFT
+#    define PNG_READ_SHIFT_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_PACK
+#    define PNG_READ_PACK_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_BGR
+#    define PNG_READ_BGR_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_SWAP
+#    define PNG_READ_SWAP_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_PACKSWAP
+#    define PNG_READ_PACKSWAP_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_INVERT
+#    define PNG_READ_INVERT_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_DITHER
+#    define PNG_READ_DITHER_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_BACKGROUND
+#    define PNG_READ_BACKGROUND_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_16_TO_8
+#    define PNG_READ_16_TO_8_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_FILLER
+#    define PNG_READ_FILLER_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_GAMMA
+#    define PNG_READ_GAMMA_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_GRAY_TO_RGB
+#    define PNG_READ_GRAY_TO_RGB_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_SWAP_ALPHA
+#    define PNG_READ_SWAP_ALPHA_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_INVERT_ALPHA
+#    define PNG_READ_INVERT_ALPHA_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_STRIP_ALPHA
+#    define PNG_READ_STRIP_ALPHA_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_USER_TRANSFORM
+#    define PNG_READ_USER_TRANSFORM_SUPPORTED
+#  endif
+#  ifndef PNG_NO_READ_RGB_TO_GRAY
+#    define PNG_READ_RGB_TO_GRAY_SUPPORTED
+#  endif
+#endif /* PNG_READ_TRANSFORMS_SUPPORTED */
+
+#if !defined(PNG_NO_PROGRESSIVE_READ) && \
+ !defined(PNG_PROGRESSIVE_READ_SUPPORTED) /* if you don't do progressive   */
+#  define PNG_PROGRESSIVE_READ_SUPPORTED  /* reading.  This is not talking */
+#endif                            /* about interlacing capability!  You'll */
+           /* still have interlacing unless you change the following line: */
+
+#define PNG_READ_INTERLACING_SUPPORTED /* required in PNG-compliant decoders */
+
+#ifndef PNG_NO_READ_COMPOSITE_NODIV
+#  ifndef PNG_NO_READ_COMPOSITED_NODIV  /* libpng-1.0.x misspelling */
+#    define PNG_READ_COMPOSITE_NODIV_SUPPORTED  /* well tested on Intel, SGI */
+#  endif
+#endif
+
+#if defined(PNG_1_0_X) || defined (PNG_1_2_X)
+/* Deprecated, will be removed from version 2.0.0.
+   Use PNG_MNG_FEATURES_SUPPORTED instead. */
+#ifndef PNG_NO_READ_EMPTY_PLTE
+#  define PNG_READ_EMPTY_PLTE_SUPPORTED
+#endif
+#endif
+
+#endif /* PNG_READ_SUPPORTED */
+
+#if defined(PNG_WRITE_SUPPORTED)
+
+# if !defined(PNG_WRITE_TRANSFORMS_NOT_SUPPORTED) && \
+    !defined(PNG_NO_WRITE_TRANSFORMS)
+#  define PNG_WRITE_TRANSFORMS_SUPPORTED
+#endif
+
+#ifdef PNG_WRITE_TRANSFORMS_SUPPORTED
+#  ifndef PNG_NO_WRITE_SHIFT
+#    define PNG_WRITE_SHIFT_SUPPORTED
+#  endif
+#  ifndef PNG_NO_WRITE_PACK
+#    define PNG_WRITE_PACK_SUPPORTED
+#  endif
+#  ifndef PNG_NO_WRITE_BGR
+#    define PNG_WRITE_BGR_SUPPORTED
+#  endif
+#  ifndef PNG_NO_WRITE_SWAP
+#    define PNG_WRITE_SWAP_SUPPORTED
+#  endif
+#  ifndef PNG_NO_WRITE_PACKSWAP
+#    define PNG_WRITE_PACKSWAP_SUPPORTED
+#  endif
+#  ifndef PNG_NO_WRITE_INVERT
+#    define PNG_WRITE_INVERT_SUPPORTED
+#  endif
+#  ifndef PNG_NO_WRITE_FILLER
+#    define PNG_WRITE_FILLER_SUPPORTED   /* same as WRITE_STRIP_ALPHA */
+#  endif
+#  ifndef PNG_NO_WRITE_SWAP_ALPHA
+#    define PNG_WRITE_SWAP_ALPHA_SUPPORTED
+#  endif
+#  ifndef PNG_NO_WRITE_INVERT_ALPHA
+#    define PNG_WRITE_INVERT_ALPHA_SUPPORTED
+#  endif
+#  ifndef PNG_NO_WRITE_USER_TRANSFORM
+#    define PNG_WRITE_USER_TRANSFORM_SUPPORTED
+#  endif
+#endif /* PNG_WRITE_TRANSFORMS_SUPPORTED */
+
+#if !defined(PNG_NO_WRITE_INTERLACING_SUPPORTED) && \
+    !defined(PNG_WRITE_INTERLACING_SUPPORTED)
+#define PNG_WRITE_INTERLACING_SUPPORTED  /* not required for PNG-compliant
+                                            encoders, but can cause trouble
+                                            if left undefined */
+#endif
+
+#if !defined(PNG_NO_WRITE_WEIGHTED_FILTER) && \
+    !defined(PNG_WRITE_WEIGHTED_FILTER) && \
+     defined(PNG_FLOATING_POINT_SUPPORTED)
+#  define PNG_WRITE_WEIGHTED_FILTER_SUPPORTED
+#endif
+
+#ifndef PNG_NO_WRITE_FLUSH
+#  define PNG_WRITE_FLUSH_SUPPORTED
+#endif
+
+#if defined(PNG_1_0_X) || defined (PNG_1_2_X)
+/* Deprecated, see PNG_MNG_FEATURES_SUPPORTED, above */
+#ifndef PNG_NO_WRITE_EMPTY_PLTE
+#  define PNG_WRITE_EMPTY_PLTE_SUPPORTED
+#endif
+#endif
+
+#endif /* PNG_WRITE_SUPPORTED */
+
+#ifndef PNG_1_0_X
+#  ifndef PNG_NO_ERROR_NUMBERS
+#    define PNG_ERROR_NUMBERS_SUPPORTED
+#  endif
+#endif /* PNG_1_0_X */
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED)
+#  ifndef PNG_NO_USER_TRANSFORM_PTR
+#    define PNG_USER_TRANSFORM_PTR_SUPPORTED
+#  endif
+#endif
+
+#ifndef PNG_NO_STDIO
+#  define PNG_TIME_RFC1123_SUPPORTED
+#endif
+
+/* This adds extra functions in pngget.c for accessing data from the
+ * info pointer (added in version 0.99)
+ * png_get_image_width()
+ * png_get_image_height()
+ * png_get_bit_depth()
+ * png_get_color_type()
+ * png_get_compression_type()
+ * png_get_filter_type()
+ * png_get_interlace_type()
+ * png_get_pixel_aspect_ratio()
+ * png_get_pixels_per_meter()
+ * png_get_x_offset_pixels()
+ * png_get_y_offset_pixels()
+ * png_get_x_offset_microns()
+ * png_get_y_offset_microns()
+ */
+#if !defined(PNG_NO_EASY_ACCESS) && !defined(PNG_EASY_ACCESS_SUPPORTED)
+#  define PNG_EASY_ACCESS_SUPPORTED
+#endif
+
+/* PNG_ASSEMBLER_CODE was enabled by default in version 1.2.0 
+ * and removed from version 1.2.20.  The following will be removed
+ * from libpng-1.4.0
+*/
+
+#if defined(PNG_READ_SUPPORTED) && !defined(PNG_NO_OPTIMIZED_CODE)
+#  ifndef PNG_OPTIMIZED_CODE_SUPPORTED
+#    define PNG_OPTIMIZED_CODE_SUPPORTED
+#  endif
+#endif
+
+#if defined(PNG_READ_SUPPORTED) && !defined(PNG_NO_ASSEMBLER_CODE)
+#  ifndef PNG_ASSEMBLER_CODE_SUPPORTED
+#    define PNG_ASSEMBLER_CODE_SUPPORTED
+#  endif
+
+#  if defined(__GNUC__) && defined(__x86_64__) && (__GNUC__ < 4)
+     /* work around 64-bit gcc compiler bugs in gcc-3.x */
+#    if !defined(PNG_MMX_CODE_SUPPORTED) && !defined(PNG_NO_MMX_CODE)
+#      define PNG_NO_MMX_CODE
+#    endif
+#  endif
+
+#  if defined(__APPLE__)
+#    if !defined(PNG_MMX_CODE_SUPPORTED) && !defined(PNG_NO_MMX_CODE)
+#      define PNG_NO_MMX_CODE
+#    endif
+#  endif
+
+#  if (defined(__MWERKS__) && ((__MWERKS__ < 0x0900) || macintosh))
+#    if !defined(PNG_MMX_CODE_SUPPORTED) && !defined(PNG_NO_MMX_CODE)
+#      define PNG_NO_MMX_CODE
+#    endif
+#  endif
+
+#  if !defined(PNG_MMX_CODE_SUPPORTED) && !defined(PNG_NO_MMX_CODE)
+#    define PNG_MMX_CODE_SUPPORTED
+#  endif
+
+#endif
+/* end of obsolete code to be removed from libpng-1.4.0 */
+
+#if !defined(PNG_1_0_X)
+#if !defined(PNG_NO_USER_MEM) && !defined(PNG_USER_MEM_SUPPORTED)
+#  define PNG_USER_MEM_SUPPORTED
+#endif
+#endif /* PNG_1_0_X */
+
+/* Added at libpng-1.2.6 */
+#if !defined(PNG_1_0_X)
+#ifndef PNG_SET_USER_LIMITS_SUPPORTED
+#if !defined(PNG_NO_SET_USER_LIMITS) && !defined(PNG_SET_USER_LIMITS_SUPPORTED)
+#  define PNG_SET_USER_LIMITS_SUPPORTED
+#endif
+#endif
+#endif /* PNG_1_0_X */
+
+/* Added at libpng-1.0.16 and 1.2.6.  To accept all valid PNGS no matter
+ * how large, set these limits to 0x7fffffffL
+ */
+#ifndef PNG_USER_WIDTH_MAX
+#  define PNG_USER_WIDTH_MAX 1000000L
+#endif
+#ifndef PNG_USER_HEIGHT_MAX
+#  define PNG_USER_HEIGHT_MAX 1000000L
+#endif
+
+/* Added at libpng-1.2.34 and 1.4.0 */
+#ifndef PNG_STRING_NEWLINE
+#define PNG_STRING_NEWLINE "\n"
+#endif
+
+/* These are currently experimental features, define them if you want */
+
+/* very little testing */
+/*
+#ifdef PNG_READ_SUPPORTED
+#  ifndef PNG_READ_16_TO_8_ACCURATE_SCALE_SUPPORTED
+#    define PNG_READ_16_TO_8_ACCURATE_SCALE_SUPPORTED
+#  endif
+#endif
+*/
+
+/* This is only for PowerPC big-endian and 680x0 systems */
+/* some testing */
+/*
+#ifndef PNG_READ_BIG_ENDIAN_SUPPORTED
+#  define PNG_READ_BIG_ENDIAN_SUPPORTED
+#endif
+*/
+
+/* Buggy compilers (e.g., gcc 2.7.2.2) need this */
+/*
+#define PNG_NO_POINTER_INDEXING
+*/
+
+/* These functions are turned off by default, as they will be phased out. */
+/*
+#define  PNG_USELESS_TESTS_SUPPORTED
+#define  PNG_CORRECT_PALETTE_SUPPORTED
+*/
+
+/* Any chunks you are not interested in, you can undef here.  The
+ * ones that allocate memory may be expecially important (hIST,
+ * tEXt, zTXt, tRNS, pCAL).  Others will just save time and make png_info
+ * a bit smaller.
+ */
+
+#if defined(PNG_READ_SUPPORTED) && \
+    !defined(PNG_READ_ANCILLARY_CHUNKS_NOT_SUPPORTED) && \
+    !defined(PNG_NO_READ_ANCILLARY_CHUNKS)
+#  define PNG_READ_ANCILLARY_CHUNKS_SUPPORTED
+#endif
+
+#if defined(PNG_WRITE_SUPPORTED) && \
+    !defined(PNG_WRITE_ANCILLARY_CHUNKS_NOT_SUPPORTED) && \
+    !defined(PNG_NO_WRITE_ANCILLARY_CHUNKS)
+#  define PNG_WRITE_ANCILLARY_CHUNKS_SUPPORTED
+#endif
+
+#ifdef PNG_READ_ANCILLARY_CHUNKS_SUPPORTED
+
+#ifdef PNG_NO_READ_TEXT
+#  define PNG_NO_READ_iTXt
+#  define PNG_NO_READ_tEXt
+#  define PNG_NO_READ_zTXt
+#endif
+#ifndef PNG_NO_READ_bKGD
+#  define PNG_READ_bKGD_SUPPORTED
+#  define PNG_bKGD_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_cHRM
+#  define PNG_READ_cHRM_SUPPORTED
+#  define PNG_cHRM_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_gAMA
+#  define PNG_READ_gAMA_SUPPORTED
+#  define PNG_gAMA_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_hIST
+#  define PNG_READ_hIST_SUPPORTED
+#  define PNG_hIST_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_iCCP
+#  define PNG_READ_iCCP_SUPPORTED
+#  define PNG_iCCP_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_iTXt
+#  ifndef PNG_READ_iTXt_SUPPORTED
+#    define PNG_READ_iTXt_SUPPORTED
+#  endif
+#  ifndef PNG_iTXt_SUPPORTED
+#    define PNG_iTXt_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_READ_oFFs
+#  define PNG_READ_oFFs_SUPPORTED
+#  define PNG_oFFs_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_pCAL
+#  define PNG_READ_pCAL_SUPPORTED
+#  define PNG_pCAL_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_sCAL
+#  define PNG_READ_sCAL_SUPPORTED
+#  define PNG_sCAL_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_pHYs
+#  define PNG_READ_pHYs_SUPPORTED
+#  define PNG_pHYs_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_sBIT
+#  define PNG_READ_sBIT_SUPPORTED
+#  define PNG_sBIT_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_sPLT
+#  define PNG_READ_sPLT_SUPPORTED
+#  define PNG_sPLT_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_sRGB
+#  define PNG_READ_sRGB_SUPPORTED
+#  define PNG_sRGB_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_tEXt
+#  define PNG_READ_tEXt_SUPPORTED
+#  define PNG_tEXt_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_tIME
+#  define PNG_READ_tIME_SUPPORTED
+#  define PNG_tIME_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_tRNS
+#  define PNG_READ_tRNS_SUPPORTED
+#  define PNG_tRNS_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_zTXt
+#  define PNG_READ_zTXt_SUPPORTED
+#  define PNG_zTXt_SUPPORTED
+#endif
+#ifndef PNG_NO_READ_UNKNOWN_CHUNKS
+#  define PNG_READ_UNKNOWN_CHUNKS_SUPPORTED
+#  ifndef PNG_UNKNOWN_CHUNKS_SUPPORTED
+#    define PNG_UNKNOWN_CHUNKS_SUPPORTED
+#  endif
+#  ifndef PNG_NO_HANDLE_AS_UNKNOWN
+#    define PNG_HANDLE_AS_UNKNOWN_SUPPORTED
+#  endif
+#endif
+#if !defined(PNG_NO_READ_USER_CHUNKS) && \
+     defined(PNG_READ_UNKNOWN_CHUNKS_SUPPORTED)
+#  define PNG_READ_USER_CHUNKS_SUPPORTED
+#  define PNG_USER_CHUNKS_SUPPORTED
+#  ifdef PNG_NO_READ_UNKNOWN_CHUNKS
+#    undef PNG_NO_READ_UNKNOWN_CHUNKS
+#  endif
+#  ifdef PNG_NO_HANDLE_AS_UNKNOWN
+#    undef PNG_NO_HANDLE_AS_UNKNOWN
+#  endif
+#endif
+#ifndef PNG_NO_READ_OPT_PLTE
+#  define PNG_READ_OPT_PLTE_SUPPORTED /* only affects support of the */
+#endif                      /* optional PLTE chunk in RGB and RGBA images */
+#if defined(PNG_READ_iTXt_SUPPORTED) || defined(PNG_READ_tEXt_SUPPORTED) || \
+    defined(PNG_READ_zTXt_SUPPORTED)
+#  define PNG_READ_TEXT_SUPPORTED
+#  define PNG_TEXT_SUPPORTED
+#endif
+
+#endif /* PNG_READ_ANCILLARY_CHUNKS_SUPPORTED */
+
+#ifdef PNG_WRITE_ANCILLARY_CHUNKS_SUPPORTED
+
+#ifdef PNG_NO_WRITE_TEXT
+#  define PNG_NO_WRITE_iTXt
+#  define PNG_NO_WRITE_tEXt
+#  define PNG_NO_WRITE_zTXt
+#endif
+#ifndef PNG_NO_WRITE_bKGD
+#  define PNG_WRITE_bKGD_SUPPORTED
+#  ifndef PNG_bKGD_SUPPORTED
+#    define PNG_bKGD_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_cHRM
+#  define PNG_WRITE_cHRM_SUPPORTED
+#  ifndef PNG_cHRM_SUPPORTED
+#    define PNG_cHRM_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_gAMA
+#  define PNG_WRITE_gAMA_SUPPORTED
+#  ifndef PNG_gAMA_SUPPORTED
+#    define PNG_gAMA_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_hIST
+#  define PNG_WRITE_hIST_SUPPORTED
+#  ifndef PNG_hIST_SUPPORTED
+#    define PNG_hIST_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_iCCP
+#  define PNG_WRITE_iCCP_SUPPORTED
+#  ifndef PNG_iCCP_SUPPORTED
+#    define PNG_iCCP_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_iTXt
+#  ifndef PNG_WRITE_iTXt_SUPPORTED
+#    define PNG_WRITE_iTXt_SUPPORTED
+#  endif
+#  ifndef PNG_iTXt_SUPPORTED
+#    define PNG_iTXt_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_oFFs
+#  define PNG_WRITE_oFFs_SUPPORTED
+#  ifndef PNG_oFFs_SUPPORTED
+#    define PNG_oFFs_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_pCAL
+#  define PNG_WRITE_pCAL_SUPPORTED
+#  ifndef PNG_pCAL_SUPPORTED
+#    define PNG_pCAL_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_sCAL
+#  define PNG_WRITE_sCAL_SUPPORTED
+#  ifndef PNG_sCAL_SUPPORTED
+#    define PNG_sCAL_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_pHYs
+#  define PNG_WRITE_pHYs_SUPPORTED
+#  ifndef PNG_pHYs_SUPPORTED
+#    define PNG_pHYs_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_sBIT
+#  define PNG_WRITE_sBIT_SUPPORTED
+#  ifndef PNG_sBIT_SUPPORTED
+#    define PNG_sBIT_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_sPLT
+#  define PNG_WRITE_sPLT_SUPPORTED
+#  ifndef PNG_sPLT_SUPPORTED
+#    define PNG_sPLT_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_sRGB
+#  define PNG_WRITE_sRGB_SUPPORTED
+#  ifndef PNG_sRGB_SUPPORTED
+#    define PNG_sRGB_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_tEXt
+#  define PNG_WRITE_tEXt_SUPPORTED
+#  ifndef PNG_tEXt_SUPPORTED
+#    define PNG_tEXt_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_tIME
+#  define PNG_WRITE_tIME_SUPPORTED
+#  ifndef PNG_tIME_SUPPORTED
+#    define PNG_tIME_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_tRNS
+#  define PNG_WRITE_tRNS_SUPPORTED
+#  ifndef PNG_tRNS_SUPPORTED
+#    define PNG_tRNS_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_zTXt
+#  define PNG_WRITE_zTXt_SUPPORTED
+#  ifndef PNG_zTXt_SUPPORTED
+#    define PNG_zTXt_SUPPORTED
+#  endif
+#endif
+#ifndef PNG_NO_WRITE_UNKNOWN_CHUNKS
+#  define PNG_WRITE_UNKNOWN_CHUNKS_SUPPORTED
+#  ifndef PNG_UNKNOWN_CHUNKS_SUPPORTED
+#    define PNG_UNKNOWN_CHUNKS_SUPPORTED
+#  endif
+#  ifndef PNG_NO_HANDLE_AS_UNKNOWN
+#     ifndef PNG_HANDLE_AS_UNKNOWN_SUPPORTED
+#       define PNG_HANDLE_AS_UNKNOWN_SUPPORTED
+#     endif
+#  endif
+#endif
+#if defined(PNG_WRITE_iTXt_SUPPORTED) || defined(PNG_WRITE_tEXt_SUPPORTED) || \
+    defined(PNG_WRITE_zTXt_SUPPORTED)
+#  define PNG_WRITE_TEXT_SUPPORTED
+#  ifndef PNG_TEXT_SUPPORTED
+#    define PNG_TEXT_SUPPORTED
+#  endif
+#endif
+
+#endif /* PNG_WRITE_ANCILLARY_CHUNKS_SUPPORTED */
+
+/* Turn this off to disable png_read_png() and
+ * png_write_png() and leave the row_pointers member
+ * out of the info structure.
+ */
+#ifndef PNG_NO_INFO_IMAGE
+#  define PNG_INFO_IMAGE_SUPPORTED
+#endif
+
+/* need the time information for reading tIME chunks */
+#if defined(PNG_tIME_SUPPORTED)
+#  if !defined(_WIN32_WCE)
+     /* "time.h" functions are not supported on WindowsCE */
+#    include <time.h>
+#  endif
+#endif
+
+/* Some typedefs to get us started.  These should be safe on most of the
+ * common platforms.  The typedefs should be at least as large as the
+ * numbers suggest (a png_uint_32 must be at least 32 bits long), but they
+ * don't have to be exactly that size.  Some compilers dislike passing
+ * unsigned shorts as function parameters, so you may be better off using
+ * unsigned int for png_uint_16.  Likewise, for 64-bit systems, you may
+ * want to have unsigned int for png_uint_32 instead of unsigned long.
+ */
+
+typedef unsigned long png_uint_32;
+typedef long png_int_32;
+typedef unsigned short png_uint_16;
+typedef short png_int_16;
+typedef unsigned char png_byte;
+
+/* This is usually size_t.  It is typedef'ed just in case you need it to
+   change (I'm not sure if you will or not, so I thought I'd be safe) */
+#ifdef PNG_SIZE_T
+   typedef PNG_SIZE_T png_size_t;
+#  define png_sizeof(x) png_convert_size(sizeof(x))
+#else
+   typedef size_t png_size_t;
+#  define png_sizeof(x) sizeof(x)
+#endif
+
+/* The following is needed for medium model support.  It cannot be in the
+ * PNG_INTERNAL section.  Needs modification for other compilers besides
+ * MSC.  Model independent support declares all arrays and pointers to be
+ * large using the far keyword.  The zlib version used must also support
+ * model independent data.  As of version zlib 1.0.4, the necessary changes
+ * have been made in zlib.  The USE_FAR_KEYWORD define triggers other
+ * changes that are needed. (Tim Wegner)
+ */
+
+/* Separate compiler dependencies (problem here is that zlib.h always
+   defines FAR. (SJT) */
+#ifdef __BORLANDC__
+#  if defined(__LARGE__) || defined(__HUGE__) || defined(__COMPACT__)
+#    define LDATA 1
+#  else
+#    define LDATA 0
+#  endif
+   /* GRR:  why is Cygwin in here?  Cygwin is not Borland C... */
+#  if !defined(__WIN32__) && !defined(__FLAT__) && !defined(__CYGWIN__)
+#    define PNG_MAX_MALLOC_64K
+#    if (LDATA != 1)
+#      ifndef FAR
+#        define FAR __far
+#      endif
+#      define USE_FAR_KEYWORD
+#    endif   /* LDATA != 1 */
+     /* Possibly useful for moving data out of default segment.
+      * Uncomment it if you want. Could also define FARDATA as
+      * const if your compiler supports it. (SJT)
+#    define FARDATA FAR
+      */
+#  endif  /* __WIN32__, __FLAT__, __CYGWIN__ */
+#endif   /* __BORLANDC__ */
+
+
+/* Suggest testing for specific compiler first before testing for
+ * FAR.  The Watcom compiler defines both __MEDIUM__ and M_I86MM,
+ * making reliance oncertain keywords suspect. (SJT)
+ */
+
+/* MSC Medium model */
+#if defined(FAR)
+#  if defined(M_I86MM)
+#    define USE_FAR_KEYWORD
+#    define FARDATA FAR
+#    include <dos.h>
+#  endif
+#endif
+
+/* SJT: default case */
+#ifndef FAR
+#  define FAR
+#endif
+
+/* At this point FAR is always defined */
+#ifndef FARDATA
+#  define FARDATA
+#endif
+
+/* Typedef for floating-point numbers that are converted
+   to fixed-point with a multiple of 100,000, e.g., int_gamma */
+typedef png_int_32 png_fixed_point;
+
+/* Add typedefs for pointers */
+typedef void            FAR * png_voidp;
+typedef png_byte        FAR * png_bytep;
+typedef png_uint_32     FAR * png_uint_32p;
+typedef png_int_32      FAR * png_int_32p;
+typedef png_uint_16     FAR * png_uint_16p;
+typedef png_int_16      FAR * png_int_16p;
+typedef PNG_CONST char  FAR * png_const_charp;
+typedef char            FAR * png_charp;
+typedef png_fixed_point FAR * png_fixed_point_p;
+
+#ifndef PNG_NO_STDIO
+#if defined(_WIN32_WCE)
+typedef HANDLE                png_FILE_p;
+#else
+typedef FILE                * png_FILE_p;
+#endif
+#endif
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+typedef double          FAR * png_doublep;
+#endif
+
+/* Pointers to pointers; i.e. arrays */
+typedef png_byte        FAR * FAR * png_bytepp;
+typedef png_uint_32     FAR * FAR * png_uint_32pp;
+typedef png_int_32      FAR * FAR * png_int_32pp;
+typedef png_uint_16     FAR * FAR * png_uint_16pp;
+typedef png_int_16      FAR * FAR * png_int_16pp;
+typedef PNG_CONST char  FAR * FAR * png_const_charpp;
+typedef char            FAR * FAR * png_charpp;
+typedef png_fixed_point FAR * FAR * png_fixed_point_pp;
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+typedef double          FAR * FAR * png_doublepp;
+#endif
+
+/* Pointers to pointers to pointers; i.e., pointer to array */
+typedef char            FAR * FAR * FAR * png_charppp;
+
+#if defined(PNG_1_0_X) || defined(PNG_1_2_X)
+/* SPC -  Is this stuff deprecated? */
+/* It'll be removed as of libpng-1.3.0 - GR-P */
+/* libpng typedefs for types in zlib. If zlib changes
+ * or another compression library is used, then change these.
+ * Eliminates need to change all the source files.
+ */
+typedef charf *         png_zcharp;
+typedef charf * FAR *   png_zcharpp;
+typedef z_stream FAR *  png_zstreamp;
+#endif /* (PNG_1_0_X) || defined(PNG_1_2_X) */
+
+/*
+ * Define PNG_BUILD_DLL if the module being built is a Windows
+ * LIBPNG DLL.
+ *
+ * Define PNG_USE_DLL if you want to *link* to the Windows LIBPNG DLL.
+ * It is equivalent to Microsoft predefined macro _DLL that is
+ * automatically defined when you compile using the share
+ * version of the CRT (C Run-Time library)
+ *
+ * The cygwin mods make this behavior a little different:
+ * Define PNG_BUILD_DLL if you are building a dll for use with cygwin
+ * Define PNG_STATIC if you are building a static library for use with cygwin,
+ *   -or- if you are building an application that you want to link to the
+ *   static library.
+ * PNG_USE_DLL is defined by default (no user action needed) unless one of
+ *   the other flags is defined.
+ */
+
+#if !defined(PNG_DLL) && (defined(PNG_BUILD_DLL) || defined(PNG_USE_DLL))
+#  define PNG_DLL
+#endif
+/* If CYGWIN, then disallow GLOBAL ARRAYS unless building a static lib.
+ * When building a static lib, default to no GLOBAL ARRAYS, but allow
+ * command-line override
+ */
+#if defined(__CYGWIN__)
+#  if !defined(PNG_STATIC)
+#    if defined(PNG_USE_GLOBAL_ARRAYS)
+#      undef PNG_USE_GLOBAL_ARRAYS
+#    endif
+#    if !defined(PNG_USE_LOCAL_ARRAYS)
+#      define PNG_USE_LOCAL_ARRAYS
+#    endif
+#  else
+#    if defined(PNG_USE_LOCAL_ARRAYS) || defined(PNG_NO_GLOBAL_ARRAYS)
+#      if defined(PNG_USE_GLOBAL_ARRAYS)
+#        undef PNG_USE_GLOBAL_ARRAYS
+#      endif
+#    endif
+#  endif
+#  if !defined(PNG_USE_LOCAL_ARRAYS) && !defined(PNG_USE_GLOBAL_ARRAYS)
+#    define PNG_USE_LOCAL_ARRAYS
+#  endif
+#endif
+
+/* Do not use global arrays (helps with building DLL's)
+ * They are no longer used in libpng itself, since version 1.0.5c,
+ * but might be required for some pre-1.0.5c applications.
+ */
+#if !defined(PNG_USE_LOCAL_ARRAYS) && !defined(PNG_USE_GLOBAL_ARRAYS)
+#  if defined(PNG_NO_GLOBAL_ARRAYS) || \
+      (defined(__GNUC__) && defined(PNG_DLL)) || defined(_MSC_VER)
+#    define PNG_USE_LOCAL_ARRAYS
+#  else
+#    define PNG_USE_GLOBAL_ARRAYS
+#  endif
+#endif
+
+#if defined(__CYGWIN__)
+#  undef PNGAPI
+#  define PNGAPI __cdecl
+#  undef PNG_IMPEXP
+#  define PNG_IMPEXP
+#endif  
+
+/* If you define PNGAPI, e.g., with compiler option "-DPNGAPI=__stdcall",
+ * you may get warnings regarding the linkage of png_zalloc and png_zfree.
+ * Don't ignore those warnings; you must also reset the default calling
+ * convention in your compiler to match your PNGAPI, and you must build
+ * zlib and your applications the same way you build libpng.
+ */
+
+#if defined(__MINGW32__) && !defined(PNG_MODULEDEF)
+#  ifndef PNG_NO_MODULEDEF
+#    define PNG_NO_MODULEDEF
+#  endif
+#endif
+
+#if !defined(PNG_IMPEXP) && defined(PNG_BUILD_DLL) && !defined(PNG_NO_MODULEDEF)
+#  define PNG_IMPEXP
+#endif
+
+#if defined(PNG_DLL) || defined(_DLL) || defined(__DLL__ ) || \
+    (( defined(_Windows) || defined(_WINDOWS) || \
+       defined(WIN32) || defined(_WIN32) || defined(__WIN32__) ))
+
+#  ifndef PNGAPI
+#     if defined(__GNUC__) || (defined (_MSC_VER) && (_MSC_VER >= 800))
+#        define PNGAPI __cdecl
+#     else
+#        define PNGAPI _cdecl
+#     endif
+#  endif
+
+#  if !defined(PNG_IMPEXP) && (!defined(PNG_DLL) || \
+       0 /* WINCOMPILER_WITH_NO_SUPPORT_FOR_DECLIMPEXP */)
+#     define PNG_IMPEXP
+#  endif
+
+#  if !defined(PNG_IMPEXP)
+
+#     define PNG_EXPORT_TYPE1(type,symbol)  PNG_IMPEXP type PNGAPI symbol
+#     define PNG_EXPORT_TYPE2(type,symbol)  type PNG_IMPEXP PNGAPI symbol
+
+      /* Borland/Microsoft */
+#     if defined(_MSC_VER) || defined(__BORLANDC__)
+#        if (_MSC_VER >= 800) || (__BORLANDC__ >= 0x500)
+#           define PNG_EXPORT PNG_EXPORT_TYPE1
+#        else
+#           define PNG_EXPORT PNG_EXPORT_TYPE2
+#           if defined(PNG_BUILD_DLL)
+#              define PNG_IMPEXP __export
+#           else
+#              define PNG_IMPEXP /*__import */ /* doesn't exist AFAIK in
+                                                 VC++ */
+#           endif                             /* Exists in Borland C++ for
+                                                 C++ classes (== huge) */
+#        endif
+#     endif
+
+#     if !defined(PNG_IMPEXP)
+#        if defined(PNG_BUILD_DLL)
+#           define PNG_IMPEXP __declspec(dllexport)
+#        else
+#           define PNG_IMPEXP __declspec(dllimport)
+#        endif
+#     endif
+#  endif  /* PNG_IMPEXP */
+#else /* !(DLL || non-cygwin WINDOWS) */
+#   if (defined(__IBMC__) || defined(__IBMCPP__)) && defined(__OS2__)
+#      ifndef PNGAPI
+#         define PNGAPI _System
+#      endif
+#   else
+#      if 0 /* ... other platforms, with other meanings */
+#      endif
+#   endif
+#endif
+
+#ifndef PNGAPI
+#  define PNGAPI
+#endif
+#ifndef PNG_IMPEXP
+#  define PNG_IMPEXP
+#endif
+
+#ifdef PNG_BUILDSYMS
+#  ifndef PNG_EXPORT
+#    define PNG_EXPORT(type,symbol) PNG_FUNCTION_EXPORT symbol END
+#  endif
+#  ifdef PNG_USE_GLOBAL_ARRAYS
+#    ifndef PNG_EXPORT_VAR
+#      define PNG_EXPORT_VAR(type) PNG_DATA_EXPORT
+#    endif
+#  endif
+#endif
+
+#ifndef PNG_EXPORT
+#  define PNG_EXPORT(type,symbol) PNG_IMPEXP type PNGAPI symbol
+#endif
+
+#ifdef PNG_USE_GLOBAL_ARRAYS
+#  ifndef PNG_EXPORT_VAR
+#    define PNG_EXPORT_VAR(type) extern PNG_IMPEXP type
+#  endif
+#endif
+
+/* User may want to use these so they are not in PNG_INTERNAL. Any library
+ * functions that are passed far data must be model independent.
+ */
+
+#ifndef PNG_ABORT
+#  define PNG_ABORT() abort()
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+#  define png_jmpbuf(png_ptr) ((png_ptr)->jmpbuf)
+#else
+#  define png_jmpbuf(png_ptr) \
+   (LIBPNG_WAS_COMPILED_WITH__PNG_SETJMP_NOT_SUPPORTED)
+#endif
+
+#if defined(USE_FAR_KEYWORD)  /* memory model independent fns */
+/* use this to make far-to-near assignments */
+#  define CHECK   1
+#  define NOCHECK 0
+#  define CVT_PTR(ptr) (png_far_to_near(png_ptr,ptr,CHECK))
+#  define CVT_PTR_NOCHECK(ptr) (png_far_to_near(png_ptr,ptr,NOCHECK))
+#  define png_snprintf _fsnprintf   /* Added to v 1.2.19 */
+#  define png_strlen  _fstrlen
+#  define png_memcmp  _fmemcmp    /* SJT: added */
+#  define png_memcpy  _fmemcpy
+#  define png_memset  _fmemset
+#else /* use the usual functions */
+#  define CVT_PTR(ptr)         (ptr)
+#  define CVT_PTR_NOCHECK(ptr) (ptr)
+#  ifndef PNG_NO_SNPRINTF
+#    ifdef _MSC_VER
+#      define png_snprintf _snprintf   /* Added to v 1.2.19 */
+#      define png_snprintf2 _snprintf
+#      define png_snprintf6 _snprintf
+#    else
+#      define png_snprintf snprintf   /* Added to v 1.2.19 */
+#      define png_snprintf2 snprintf
+#      define png_snprintf6 snprintf
+#    endif
+#  else
+     /* You don't have or don't want to use snprintf().  Caution: Using
+      * sprintf instead of snprintf exposes your application to accidental
+      * or malevolent buffer overflows.  If you don't have snprintf()
+      * as a general rule you should provide one (you can get one from
+      * Portable OpenSSH). */
+#    define png_snprintf(s1,n,fmt,x1) sprintf(s1,fmt,x1)
+#    define png_snprintf2(s1,n,fmt,x1,x2) sprintf(s1,fmt,x1,x2)
+#    define png_snprintf6(s1,n,fmt,x1,x2,x3,x4,x5,x6) \
+        sprintf(s1,fmt,x1,x2,x3,x4,x5,x6)
+#  endif
+#  define png_strlen  strlen
+#  define png_memcmp  memcmp      /* SJT: added */
+#  define png_memcpy  memcpy
+#  define png_memset  memset
+#endif
+/* End of memory model independent support */
+
+/* Just a little check that someone hasn't tried to define something
+ * contradictory.
+ */
+#if (PNG_ZBUF_SIZE > 65536L) && defined(PNG_MAX_MALLOC_64K)
+#  undef PNG_ZBUF_SIZE
+#  define PNG_ZBUF_SIZE 65536L
+#endif
+
+/* Added at libpng-1.2.8 */
+#endif /* PNG_VERSION_INFO_ONLY */
+
+#endif /* PNGCONF_H */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngerror.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngerror.c
new file mode 100755
index 0000000..285d720
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngerror.c
@@ -0,0 +1,361 @@
+
+/* pngerror.c - stub functions for i/o and memory allocation
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file provides a location for all error handling.  Users who
+ * need special error handling are expected to write replacement functions
+ * and use png_set_error_fn() to use those functions.  See the instructions
+ * at each function.
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+
+static void /* PRIVATE */
+png_default_error PNGARG((png_structp png_ptr,
+  png_const_charp error_message));
+#ifndef PNG_NO_WARNINGS
+static void /* PRIVATE */
+png_default_warning PNGARG((png_structp png_ptr,
+  png_const_charp warning_message));
+#endif /* PNG_NO_WARNINGS */
+
+/* This function is called whenever there is a fatal error.  This function
+ * should not be changed.  If there is a need to handle errors differently,
+ * you should supply a replacement error function and use png_set_error_fn()
+ * to replace the error function at run-time.
+ */
+#ifndef PNG_NO_ERROR_TEXT
+void PNGAPI
+png_error(png_structp png_ptr, png_const_charp error_message)
+{
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+   char msg[16];
+   if (png_ptr != NULL)
+   {
+     if (png_ptr->flags&
+       (PNG_FLAG_STRIP_ERROR_NUMBERS|PNG_FLAG_STRIP_ERROR_TEXT))
+     {
+       if (*error_message == '#')
+       {
+           /* Strip "#nnnn " from beginning of error message. */
+           int offset;
+           for (offset = 1; offset<15; offset++)
+              if (error_message[offset] == ' ')
+                  break;
+           if (png_ptr->flags&PNG_FLAG_STRIP_ERROR_TEXT)
+           {
+              int i;
+              for (i = 0; i < offset - 1; i++)
+                 msg[i] = error_message[i + 1];
+              msg[i - 1] = '\0';
+              error_message = msg;
+           }
+           else
+              error_message += offset;
+       }
+       else
+       {
+           if (png_ptr->flags&PNG_FLAG_STRIP_ERROR_TEXT)
+           {
+              msg[0] = '0';
+              msg[1] = '\0';
+              error_message = msg;
+           }
+       }
+     }
+   }
+#endif
+   if (png_ptr != NULL && png_ptr->error_fn != NULL)
+      (*(png_ptr->error_fn))(png_ptr, error_message);
+
+   /* If the custom handler doesn't exist, or if it returns,
+      use the default handler, which will not return. */
+   png_default_error(png_ptr, error_message);
+}
+#else
+void PNGAPI
+png_err(png_structp png_ptr)
+{
+   if (png_ptr != NULL && png_ptr->error_fn != NULL)
+      (*(png_ptr->error_fn))(png_ptr, '\0');
+
+   /* If the custom handler doesn't exist, or if it returns,
+      use the default handler, which will not return. */
+   png_default_error(png_ptr, '\0');
+}
+#endif /* PNG_NO_ERROR_TEXT */
+
+#ifndef PNG_NO_WARNINGS
+/* This function is called whenever there is a non-fatal error.  This function
+ * should not be changed.  If there is a need to handle warnings differently,
+ * you should supply a replacement warning function and use
+ * png_set_error_fn() to replace the warning function at run-time.
+ */
+void PNGAPI
+png_warning(png_structp png_ptr, png_const_charp warning_message)
+{
+   int offset = 0;
+   if (png_ptr != NULL)
+   {
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+   if (png_ptr->flags&
+     (PNG_FLAG_STRIP_ERROR_NUMBERS|PNG_FLAG_STRIP_ERROR_TEXT))
+#endif
+     {
+       if (*warning_message == '#')
+       {
+           for (offset = 1; offset < 15; offset++)
+              if (warning_message[offset] == ' ')
+                  break;
+       }
+     }
+   }
+   if (png_ptr != NULL && png_ptr->warning_fn != NULL)
+      (*(png_ptr->warning_fn))(png_ptr, warning_message + offset);
+   else
+      png_default_warning(png_ptr, warning_message + offset);
+}
+#endif /* PNG_NO_WARNINGS */
+
+
+/* These utilities are used internally to build an error message that relates
+ * to the current chunk.  The chunk name comes from png_ptr->chunk_name,
+ * this is used to prefix the message.  The message is limited in length
+ * to 63 bytes, the name characters are output as hex digits wrapped in []
+ * if the character is invalid.
+ */
+#define isnonalpha(c) ((c) < 65 || (c) > 122 || ((c) > 90 && (c) < 97))
+static PNG_CONST char png_digit[16] = {
+   '0', '1', '2', '3', '4', '5', '6', '7', '8', '9',
+   'A', 'B', 'C', 'D', 'E', 'F'
+};
+
+#define PNG_MAX_ERROR_TEXT 64
+
+#if !defined(PNG_NO_WARNINGS) || !defined(PNG_NO_ERROR_TEXT)
+static void /* PRIVATE */
+png_format_buffer(png_structp png_ptr, png_charp buffer, png_const_charp
+   error_message)
+{
+   int iout = 0, iin = 0;
+
+   while (iin < 4)
+   {
+      int c = png_ptr->chunk_name[iin++];
+      if (isnonalpha(c))
+      {
+         buffer[iout++] = '[';
+         buffer[iout++] = png_digit[(c & 0xf0) >> 4];
+         buffer[iout++] = png_digit[c & 0x0f];
+         buffer[iout++] = ']';
+      }
+      else
+      {
+         buffer[iout++] = (png_byte)c;
+      }
+   }
+
+   if (error_message == NULL)
+      buffer[iout] = '\0';
+   else
+   {
+      buffer[iout++] = ':';
+      buffer[iout++] = ' ';
+      png_memcpy(buffer + iout, error_message, PNG_MAX_ERROR_TEXT);
+      buffer[iout + PNG_MAX_ERROR_TEXT - 1] = '\0';
+   }
+}
+
+#ifdef PNG_READ_SUPPORTED
+void PNGAPI
+png_chunk_error(png_structp png_ptr, png_const_charp error_message)
+{
+   char msg[18+PNG_MAX_ERROR_TEXT];
+   if (png_ptr == NULL)
+     png_error(png_ptr, error_message);
+   else
+   {
+     png_format_buffer(png_ptr, msg, error_message);
+     png_error(png_ptr, msg);
+   }
+}
+#endif /* PNG_READ_SUPPORTED */
+#endif /* !defined(PNG_NO_WARNINGS) || !defined(PNG_NO_ERROR_TEXT) */
+
+#ifndef PNG_NO_WARNINGS
+void PNGAPI
+png_chunk_warning(png_structp png_ptr, png_const_charp warning_message)
+{
+   char msg[18+PNG_MAX_ERROR_TEXT];
+   if (png_ptr == NULL)
+     png_warning(png_ptr, warning_message);
+   else
+   {
+     png_format_buffer(png_ptr, msg, warning_message);
+     png_warning(png_ptr, msg);
+   }
+}
+#endif /* PNG_NO_WARNINGS */
+
+
+/* This is the default error handling function.  Note that replacements for
+ * this function MUST NOT RETURN, or the program will likely crash.  This
+ * function is used by default, or if the program supplies NULL for the
+ * error function pointer in png_set_error_fn().
+ */
+static void /* PRIVATE */
+png_default_error(png_structp png_ptr, png_const_charp error_message)
+{
+#ifndef PNG_NO_CONSOLE_IO
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+   if (*error_message == '#')
+   {
+     /* Strip "#nnnn " from beginning of error message. */
+     int offset;
+     char error_number[16];
+     for (offset = 0; offset<15; offset++)
+     {
+         error_number[offset] = error_message[offset + 1];
+         if (error_message[offset] == ' ')
+             break;
+     }
+     if ((offset > 1) && (offset < 15))
+     {
+       error_number[offset - 1] = '\0';
+       fprintf(stderr, "libpng error no. %s: %s",
+          error_number, error_message + offset + 1);
+       fprintf(stderr, PNG_STRING_NEWLINE);
+     }
+     else
+     {
+       fprintf(stderr, "libpng error: %s, offset=%d",
+          error_message, offset);
+       fprintf(stderr, PNG_STRING_NEWLINE);
+     }
+   }
+   else
+#endif
+   {
+      fprintf(stderr, "libpng error: %s", error_message);
+      fprintf(stderr, PNG_STRING_NEWLINE);
+   }
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+   if (png_ptr)
+   {
+#  ifdef USE_FAR_KEYWORD
+   {
+      jmp_buf jmpbuf;
+      png_memcpy(jmpbuf, png_ptr->jmpbuf, png_sizeof(jmp_buf));
+      longjmp(jmpbuf, 1);
+   }
+#  else
+   longjmp(png_ptr->jmpbuf, 1);
+#  endif
+   }
+#else
+   PNG_ABORT();
+#endif
+#ifdef PNG_NO_CONSOLE_IO
+   error_message = error_message; /* Make compiler happy */
+#endif
+}
+
+#ifndef PNG_NO_WARNINGS
+/* This function is called when there is a warning, but the library thinks
+ * it can continue anyway.  Replacement functions don't have to do anything
+ * here if you don't want them to.  In the default configuration, png_ptr is
+ * not used, but it is passed in case it may be useful.
+ */
+static void /* PRIVATE */
+png_default_warning(png_structp png_ptr, png_const_charp warning_message)
+{
+#ifndef PNG_NO_CONSOLE_IO
+#  ifdef PNG_ERROR_NUMBERS_SUPPORTED
+   if (*warning_message == '#')
+   {
+     int offset;
+     char warning_number[16];
+     for (offset = 0; offset < 15; offset++)
+     {
+        warning_number[offset] = warning_message[offset + 1];
+        if (warning_message[offset] == ' ')
+            break;
+     }
+     if ((offset > 1) && (offset < 15))
+     {
+       warning_number[offset + 1] = '\0';
+       fprintf(stderr, "libpng warning no. %s: %s",
+          warning_number, warning_message + offset);
+       fprintf(stderr, PNG_STRING_NEWLINE);
+     }
+     else
+     {
+       fprintf(stderr, "libpng warning: %s",
+          warning_message);
+       fprintf(stderr, PNG_STRING_NEWLINE);
+     }
+   }
+   else
+#  endif
+   {
+     fprintf(stderr, "libpng warning: %s", warning_message);
+     fprintf(stderr, PNG_STRING_NEWLINE);
+   }
+#else
+   warning_message = warning_message; /* Make compiler happy */
+#endif
+   png_ptr = png_ptr; /* Make compiler happy */
+}
+#endif /* PNG_NO_WARNINGS */
+
+/* This function is called when the application wants to use another method
+ * of handling errors and warnings.  Note that the error function MUST NOT
+ * return to the calling routine or serious problems will occur.  The return
+ * method used in the default routine calls longjmp(png_ptr->jmpbuf, 1)
+ */
+void PNGAPI
+png_set_error_fn(png_structp png_ptr, png_voidp error_ptr,
+   png_error_ptr error_fn, png_error_ptr warning_fn)
+{
+   if (png_ptr == NULL)
+      return;
+   png_ptr->error_ptr = error_ptr;
+   png_ptr->error_fn = error_fn;
+   png_ptr->warning_fn = warning_fn;
+}
+
+
+/* This function returns a pointer to the error_ptr associated with the user
+ * functions.  The application should free any memory associated with this
+ * pointer before png_write_destroy and png_read_destroy are called.
+ */
+png_voidp PNGAPI
+png_get_error_ptr(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return NULL;
+   return ((png_voidp)png_ptr->error_ptr);
+}
+
+
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+void PNGAPI
+png_set_strip_error_numbers(png_structp png_ptr, png_uint_32 strip_mode)
+{
+   if (png_ptr != NULL)
+   {
+     png_ptr->flags &=
+       ((~(PNG_FLAG_STRIP_ERROR_NUMBERS|PNG_FLAG_STRIP_ERROR_TEXT))&strip_mode);
+   }
+}
+#endif
+#endif /* PNG_READ_SUPPORTED || PNG_WRITE_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pnggccrd.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pnggccrd.c
new file mode 100755
index 0000000..6d932ab
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pnggccrd.c
@@ -0,0 +1,103 @@
+/* pnggccrd.c was removed from libpng-1.2.20. */
+
+/* This code snippet is for use by configure's compilation test. */
+
+#if (!defined _MSC_VER) && \
+    defined(PNG_ASSEMBLER_CODE_SUPPORTED) && \
+    defined(PNG_MMX_CODE_SUPPORTED)
+
+int PNGAPI png_dummy_mmx_support(void);
+
+static int _mmx_supported = 2; // 0: no MMX; 1: MMX supported; 2: not tested
+
+int PNGAPI
+png_dummy_mmx_support(void) __attribute__((noinline));
+
+int PNGAPI
+png_dummy_mmx_support(void)
+{
+   int result;
+#if defined(PNG_MMX_CODE_SUPPORTED)  // superfluous, but what the heck
+    __asm__ __volatile__ (
+#if defined(__x86_64__)
+        "pushq %%rbx          \n\t"  // rbx gets clobbered by CPUID instruction
+        "pushq %%rcx          \n\t"  // so does rcx...
+        "pushq %%rdx          \n\t"  // ...and rdx (but rcx & rdx safe on Linux)
+        "pushfq               \n\t"  // save Eflag to stack
+        "popq %%rax           \n\t"  // get Eflag from stack into rax
+        "movq %%rax, %%rcx    \n\t"  // make another copy of Eflag in rcx
+        "xorl $0x200000, %%eax \n\t" // toggle ID bit in Eflag (i.e., bit 21)
+        "pushq %%rax          \n\t"  // save modified Eflag back to stack
+        "popfq                \n\t"  // restore modified value to Eflag reg
+        "pushfq               \n\t"  // save Eflag to stack
+        "popq %%rax           \n\t"  // get Eflag from stack
+        "pushq %%rcx          \n\t"  // save original Eflag to stack
+        "popfq                \n\t"  // restore original Eflag
+#else
+        "pushl %%ebx          \n\t"  // ebx gets clobbered by CPUID instruction
+        "pushl %%ecx          \n\t"  // so does ecx...
+        "pushl %%edx          \n\t"  // ...and edx (but ecx & edx safe on Linux)
+        "pushfl               \n\t"  // save Eflag to stack
+        "popl %%eax           \n\t"  // get Eflag from stack into eax
+        "movl %%eax, %%ecx    \n\t"  // make another copy of Eflag in ecx
+        "xorl $0x200000, %%eax \n\t" // toggle ID bit in Eflag (i.e., bit 21)
+        "pushl %%eax          \n\t"  // save modified Eflag back to stack
+        "popfl                \n\t"  // restore modified value to Eflag reg
+        "pushfl               \n\t"  // save Eflag to stack
+        "popl %%eax           \n\t"  // get Eflag from stack
+        "pushl %%ecx          \n\t"  // save original Eflag to stack
+        "popfl                \n\t"  // restore original Eflag
+#endif
+        "xorl %%ecx, %%eax    \n\t"  // compare new Eflag with original Eflag
+        "jz 0f                \n\t"  // if same, CPUID instr. is not supported
+
+        "xorl %%eax, %%eax    \n\t"  // set eax to zero
+//      ".byte  0x0f, 0xa2    \n\t"  // CPUID instruction (two-byte opcode)
+        "cpuid                \n\t"  // get the CPU identification info
+        "cmpl $1, %%eax       \n\t"  // make sure eax return non-zero value
+        "jl 0f                \n\t"  // if eax is zero, MMX is not supported
+
+        "xorl %%eax, %%eax    \n\t"  // set eax to zero and...
+        "incl %%eax           \n\t"  // ...increment eax to 1.  This pair is
+                                     // faster than the instruction "mov eax, 1"
+        "cpuid                \n\t"  // get the CPU identification info again
+        "andl $0x800000, %%edx \n\t" // mask out all bits but MMX bit (23)
+        "cmpl $0, %%edx       \n\t"  // 0 = MMX not supported
+        "jz 0f                \n\t"  // non-zero = yes, MMX IS supported
+
+        "movl $1, %%eax       \n\t"  // set return value to 1
+        "jmp  1f              \n\t"  // DONE:  have MMX support
+
+    "0:                       \n\t"  // .NOT_SUPPORTED: target label for jump instructions
+        "movl $0, %%eax       \n\t"  // set return value to 0
+    "1:                       \n\t"  // .RETURN: target label for jump instructions
+#if defined(__x86_64__)
+        "popq %%rdx           \n\t"  // restore rdx
+        "popq %%rcx           \n\t"  // restore rcx
+        "popq %%rbx           \n\t"  // restore rbx
+#else
+        "popl %%edx           \n\t"  // restore edx
+        "popl %%ecx           \n\t"  // restore ecx
+        "popl %%ebx           \n\t"  // restore ebx
+#endif
+
+//      "ret                  \n\t"  // DONE:  no MMX support
+                                     // (fall through to standard C "ret")
+
+        : "=a" (result)              // output list
+
+        :                            // any variables used on input (none)
+
+                                     // no clobber list
+//      , "%ebx", "%ecx", "%edx"     // GRR:  we handle these manually
+//      , "memory"   // if write to a variable gcc thought was in a reg
+//      , "cc"       // "condition codes" (flag bits)
+    );
+    _mmx_supported = result;
+#else
+    _mmx_supported = 0;
+#endif /* PNG_MMX_CODE_SUPPORTED */
+
+    return _mmx_supported;
+}
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngget.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngget.c
new file mode 100755
index 0000000..3b89e6e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngget.c
@@ -0,0 +1,939 @@
+
+/* pngget.c - retrieval of values from info struct
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+
+png_uint_32 PNGAPI
+png_get_valid(png_structp png_ptr, png_infop info_ptr, png_uint_32 flag)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return(info_ptr->valid & flag);
+
+   else
+      return(0);
+}
+
+png_uint_32 PNGAPI
+png_get_rowbytes(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return(info_ptr->rowbytes);
+
+   else
+      return(0);
+}
+
+#if defined(PNG_INFO_IMAGE_SUPPORTED)
+png_bytepp PNGAPI
+png_get_rows(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return(info_ptr->row_pointers);
+
+   else
+      return(0);
+}
+#endif
+
+#ifdef PNG_EASY_ACCESS_SUPPORTED
+/* Easy access to info, added in libpng-0.99 */
+png_uint_32 PNGAPI
+png_get_image_width(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->width;
+
+   return (0);
+}
+
+png_uint_32 PNGAPI
+png_get_image_height(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->height;
+
+   return (0);
+}
+
+png_byte PNGAPI
+png_get_bit_depth(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->bit_depth;
+
+   return (0);
+}
+
+png_byte PNGAPI
+png_get_color_type(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->color_type;
+
+   return (0);
+}
+
+png_byte PNGAPI
+png_get_filter_type(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->filter_type;
+
+   return (0);
+}
+
+png_byte PNGAPI
+png_get_interlace_type(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->interlace_type;
+
+   return (0);
+}
+
+png_byte PNGAPI
+png_get_compression_type(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return info_ptr->compression_type;
+
+   return (0);
+}
+
+png_uint_32 PNGAPI
+png_get_x_pixels_per_meter(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+#if defined(PNG_pHYs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_pHYs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_x_pixels_per_meter");
+
+      if (info_ptr->phys_unit_type != PNG_RESOLUTION_METER)
+          return (0);
+
+      else
+          return (info_ptr->x_pixels_per_unit);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+png_uint_32 PNGAPI
+png_get_y_pixels_per_meter(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+#if defined(PNG_pHYs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_pHYs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_y_pixels_per_meter");
+
+      if (info_ptr->phys_unit_type != PNG_RESOLUTION_METER)
+          return (0);
+
+      else
+          return (info_ptr->y_pixels_per_unit);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+png_uint_32 PNGAPI
+png_get_pixels_per_meter(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+#if defined(PNG_pHYs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_pHYs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_pixels_per_meter");
+
+      if (info_ptr->phys_unit_type != PNG_RESOLUTION_METER ||
+         info_ptr->x_pixels_per_unit != info_ptr->y_pixels_per_unit)
+          return (0);
+
+      else
+          return (info_ptr->x_pixels_per_unit);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+float PNGAPI
+png_get_pixel_aspect_ratio(png_structp png_ptr, png_infop info_ptr)
+   {
+   if (png_ptr != NULL && info_ptr != NULL)
+#if defined(PNG_pHYs_SUPPORTED)
+
+   if (info_ptr->valid & PNG_INFO_pHYs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_aspect_ratio");
+      if (info_ptr->x_pixels_per_unit == 0)
+         return ((float)0.0);
+      else
+         return ((float)((float)info_ptr->y_pixels_per_unit
+            /(float)info_ptr->x_pixels_per_unit));
+   }
+#else
+      return (0.0);
+#endif
+   return ((float)0.0);
+}
+#endif
+
+png_int_32 PNGAPI
+png_get_x_offset_microns(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+#if defined(PNG_oFFs_SUPPORTED)
+
+   if (info_ptr->valid & PNG_INFO_oFFs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_x_offset_microns");
+
+      if (info_ptr->offset_unit_type != PNG_OFFSET_MICROMETER)
+          return (0);
+
+      else
+          return (info_ptr->x_offset);
+   }
+#else
+      return (0);
+#endif
+   return (0);
+}
+
+png_int_32 PNGAPI
+png_get_y_offset_microns(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+
+#if defined(PNG_oFFs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_oFFs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_y_offset_microns");
+
+      if (info_ptr->offset_unit_type != PNG_OFFSET_MICROMETER)
+          return (0);
+
+      else
+          return (info_ptr->y_offset);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+png_int_32 PNGAPI
+png_get_x_offset_pixels(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+
+#if defined(PNG_oFFs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_oFFs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_x_offset_microns");
+
+      if (info_ptr->offset_unit_type != PNG_OFFSET_PIXEL)
+          return (0);
+
+      else
+          return (info_ptr->x_offset);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+png_int_32 PNGAPI
+png_get_y_offset_pixels(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+
+#if defined(PNG_oFFs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_oFFs)
+   {
+      png_debug1(1, "in %s retrieval function", "png_get_y_offset_microns");
+
+      if (info_ptr->offset_unit_type != PNG_OFFSET_PIXEL)
+          return (0);
+
+      else
+          return (info_ptr->y_offset);
+   }
+#else
+   return (0);
+#endif
+   return (0);
+}
+
+#if defined(PNG_INCH_CONVERSIONS) && defined(PNG_FLOATING_POINT_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_pixels_per_inch(png_structp png_ptr, png_infop info_ptr)
+{
+   return ((png_uint_32)((float)png_get_pixels_per_meter(png_ptr, info_ptr)
+     *.0254 +.5));
+}
+
+png_uint_32 PNGAPI
+png_get_x_pixels_per_inch(png_structp png_ptr, png_infop info_ptr)
+{
+   return ((png_uint_32)((float)png_get_x_pixels_per_meter(png_ptr, info_ptr)
+     *.0254 +.5));
+}
+
+png_uint_32 PNGAPI
+png_get_y_pixels_per_inch(png_structp png_ptr, png_infop info_ptr)
+{
+   return ((png_uint_32)((float)png_get_y_pixels_per_meter(png_ptr, info_ptr)
+     *.0254 +.5));
+}
+
+float PNGAPI
+png_get_x_offset_inches(png_structp png_ptr, png_infop info_ptr)
+{
+   return ((float)png_get_x_offset_microns(png_ptr, info_ptr)
+     *.00003937);
+}
+
+float PNGAPI
+png_get_y_offset_inches(png_structp png_ptr, png_infop info_ptr)
+{
+   return ((float)png_get_y_offset_microns(png_ptr, info_ptr)
+     *.00003937);
+}
+
+#if defined(PNG_pHYs_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_pHYs_dpi(png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 *res_x, png_uint_32 *res_y, int *unit_type)
+{
+   png_uint_32 retval = 0;
+
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_pHYs))
+   {
+      png_debug1(1, "in %s retrieval function", "pHYs");
+      if (res_x != NULL)
+      {
+         *res_x = info_ptr->x_pixels_per_unit;
+         retval |= PNG_INFO_pHYs;
+      }
+      if (res_y != NULL)
+      {
+         *res_y = info_ptr->y_pixels_per_unit;
+         retval |= PNG_INFO_pHYs;
+      }
+      if (unit_type != NULL)
+      {
+         *unit_type = (int)info_ptr->phys_unit_type;
+         retval |= PNG_INFO_pHYs;
+         if (*unit_type == 1)
+         {
+            if (res_x != NULL) *res_x = (png_uint_32)(*res_x * .0254 + .50);
+            if (res_y != NULL) *res_y = (png_uint_32)(*res_y * .0254 + .50);
+         }
+      }
+   }
+   return (retval);
+}
+#endif /* PNG_pHYs_SUPPORTED */
+#endif  /* PNG_INCH_CONVERSIONS && PNG_FLOATING_POINT_SUPPORTED */
+
+/* png_get_channels really belongs in here, too, but it's been around longer */
+
+#endif  /* PNG_EASY_ACCESS_SUPPORTED */
+
+png_byte PNGAPI
+png_get_channels(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return(info_ptr->channels);
+   else
+      return (0);
+}
+
+png_bytep PNGAPI
+png_get_signature(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr != NULL && info_ptr != NULL)
+      return(info_ptr->signature);
+   else
+      return (NULL);
+}
+
+#if defined(PNG_bKGD_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_bKGD(png_structp png_ptr, png_infop info_ptr,
+   png_color_16p *background)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_bKGD)
+      && background != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "bKGD");
+      *background = &(info_ptr->background);
+      return (PNG_INFO_bKGD);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_cHRM_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_cHRM(png_structp png_ptr, png_infop info_ptr,
+   double *white_x, double *white_y, double *red_x, double *red_y,
+   double *green_x, double *green_y, double *blue_x, double *blue_y)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_cHRM))
+   {
+      png_debug1(1, "in %s retrieval function", "cHRM");
+      if (white_x != NULL)
+         *white_x = (double)info_ptr->x_white;
+      if (white_y != NULL)
+         *white_y = (double)info_ptr->y_white;
+      if (red_x != NULL)
+         *red_x = (double)info_ptr->x_red;
+      if (red_y != NULL)
+         *red_y = (double)info_ptr->y_red;
+      if (green_x != NULL)
+         *green_x = (double)info_ptr->x_green;
+      if (green_y != NULL)
+         *green_y = (double)info_ptr->y_green;
+      if (blue_x != NULL)
+         *blue_x = (double)info_ptr->x_blue;
+      if (blue_y != NULL)
+         *blue_y = (double)info_ptr->y_blue;
+      return (PNG_INFO_cHRM);
+   }
+   return (0);
+}
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_cHRM_fixed(png_structp png_ptr, png_infop info_ptr,
+   png_fixed_point *white_x, png_fixed_point *white_y, png_fixed_point *red_x,
+   png_fixed_point *red_y, png_fixed_point *green_x, png_fixed_point *green_y,
+   png_fixed_point *blue_x, png_fixed_point *blue_y)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_cHRM))
+   {
+      png_debug1(1, "in %s retrieval function", "cHRM");
+      if (white_x != NULL)
+         *white_x = info_ptr->int_x_white;
+      if (white_y != NULL)
+         *white_y = info_ptr->int_y_white;
+      if (red_x != NULL)
+         *red_x = info_ptr->int_x_red;
+      if (red_y != NULL)
+         *red_y = info_ptr->int_y_red;
+      if (green_x != NULL)
+         *green_x = info_ptr->int_x_green;
+      if (green_y != NULL)
+         *green_y = info_ptr->int_y_green;
+      if (blue_x != NULL)
+         *blue_x = info_ptr->int_x_blue;
+      if (blue_y != NULL)
+         *blue_y = info_ptr->int_y_blue;
+      return (PNG_INFO_cHRM);
+   }
+   return (0);
+}
+#endif
+#endif
+
+#if defined(PNG_gAMA_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_gAMA(png_structp png_ptr, png_infop info_ptr, double *file_gamma)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_gAMA)
+      && file_gamma != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "gAMA");
+      *file_gamma = (double)info_ptr->gamma;
+      return (PNG_INFO_gAMA);
+   }
+   return (0);
+}
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_gAMA_fixed(png_structp png_ptr, png_infop info_ptr,
+    png_fixed_point *int_file_gamma)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_gAMA)
+      && int_file_gamma != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "gAMA");
+      *int_file_gamma = info_ptr->int_gamma;
+      return (PNG_INFO_gAMA);
+   }
+   return (0);
+}
+#endif
+#endif
+
+#if defined(PNG_sRGB_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_sRGB(png_structp png_ptr, png_infop info_ptr, int *file_srgb_intent)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_sRGB)
+      && file_srgb_intent != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "sRGB");
+      *file_srgb_intent = (int)info_ptr->srgb_intent;
+      return (PNG_INFO_sRGB);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_iCCP_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_iCCP(png_structp png_ptr, png_infop info_ptr,
+             png_charpp name, int *compression_type,
+             png_charpp profile, png_uint_32 *proflen)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_iCCP)
+      && name != NULL && profile != NULL && proflen != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "iCCP");
+      *name = info_ptr->iccp_name;
+      *profile = info_ptr->iccp_profile;
+      /* Compression_type is a dummy so the API won't have to change
+       * if we introduce multiple compression types later.
+       */
+      *proflen = (int)info_ptr->iccp_proflen;
+      *compression_type = (int)info_ptr->iccp_compression;
+      return (PNG_INFO_iCCP);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_sPLT_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_sPLT(png_structp png_ptr, png_infop info_ptr,
+             png_sPLT_tpp spalettes)
+{
+   if (png_ptr != NULL && info_ptr != NULL && spalettes != NULL)
+   {
+     *spalettes = info_ptr->splt_palettes;
+     return ((png_uint_32)info_ptr->splt_palettes_num);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_hIST_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_hIST(png_structp png_ptr, png_infop info_ptr, png_uint_16p *hist)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_hIST)
+      && hist != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "hIST");
+      *hist = info_ptr->hist;
+      return (PNG_INFO_hIST);
+   }
+   return (0);
+}
+#endif
+
+png_uint_32 PNGAPI
+png_get_IHDR(png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 *width, png_uint_32 *height, int *bit_depth,
+   int *color_type, int *interlace_type, int *compression_type,
+   int *filter_type)
+
+{
+   if (png_ptr != NULL && info_ptr != NULL && width != NULL && height != NULL &&
+      bit_depth != NULL && color_type != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "IHDR");
+      *width = info_ptr->width;
+      *height = info_ptr->height;
+      *bit_depth = info_ptr->bit_depth;
+      if (info_ptr->bit_depth < 1 || info_ptr->bit_depth > 16)
+         png_error(png_ptr, "Invalid bit depth");
+
+      *color_type = info_ptr->color_type;
+
+      if (info_ptr->color_type > 6)
+         png_error(png_ptr, "Invalid color type");
+
+      if (compression_type != NULL)
+         *compression_type = info_ptr->compression_type;
+
+      if (filter_type != NULL)
+         *filter_type = info_ptr->filter_type;
+
+      if (interlace_type != NULL)
+         *interlace_type = info_ptr->interlace_type;
+
+      /* Check for potential overflow of rowbytes */
+      if (*width == 0 || *width > PNG_UINT_31_MAX)
+        png_error(png_ptr, "Invalid image width");
+
+      if (*height == 0 || *height > PNG_UINT_31_MAX)
+        png_error(png_ptr, "Invalid image height");
+
+      if (info_ptr->width > (PNG_UINT_32_MAX
+                 >> 3)      /* 8-byte RGBA pixels */
+                 - 64       /* bigrowbuf hack */
+                 - 1        /* filter byte */
+                 - 7*8      /* rounding of width to multiple of 8 pixels */
+                 - 8)       /* extra max_pixel_depth pad */
+      {
+         png_warning(png_ptr,
+            "Width too large for libpng to process image data.");
+      }
+
+      return (1);
+   }
+   return (0);
+}
+
+#if defined(PNG_oFFs_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_oFFs(png_structp png_ptr, png_infop info_ptr,
+   png_int_32 *offset_x, png_int_32 *offset_y, int *unit_type)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_oFFs)
+      && offset_x != NULL && offset_y != NULL && unit_type != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "oFFs");
+      *offset_x = info_ptr->x_offset;
+      *offset_y = info_ptr->y_offset;
+      *unit_type = (int)info_ptr->offset_unit_type;
+      return (PNG_INFO_oFFs);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_pCAL_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_pCAL(png_structp png_ptr, png_infop info_ptr,
+   png_charp *purpose, png_int_32 *X0, png_int_32 *X1, int *type, int *nparams,
+   png_charp *units, png_charpp *params)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_pCAL)
+       && purpose != NULL && X0 != NULL && X1 != NULL && type != NULL &&
+       nparams != NULL && units != NULL && params != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "pCAL");
+      *purpose = info_ptr->pcal_purpose;
+      *X0 = info_ptr->pcal_X0;
+      *X1 = info_ptr->pcal_X1;
+      *type = (int)info_ptr->pcal_type;
+      *nparams = (int)info_ptr->pcal_nparams;
+      *units = info_ptr->pcal_units;
+      *params = info_ptr->pcal_params;
+      return (PNG_INFO_pCAL);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_sCAL_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_sCAL(png_structp png_ptr, png_infop info_ptr,
+             int *unit, double *width, double *height)
+{
+    if (png_ptr != NULL && info_ptr != NULL &&
+        (info_ptr->valid & PNG_INFO_sCAL))
+    {
+        *unit = info_ptr->scal_unit;
+        *width = info_ptr->scal_pixel_width;
+        *height = info_ptr->scal_pixel_height;
+        return (PNG_INFO_sCAL);
+    }
+    return(0);
+}
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+png_uint_32 PNGAPI
+png_get_sCAL_s(png_structp png_ptr, png_infop info_ptr,
+             int *unit, png_charpp width, png_charpp height)
+{
+    if (png_ptr != NULL && info_ptr != NULL &&
+        (info_ptr->valid & PNG_INFO_sCAL))
+    {
+        *unit = info_ptr->scal_unit;
+        *width = info_ptr->scal_s_width;
+        *height = info_ptr->scal_s_height;
+        return (PNG_INFO_sCAL);
+    }
+    return(0);
+}
+#endif
+#endif
+#endif
+
+#if defined(PNG_pHYs_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_pHYs(png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 *res_x, png_uint_32 *res_y, int *unit_type)
+{
+   png_uint_32 retval = 0;
+
+   if (png_ptr != NULL && info_ptr != NULL &&
+      (info_ptr->valid & PNG_INFO_pHYs))
+   {
+      png_debug1(1, "in %s retrieval function", "pHYs");
+
+      if (res_x != NULL)
+      {
+         *res_x = info_ptr->x_pixels_per_unit;
+         retval |= PNG_INFO_pHYs;
+      }
+
+      if (res_y != NULL)
+      {
+         *res_y = info_ptr->y_pixels_per_unit;
+         retval |= PNG_INFO_pHYs;
+      }
+
+      if (unit_type != NULL)
+      {
+         *unit_type = (int)info_ptr->phys_unit_type;
+         retval |= PNG_INFO_pHYs;
+      }
+   }
+   return (retval);
+}
+#endif
+
+png_uint_32 PNGAPI
+png_get_PLTE(png_structp png_ptr, png_infop info_ptr, png_colorp *palette,
+   int *num_palette)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_PLTE)
+       && palette != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "PLTE");
+      *palette = info_ptr->palette;
+      *num_palette = info_ptr->num_palette;
+      png_debug1(3, "num_palette = %d", *num_palette);
+      return (PNG_INFO_PLTE);
+   }
+   return (0);
+}
+
+#if defined(PNG_sBIT_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_sBIT(png_structp png_ptr, png_infop info_ptr, png_color_8p *sig_bit)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_sBIT)
+      && sig_bit != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "sBIT");
+      *sig_bit = &(info_ptr->sig_bit);
+      return (PNG_INFO_sBIT);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_TEXT_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_text(png_structp png_ptr, png_infop info_ptr, png_textp *text_ptr,
+   int *num_text)
+{
+   if (png_ptr != NULL && info_ptr != NULL && info_ptr->num_text > 0)
+   {
+      png_debug1(1, "in %s retrieval function",
+         (png_ptr->chunk_name[0] == '\0' ? "text"
+             : (png_const_charp)png_ptr->chunk_name));
+
+      if (text_ptr != NULL)
+         *text_ptr = info_ptr->text;
+
+      if (num_text != NULL)
+         *num_text = info_ptr->num_text;
+
+      return ((png_uint_32)info_ptr->num_text);
+   }
+   if (num_text != NULL)
+     *num_text = 0;
+   return(0);
+}
+#endif
+
+#if defined(PNG_tIME_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_tIME(png_structp png_ptr, png_infop info_ptr, png_timep *mod_time)
+{
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_tIME)
+       && mod_time != NULL)
+   {
+      png_debug1(1, "in %s retrieval function", "tIME");
+      *mod_time = &(info_ptr->mod_time);
+      return (PNG_INFO_tIME);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_tRNS_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_tRNS(png_structp png_ptr, png_infop info_ptr,
+   png_bytep *trans, int *num_trans, png_color_16p *trans_values)
+{
+   png_uint_32 retval = 0;
+   if (png_ptr != NULL && info_ptr != NULL && (info_ptr->valid & PNG_INFO_tRNS))
+   {
+      png_debug1(1, "in %s retrieval function", "tRNS");
+      if (info_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      {
+          if (trans != NULL)
+          {
+             *trans = info_ptr->trans;
+             retval |= PNG_INFO_tRNS;
+          }
+
+          if (trans_values != NULL)
+             *trans_values = &(info_ptr->trans_values);
+      }
+      else /* if (info_ptr->color_type != PNG_COLOR_TYPE_PALETTE) */
+      {
+          if (trans_values != NULL)
+          {
+             *trans_values = &(info_ptr->trans_values);
+             retval |= PNG_INFO_tRNS;
+          }
+
+          if (trans != NULL)
+             *trans = NULL;
+      }
+      if (num_trans != NULL)
+      {
+         *num_trans = info_ptr->num_trans;
+         retval |= PNG_INFO_tRNS;
+      }
+   }
+   return (retval);
+}
+#endif
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+png_uint_32 PNGAPI
+png_get_unknown_chunks(png_structp png_ptr, png_infop info_ptr,
+             png_unknown_chunkpp unknowns)
+{
+   if (png_ptr != NULL && info_ptr != NULL && unknowns != NULL)
+   {
+     *unknowns = info_ptr->unknown_chunks;
+     return ((png_uint_32)info_ptr->unknown_chunks_num);
+   }
+   return (0);
+}
+#endif
+
+#if defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+png_byte PNGAPI
+png_get_rgb_to_gray_status (png_structp png_ptr)
+{
+   return (png_byte)(png_ptr? png_ptr->rgb_to_gray_status : 0);
+}
+#endif
+
+#if defined(PNG_USER_CHUNKS_SUPPORTED)
+png_voidp PNGAPI
+png_get_user_chunk_ptr(png_structp png_ptr)
+{
+   return (png_ptr? png_ptr->user_chunk_ptr : NULL);
+}
+#endif
+
+#ifdef PNG_WRITE_SUPPORTED
+png_uint_32 PNGAPI
+png_get_compression_buffer_size(png_structp png_ptr)
+{
+   return (png_uint_32)(png_ptr? png_ptr->zbuf_size : 0L);
+}
+#endif
+
+#ifdef PNG_ASSEMBLER_CODE_SUPPORTED
+#ifndef PNG_1_0_X
+/* This function was added to libpng 1.2.0 and should exist by default */
+png_uint_32 PNGAPI
+png_get_asm_flags (png_structp png_ptr)
+{
+    /* Obsolete, to be removed from libpng-1.4.0 */
+    return (png_ptr? 0L: 0L);
+}
+
+/* This function was added to libpng 1.2.0 and should exist by default */
+png_uint_32 PNGAPI
+png_get_asm_flagmask (int flag_select)
+{
+    /* Obsolete, to be removed from libpng-1.4.0 */
+    flag_select=flag_select;
+    return 0L;
+}
+
+    /* GRR:  could add this:   && defined(PNG_MMX_CODE_SUPPORTED) */
+/* This function was added to libpng 1.2.0 */
+png_uint_32 PNGAPI
+png_get_mmx_flagmask (int flag_select, int *compilerID)
+{
+    /* Obsolete, to be removed from libpng-1.4.0 */
+    flag_select=flag_select;
+    *compilerID = -1;   /* unknown (i.e., no asm/MMX code compiled) */
+    return 0L;
+}
+
+/* This function was added to libpng 1.2.0 */
+png_byte PNGAPI
+png_get_mmx_bitdepth_threshold (png_structp png_ptr)
+{
+    /* Obsolete, to be removed from libpng-1.4.0 */
+    return (png_ptr? 0: 0);
+}
+
+/* This function was added to libpng 1.2.0 */
+png_uint_32 PNGAPI
+png_get_mmx_rowbytes_threshold (png_structp png_ptr)
+{
+    /* Obsolete, to be removed from libpng-1.4.0 */
+    return (png_ptr? 0L: 0L);
+}
+#endif /* ?PNG_1_0_X */
+#endif /* ?PNG_ASSEMBLER_CODE_SUPPORTED */
+
+#ifdef PNG_SET_USER_LIMITS_SUPPORTED
+/* These functions were added to libpng 1.2.6 */
+png_uint_32 PNGAPI
+png_get_user_width_max (png_structp png_ptr)
+{
+    return (png_ptr? png_ptr->user_width_max : 0);
+}
+png_uint_32 PNGAPI
+png_get_user_height_max (png_structp png_ptr)
+{
+    return (png_ptr? png_ptr->user_height_max : 0);
+}
+#endif /* ?PNG_SET_USER_LIMITS_SUPPORTED */
+ 
+
+#endif /* PNG_READ_SUPPORTED || PNG_WRITE_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngmem.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngmem.c
new file mode 100755
index 0000000..451dba3
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngmem.c
@@ -0,0 +1,617 @@
+
+/* pngmem.c - stub functions for memory allocation
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file provides a location for all memory allocation.  Users who
+ * need special memory handling are expected to supply replacement
+ * functions for png_malloc() and png_free(), and to use
+ * png_create_read_struct_2() and png_create_write_struct_2() to
+ * identify the replacement functions.
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+
+/* Borland DOS special memory handler */
+#if defined(__TURBOC__) && !defined(_Windows) && !defined(__FLAT__)
+/* If you change this, be sure to change the one in png.h also */
+
+/* Allocate memory for a png_struct.  The malloc and memset can be replaced
+   by a single call to calloc() if this is thought to improve performance. */
+png_voidp /* PRIVATE */
+png_create_struct(int type)
+{
+#ifdef PNG_USER_MEM_SUPPORTED
+   return (png_create_struct_2(type, png_malloc_ptr_NULL, png_voidp_NULL));
+}
+
+/* Alternate version of png_create_struct, for use with user-defined malloc. */
+png_voidp /* PRIVATE */
+png_create_struct_2(int type, png_malloc_ptr malloc_fn, png_voidp mem_ptr)
+{
+#endif /* PNG_USER_MEM_SUPPORTED */
+   png_size_t size;
+   png_voidp struct_ptr;
+
+   if (type == PNG_STRUCT_INFO)
+      size = png_sizeof(png_info);
+   else if (type == PNG_STRUCT_PNG)
+      size = png_sizeof(png_struct);
+   else
+      return (png_get_copyright(NULL));
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (malloc_fn != NULL)
+   {
+      png_struct dummy_struct;
+      png_structp png_ptr = &dummy_struct;
+      png_ptr->mem_ptr=mem_ptr;
+      struct_ptr = (*(malloc_fn))(png_ptr, (png_uint_32)size);
+   }
+   else
+#endif /* PNG_USER_MEM_SUPPORTED */
+   struct_ptr = (png_voidp)farmalloc(size);
+   if (struct_ptr != NULL)
+      png_memset(struct_ptr, 0, size);
+   return (struct_ptr);
+}
+
+/* Free memory allocated by a png_create_struct() call */
+void /* PRIVATE */
+png_destroy_struct(png_voidp struct_ptr)
+{
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_destroy_struct_2(struct_ptr, png_free_ptr_NULL, png_voidp_NULL);
+}
+
+/* Free memory allocated by a png_create_struct() call */
+void /* PRIVATE */
+png_destroy_struct_2(png_voidp struct_ptr, png_free_ptr free_fn,
+    png_voidp mem_ptr)
+{
+#endif
+   if (struct_ptr != NULL)
+   {
+#ifdef PNG_USER_MEM_SUPPORTED
+      if (free_fn != NULL)
+      {
+         png_struct dummy_struct;
+         png_structp png_ptr = &dummy_struct;
+         png_ptr->mem_ptr=mem_ptr;
+         (*(free_fn))(png_ptr, struct_ptr);
+         return;
+      }
+#endif /* PNG_USER_MEM_SUPPORTED */
+      farfree (struct_ptr);
+   }
+}
+
+/* Allocate memory.  For reasonable files, size should never exceed
+ * 64K.  However, zlib may allocate more then 64K if you don't tell
+ * it not to.  See zconf.h and png.h for more information. zlib does
+ * need to allocate exactly 64K, so whatever you call here must
+ * have the ability to do that.
+ *
+ * Borland seems to have a problem in DOS mode for exactly 64K.
+ * It gives you a segment with an offset of 8 (perhaps to store its
+ * memory stuff).  zlib doesn't like this at all, so we have to
+ * detect and deal with it.  This code should not be needed in
+ * Windows or OS/2 modes, and only in 16 bit mode.  This code has
+ * been updated by Alexander Lehmann for version 0.89 to waste less
+ * memory.
+ *
+ * Note that we can't use png_size_t for the "size" declaration,
+ * since on some systems a png_size_t is a 16-bit quantity, and as a
+ * result, we would be truncating potentially larger memory requests
+ * (which should cause a fatal error) and introducing major problems.
+ */
+
+png_voidp PNGAPI
+png_malloc(png_structp png_ptr, png_uint_32 size)
+{
+   png_voidp ret;
+
+   if (png_ptr == NULL || size == 0)
+      return (NULL);
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (png_ptr->malloc_fn != NULL)
+      ret = ((png_voidp)(*(png_ptr->malloc_fn))(png_ptr, (png_size_t)size));
+   else
+      ret = (png_malloc_default(png_ptr, size));
+   if (ret == NULL && (png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+       png_error(png_ptr, "Out of memory!");
+   return (ret);
+}
+
+png_voidp PNGAPI
+png_malloc_default(png_structp png_ptr, png_uint_32 size)
+{
+   png_voidp ret;
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+   if (png_ptr == NULL || size == 0)
+      return (NULL);
+
+#ifdef PNG_MAX_MALLOC_64K
+   if (size > (png_uint_32)65536L)
+   {
+      png_warning(png_ptr, "Cannot Allocate > 64K");
+      ret = NULL;
+   }
+   else
+#endif
+
+   if (size != (size_t)size)
+      ret = NULL;
+   else if (size == (png_uint_32)65536L)
+   {
+      if (png_ptr->offset_table == NULL)
+      {
+         /* Try to see if we need to do any of this fancy stuff */
+         ret = farmalloc(size);
+         if (ret == NULL || ((png_size_t)ret & 0xffff))
+         {
+            int num_blocks;
+            png_uint_32 total_size;
+            png_bytep table;
+            int i;
+            png_byte huge * hptr;
+
+            if (ret != NULL)
+            {
+               farfree(ret);
+               ret = NULL;
+            }
+
+            if (png_ptr->zlib_window_bits > 14)
+               num_blocks = (int)(1 << (png_ptr->zlib_window_bits - 14));
+            else
+               num_blocks = 1;
+            if (png_ptr->zlib_mem_level >= 7)
+               num_blocks += (int)(1 << (png_ptr->zlib_mem_level - 7));
+            else
+               num_blocks++;
+
+            total_size = ((png_uint_32)65536L) * (png_uint_32)num_blocks+16;
+
+            table = farmalloc(total_size);
+
+            if (table == NULL)
+            {
+#ifndef PNG_USER_MEM_SUPPORTED
+               if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+                  png_error(png_ptr, "Out Of Memory."); /* Note "O" and "M" */
+               else
+                  png_warning(png_ptr, "Out Of Memory.");
+#endif
+               return (NULL);
+            }
+
+            if ((png_size_t)table & 0xfff0)
+            {
+#ifndef PNG_USER_MEM_SUPPORTED
+               if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+                  png_error(png_ptr,
+                    "Farmalloc didn't return normalized pointer");
+               else
+                  png_warning(png_ptr,
+                    "Farmalloc didn't return normalized pointer");
+#endif
+               return (NULL);
+            }
+
+            png_ptr->offset_table = table;
+            png_ptr->offset_table_ptr = farmalloc(num_blocks *
+               png_sizeof(png_bytep));
+
+            if (png_ptr->offset_table_ptr == NULL)
+            {
+#ifndef PNG_USER_MEM_SUPPORTED
+               if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+                  png_error(png_ptr, "Out Of memory."); /* Note "O" and "M" */
+               else
+                  png_warning(png_ptr, "Out Of memory.");
+#endif
+               return (NULL);
+            }
+
+            hptr = (png_byte huge *)table;
+            if ((png_size_t)hptr & 0xf)
+            {
+               hptr = (png_byte huge *)((long)(hptr) & 0xfffffff0L);
+               hptr = hptr + 16L;  /* "hptr += 16L" fails on Turbo C++ 3.0 */
+            }
+            for (i = 0; i < num_blocks; i++)
+            {
+               png_ptr->offset_table_ptr[i] = (png_bytep)hptr;
+               hptr = hptr + (png_uint_32)65536L;  /* "+=" fails on TC++3.0 */
+            }
+
+            png_ptr->offset_table_number = num_blocks;
+            png_ptr->offset_table_count = 0;
+            png_ptr->offset_table_count_free = 0;
+         }
+      }
+
+      if (png_ptr->offset_table_count >= png_ptr->offset_table_number)
+      {
+#ifndef PNG_USER_MEM_SUPPORTED
+         if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+            png_error(png_ptr, "Out of Memory."); /* Note "o" and "M" */
+         else
+            png_warning(png_ptr, "Out of Memory.");
+#endif
+         return (NULL);
+      }
+
+      ret = png_ptr->offset_table_ptr[png_ptr->offset_table_count++];
+   }
+   else
+      ret = farmalloc(size);
+
+#ifndef PNG_USER_MEM_SUPPORTED
+   if (ret == NULL)
+   {
+      if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+         png_error(png_ptr, "Out of memory."); /* Note "o" and "m" */
+      else
+         png_warning(png_ptr, "Out of memory."); /* Note "o" and "m" */
+   }
+#endif
+
+   return (ret);
+}
+
+/* Free a pointer allocated by png_malloc().  In the default
+ * configuration, png_ptr is not used, but is passed in case it
+ * is needed.  If ptr is NULL, return without taking any action.
+ */
+void PNGAPI
+png_free(png_structp png_ptr, png_voidp ptr)
+{
+   if (png_ptr == NULL || ptr == NULL)
+      return;
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (png_ptr->free_fn != NULL)
+   {
+      (*(png_ptr->free_fn))(png_ptr, ptr);
+      return;
+   }
+   else
+      png_free_default(png_ptr, ptr);
+}
+
+void PNGAPI
+png_free_default(png_structp png_ptr, png_voidp ptr)
+{
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+   if (png_ptr == NULL || ptr == NULL)
+      return;
+
+   if (png_ptr->offset_table != NULL)
+   {
+      int i;
+
+      for (i = 0; i < png_ptr->offset_table_count; i++)
+      {
+         if (ptr == png_ptr->offset_table_ptr[i])
+         {
+            ptr = NULL;
+            png_ptr->offset_table_count_free++;
+            break;
+         }
+      }
+      if (png_ptr->offset_table_count_free == png_ptr->offset_table_count)
+      {
+         farfree(png_ptr->offset_table);
+         farfree(png_ptr->offset_table_ptr);
+         png_ptr->offset_table = NULL;
+         png_ptr->offset_table_ptr = NULL;
+      }
+   }
+
+   if (ptr != NULL)
+   {
+      farfree(ptr);
+   }
+}
+
+#else /* Not the Borland DOS special memory handler */
+
+/* Allocate memory for a png_struct or a png_info.  The malloc and
+   memset can be replaced by a single call to calloc() if this is thought
+   to improve performance noticably. */
+png_voidp /* PRIVATE */
+png_create_struct(int type)
+{
+#ifdef PNG_USER_MEM_SUPPORTED
+   return (png_create_struct_2(type, png_malloc_ptr_NULL, png_voidp_NULL));
+}
+
+/* Allocate memory for a png_struct or a png_info.  The malloc and
+   memset can be replaced by a single call to calloc() if this is thought
+   to improve performance noticably. */
+png_voidp /* PRIVATE */
+png_create_struct_2(int type, png_malloc_ptr malloc_fn, png_voidp mem_ptr)
+{
+#endif /* PNG_USER_MEM_SUPPORTED */
+   png_size_t size;
+   png_voidp struct_ptr;
+
+   if (type == PNG_STRUCT_INFO)
+      size = png_sizeof(png_info);
+   else if (type == PNG_STRUCT_PNG)
+      size = png_sizeof(png_struct);
+   else
+      return (NULL);
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (malloc_fn != NULL)
+   {
+      png_struct dummy_struct;
+      png_structp png_ptr = &dummy_struct;
+      png_ptr->mem_ptr=mem_ptr;
+      struct_ptr = (*(malloc_fn))(png_ptr, size);
+      if (struct_ptr != NULL)
+         png_memset(struct_ptr, 0, size);
+      return (struct_ptr);
+   }
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+#if defined(__TURBOC__) && !defined(__FLAT__)
+   struct_ptr = (png_voidp)farmalloc(size);
+#else
+# if defined(_MSC_VER) && defined(MAXSEG_64K)
+   struct_ptr = (png_voidp)halloc(size, 1);
+# else
+   struct_ptr = (png_voidp)malloc(size);
+# endif
+#endif
+   if (struct_ptr != NULL)
+      png_memset(struct_ptr, 0, size);
+
+   return (struct_ptr);
+}
+
+
+/* Free memory allocated by a png_create_struct() call */
+void /* PRIVATE */
+png_destroy_struct(png_voidp struct_ptr)
+{
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_destroy_struct_2(struct_ptr, png_free_ptr_NULL, png_voidp_NULL);
+}
+
+/* Free memory allocated by a png_create_struct() call */
+void /* PRIVATE */
+png_destroy_struct_2(png_voidp struct_ptr, png_free_ptr free_fn,
+    png_voidp mem_ptr)
+{
+#endif /* PNG_USER_MEM_SUPPORTED */
+   if (struct_ptr != NULL)
+   {
+#ifdef PNG_USER_MEM_SUPPORTED
+      if (free_fn != NULL)
+      {
+         png_struct dummy_struct;
+         png_structp png_ptr = &dummy_struct;
+         png_ptr->mem_ptr=mem_ptr;
+         (*(free_fn))(png_ptr, struct_ptr);
+         return;
+      }
+#endif /* PNG_USER_MEM_SUPPORTED */
+#if defined(__TURBOC__) && !defined(__FLAT__)
+      farfree(struct_ptr);
+#else
+# if defined(_MSC_VER) && defined(MAXSEG_64K)
+      hfree(struct_ptr);
+# else
+      free(struct_ptr);
+# endif
+#endif
+   }
+}
+
+/* Allocate memory.  For reasonable files, size should never exceed
+ * 64K.  However, zlib may allocate more then 64K if you don't tell
+ * it not to.  See zconf.h and png.h for more information.  zlib does
+ * need to allocate exactly 64K, so whatever you call here must
+ * have the ability to do that.
+ */
+
+
+png_voidp PNGAPI
+png_malloc(png_structp png_ptr, png_uint_32 size)
+{
+   png_voidp ret;
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (png_ptr == NULL || size == 0)
+      return (NULL);
+
+   if (png_ptr->malloc_fn != NULL)
+      ret = ((png_voidp)(*(png_ptr->malloc_fn))(png_ptr, (png_size_t)size));
+   else
+      ret = (png_malloc_default(png_ptr, size));
+   if (ret == NULL && (png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+       png_error(png_ptr, "Out of Memory!");
+   return (ret);
+}
+
+png_voidp PNGAPI
+png_malloc_default(png_structp png_ptr, png_uint_32 size)
+{
+   png_voidp ret;
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+   if (png_ptr == NULL || size == 0)
+      return (NULL);
+
+#ifdef PNG_MAX_MALLOC_64K
+   if (size > (png_uint_32)65536L)
+   {
+#ifndef PNG_USER_MEM_SUPPORTED
+      if ((png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+         png_error(png_ptr, "Cannot Allocate > 64K");
+      else
+#endif
+         return NULL;
+   }
+#endif
+
+   /* Check for overflow */
+#if defined(__TURBOC__) && !defined(__FLAT__)
+   if (size != (unsigned long)size)
+      ret = NULL;
+   else
+      ret = farmalloc(size);
+#else
+# if defined(_MSC_VER) && defined(MAXSEG_64K)
+   if (size != (unsigned long)size)
+      ret = NULL;
+   else
+      ret = halloc(size, 1);
+# else
+   if (size != (size_t)size)
+      ret = NULL;
+   else
+      ret = malloc((size_t)size);
+# endif
+#endif
+
+#ifndef PNG_USER_MEM_SUPPORTED
+   if (ret == NULL && (png_ptr->flags&PNG_FLAG_MALLOC_NULL_MEM_OK) == 0)
+      png_error(png_ptr, "Out of Memory");
+#endif
+
+   return (ret);
+}
+
+/* Free a pointer allocated by png_malloc().  If ptr is NULL, return
+ * without taking any action.
+ */
+void PNGAPI
+png_free(png_structp png_ptr, png_voidp ptr)
+{
+   if (png_ptr == NULL || ptr == NULL)
+      return;
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (png_ptr->free_fn != NULL)
+   {
+      (*(png_ptr->free_fn))(png_ptr, ptr);
+      return;
+   }
+   else
+      png_free_default(png_ptr, ptr);
+}
+void PNGAPI
+png_free_default(png_structp png_ptr, png_voidp ptr)
+{
+   if (png_ptr == NULL || ptr == NULL)
+      return;
+
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+#if defined(__TURBOC__) && !defined(__FLAT__)
+   farfree(ptr);
+#else
+# if defined(_MSC_VER) && defined(MAXSEG_64K)
+   hfree(ptr);
+# else
+   free(ptr);
+# endif
+#endif
+}
+
+#endif /* Not Borland DOS special memory handler */
+
+#if defined(PNG_1_0_X)
+#  define png_malloc_warn png_malloc
+#else
+/* This function was added at libpng version 1.2.3.  The png_malloc_warn()
+ * function will set up png_malloc() to issue a png_warning and return NULL
+ * instead of issuing a png_error, if it fails to allocate the requested
+ * memory.
+ */
+png_voidp PNGAPI
+png_malloc_warn(png_structp png_ptr, png_uint_32 size)
+{
+   png_voidp ptr;
+   png_uint_32 save_flags;
+   if (png_ptr == NULL)
+      return (NULL);
+
+   save_flags = png_ptr->flags;
+   png_ptr->flags|=PNG_FLAG_MALLOC_NULL_MEM_OK;
+   ptr = (png_voidp)png_malloc((png_structp)png_ptr, size);
+   png_ptr->flags=save_flags;
+   return(ptr);
+}
+#endif
+
+png_voidp PNGAPI
+png_memcpy_check (png_structp png_ptr, png_voidp s1, png_voidp s2,
+   png_uint_32 length)
+{
+   png_size_t size;
+
+   size = (png_size_t)length;
+   if ((png_uint_32)size != length)
+      png_error(png_ptr, "Overflow in png_memcpy_check.");
+
+   return(png_memcpy (s1, s2, size));
+}
+
+png_voidp PNGAPI
+png_memset_check (png_structp png_ptr, png_voidp s1, int value,
+   png_uint_32 length)
+{
+   png_size_t size;
+
+   size = (png_size_t)length;
+   if ((png_uint_32)size != length)
+      png_error(png_ptr, "Overflow in png_memset_check.");
+
+   return (png_memset (s1, value, size));
+
+}
+
+#ifdef PNG_USER_MEM_SUPPORTED
+/* This function is called when the application wants to use another method
+ * of allocating and freeing memory.
+ */
+void PNGAPI
+png_set_mem_fn(png_structp png_ptr, png_voidp mem_ptr, png_malloc_ptr
+  malloc_fn, png_free_ptr free_fn)
+{
+   if (png_ptr != NULL)
+   {
+      png_ptr->mem_ptr = mem_ptr;
+      png_ptr->malloc_fn = malloc_fn;
+      png_ptr->free_fn = free_fn;
+   }
+}
+
+/* This function returns a pointer to the mem_ptr associated with the user
+ * functions.  The application should free any memory associated with this
+ * pointer before png_write_destroy and png_read_destroy are called.
+ */
+png_voidp PNGAPI
+png_get_mem_ptr(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return (NULL);
+   return ((png_voidp)png_ptr->mem_ptr);
+}
+#endif /* PNG_USER_MEM_SUPPORTED */
+#endif /* PNG_READ_SUPPORTED || PNG_WRITE_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngpread.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngpread.c
new file mode 100755
index 0000000..5c73923
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngpread.c
@@ -0,0 +1,1724 @@
+
+/* pngpread.c - read a png file in push mode
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#ifdef PNG_PROGRESSIVE_READ_SUPPORTED
+
+/* Push model modes */
+#define PNG_READ_SIG_MODE   0
+#define PNG_READ_CHUNK_MODE 1
+#define PNG_READ_IDAT_MODE  2
+#define PNG_SKIP_MODE       3
+#define PNG_READ_tEXt_MODE  4
+#define PNG_READ_zTXt_MODE  5
+#define PNG_READ_DONE_MODE  6
+#define PNG_READ_iTXt_MODE  7
+#define PNG_ERROR_MODE      8
+
+void PNGAPI
+png_process_data(png_structp png_ptr, png_infop info_ptr,
+   png_bytep buffer, png_size_t buffer_size)
+{
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   png_push_restore_buffer(png_ptr, buffer, buffer_size);
+
+   while (png_ptr->buffer_size)
+   {
+      png_process_some_data(png_ptr, info_ptr);
+   }
+}
+
+/* What we do with the incoming data depends on what we were previously
+ * doing before we ran out of data...
+ */
+void /* PRIVATE */
+png_process_some_data(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr == NULL)
+      return;
+
+   switch (png_ptr->process_mode)
+   {
+      case PNG_READ_SIG_MODE:
+      {
+         png_push_read_sig(png_ptr, info_ptr);
+         break;
+      }
+
+      case PNG_READ_CHUNK_MODE:
+      {
+         png_push_read_chunk(png_ptr, info_ptr);
+         break;
+      }
+
+      case PNG_READ_IDAT_MODE:
+      {
+         png_push_read_IDAT(png_ptr);
+         break;
+      }
+
+#if defined(PNG_READ_tEXt_SUPPORTED)
+      case PNG_READ_tEXt_MODE:
+      {
+         png_push_read_tEXt(png_ptr, info_ptr);
+         break;
+      }
+
+#endif
+#if defined(PNG_READ_zTXt_SUPPORTED)
+      case PNG_READ_zTXt_MODE:
+      {
+         png_push_read_zTXt(png_ptr, info_ptr);
+         break;
+      }
+
+#endif
+#if defined(PNG_READ_iTXt_SUPPORTED)
+      case PNG_READ_iTXt_MODE:
+      {
+         png_push_read_iTXt(png_ptr, info_ptr);
+         break;
+      }
+
+#endif
+      case PNG_SKIP_MODE:
+      {
+         png_push_crc_finish(png_ptr);
+         break;
+      }
+
+      default:
+      {
+         png_ptr->buffer_size = 0;
+         break;
+      }
+   }
+}
+
+/* Read any remaining signature bytes from the stream and compare them with
+ * the correct PNG signature.  It is possible that this routine is called
+ * with bytes already read from the signature, either because they have been
+ * checked by the calling application, or because of multiple calls to this
+ * routine.
+ */
+void /* PRIVATE */
+png_push_read_sig(png_structp png_ptr, png_infop info_ptr)
+{
+   png_size_t num_checked = png_ptr->sig_bytes,
+             num_to_check = 8 - num_checked;
+
+   if (png_ptr->buffer_size < num_to_check)
+   {
+      num_to_check = png_ptr->buffer_size;
+   }
+
+   png_push_fill_buffer(png_ptr, &(info_ptr->signature[num_checked]),
+      num_to_check);
+   png_ptr->sig_bytes = (png_byte)(png_ptr->sig_bytes + num_to_check);
+
+   if (png_sig_cmp(info_ptr->signature, num_checked, num_to_check))
+   {
+      if (num_checked < 4 &&
+          png_sig_cmp(info_ptr->signature, num_checked, num_to_check - 4))
+         png_error(png_ptr, "Not a PNG file");
+      else
+         png_error(png_ptr, "PNG file corrupted by ASCII conversion");
+   }
+   else
+   {
+      if (png_ptr->sig_bytes >= 8)
+      {
+         png_ptr->process_mode = PNG_READ_CHUNK_MODE;
+      }
+   }
+}
+
+void /* PRIVATE */
+png_push_read_chunk(png_structp png_ptr, png_infop info_ptr)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+      PNG_CONST PNG_IHDR;
+      PNG_CONST PNG_IDAT;
+      PNG_CONST PNG_IEND;
+      PNG_CONST PNG_PLTE;
+#if defined(PNG_READ_bKGD_SUPPORTED)
+      PNG_CONST PNG_bKGD;
+#endif
+#if defined(PNG_READ_cHRM_SUPPORTED)
+      PNG_CONST PNG_cHRM;
+#endif
+#if defined(PNG_READ_gAMA_SUPPORTED)
+      PNG_CONST PNG_gAMA;
+#endif
+#if defined(PNG_READ_hIST_SUPPORTED)
+      PNG_CONST PNG_hIST;
+#endif
+#if defined(PNG_READ_iCCP_SUPPORTED)
+      PNG_CONST PNG_iCCP;
+#endif
+#if defined(PNG_READ_iTXt_SUPPORTED)
+      PNG_CONST PNG_iTXt;
+#endif
+#if defined(PNG_READ_oFFs_SUPPORTED)
+      PNG_CONST PNG_oFFs;
+#endif
+#if defined(PNG_READ_pCAL_SUPPORTED)
+      PNG_CONST PNG_pCAL;
+#endif
+#if defined(PNG_READ_pHYs_SUPPORTED)
+      PNG_CONST PNG_pHYs;
+#endif
+#if defined(PNG_READ_sBIT_SUPPORTED)
+      PNG_CONST PNG_sBIT;
+#endif
+#if defined(PNG_READ_sCAL_SUPPORTED)
+      PNG_CONST PNG_sCAL;
+#endif
+#if defined(PNG_READ_sRGB_SUPPORTED)
+      PNG_CONST PNG_sRGB;
+#endif
+#if defined(PNG_READ_sPLT_SUPPORTED)
+      PNG_CONST PNG_sPLT;
+#endif
+#if defined(PNG_READ_tEXt_SUPPORTED)
+      PNG_CONST PNG_tEXt;
+#endif
+#if defined(PNG_READ_tIME_SUPPORTED)
+      PNG_CONST PNG_tIME;
+#endif
+#if defined(PNG_READ_tRNS_SUPPORTED)
+      PNG_CONST PNG_tRNS;
+#endif
+#if defined(PNG_READ_zTXt_SUPPORTED)
+      PNG_CONST PNG_zTXt;
+#endif
+#endif /* PNG_USE_LOCAL_ARRAYS */
+   /* First we make sure we have enough data for the 4 byte chunk name
+    * and the 4 byte chunk length before proceeding with decoding the
+    * chunk data.  To fully decode each of these chunks, we also make
+    * sure we have enough data in the buffer for the 4 byte CRC at the
+    * end of every chunk (except IDAT, which is handled separately).
+    */
+   if (!(png_ptr->mode & PNG_HAVE_CHUNK_HEADER))
+   {
+      png_byte chunk_length[4];
+
+      if (png_ptr->buffer_size < 8)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_push_fill_buffer(png_ptr, chunk_length, 4);
+      png_ptr->push_length = png_get_uint_31(png_ptr, chunk_length);
+      png_reset_crc(png_ptr);
+      png_crc_read(png_ptr, png_ptr->chunk_name, 4);
+      png_check_chunk_name(png_ptr, png_ptr->chunk_name);
+      png_ptr->mode |= PNG_HAVE_CHUNK_HEADER;
+   }
+
+   if (!png_memcmp(png_ptr->chunk_name, png_IDAT, 4))
+     if (png_ptr->mode & PNG_AFTER_IDAT)
+        png_ptr->mode |= PNG_HAVE_CHUNK_AFTER_IDAT;
+
+   if (!png_memcmp(png_ptr->chunk_name, png_IHDR, 4))
+   {
+      if (png_ptr->push_length != 13)
+         png_error(png_ptr, "Invalid IHDR length");
+
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_IHDR(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+   else if (!png_memcmp(png_ptr->chunk_name, png_IEND, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_IEND(png_ptr, info_ptr, png_ptr->push_length);
+
+      png_ptr->process_mode = PNG_READ_DONE_MODE;
+      png_push_have_end(png_ptr, info_ptr);
+   }
+
+#ifdef PNG_HANDLE_AS_UNKNOWN_SUPPORTED
+   else if (png_handle_as_unknown(png_ptr, png_ptr->chunk_name))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      if (!png_memcmp(png_ptr->chunk_name, png_IDAT, 4))
+         png_ptr->mode |= PNG_HAVE_IDAT;
+
+      png_handle_unknown(png_ptr, info_ptr, png_ptr->push_length);
+
+      if (!png_memcmp(png_ptr->chunk_name, png_PLTE, 4))
+         png_ptr->mode |= PNG_HAVE_PLTE;
+
+      else if (!png_memcmp(png_ptr->chunk_name, png_IDAT, 4))
+      {
+         if (!(png_ptr->mode & PNG_HAVE_IHDR))
+            png_error(png_ptr, "Missing IHDR before IDAT");
+
+         else if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE &&
+                  !(png_ptr->mode & PNG_HAVE_PLTE))
+            png_error(png_ptr, "Missing PLTE before IDAT");
+      }
+   }
+
+#endif
+   else if (!png_memcmp(png_ptr->chunk_name, png_PLTE, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+      png_handle_PLTE(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+   else if (!png_memcmp(png_ptr->chunk_name, png_IDAT, 4))
+   {
+      /* If we reach an IDAT chunk, this means we have read all of the
+       * header chunks, and we can start reading the image (or if this
+       * is called after the image has been read - we have an error).
+       */
+
+      if (!(png_ptr->mode & PNG_HAVE_IHDR))
+         png_error(png_ptr, "Missing IHDR before IDAT");
+
+      else if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE &&
+          !(png_ptr->mode & PNG_HAVE_PLTE))
+         png_error(png_ptr, "Missing PLTE before IDAT");
+
+      if (png_ptr->mode & PNG_HAVE_IDAT)
+      {
+         if (!(png_ptr->mode & PNG_HAVE_CHUNK_AFTER_IDAT))
+            if (png_ptr->push_length == 0)
+               return;
+
+         if (png_ptr->mode & PNG_AFTER_IDAT)
+            png_error(png_ptr, "Too many IDAT's found");
+      }
+
+      png_ptr->idat_size = png_ptr->push_length;
+      png_ptr->mode |= PNG_HAVE_IDAT;
+      png_ptr->process_mode = PNG_READ_IDAT_MODE;
+      png_push_have_info(png_ptr, info_ptr);
+      png_ptr->zstream.avail_out = (uInt)png_ptr->irowbytes;
+      png_ptr->zstream.next_out = png_ptr->row_buf;
+      return;
+   }
+
+#if defined(PNG_READ_gAMA_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_gAMA, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_gAMA(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_sBIT_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_sBIT, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_sBIT(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_cHRM_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_cHRM, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_cHRM(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_sRGB_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_sRGB, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_sRGB(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_iCCP_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_iCCP, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_iCCP(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_sPLT_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_sPLT, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_sPLT(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_tRNS_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_tRNS, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_tRNS(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_bKGD_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_bKGD, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_bKGD(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_hIST_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_hIST, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_hIST(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_pHYs_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_pHYs, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_pHYs(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_oFFs_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_oFFs, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_oFFs(png_ptr, info_ptr, png_ptr->push_length);
+   }
+#endif
+
+#if defined(PNG_READ_pCAL_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_pCAL, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_pCAL(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_sCAL_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_sCAL, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_sCAL(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_tIME_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_tIME, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_handle_tIME(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_tEXt_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_tEXt, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_push_handle_tEXt(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_zTXt_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_zTXt, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_push_handle_zTXt(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+#if defined(PNG_READ_iTXt_SUPPORTED)
+   else if (!png_memcmp(png_ptr->chunk_name, png_iTXt, 4))
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_push_handle_iTXt(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+#endif
+   else
+   {
+      if (png_ptr->push_length + 4 > png_ptr->buffer_size)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+      png_push_handle_unknown(png_ptr, info_ptr, png_ptr->push_length);
+   }
+
+   png_ptr->mode &= ~PNG_HAVE_CHUNK_HEADER;
+}
+
+void /* PRIVATE */
+png_push_crc_skip(png_structp png_ptr, png_uint_32 skip)
+{
+   png_ptr->process_mode = PNG_SKIP_MODE;
+   png_ptr->skip_length = skip;
+}
+
+void /* PRIVATE */
+png_push_crc_finish(png_structp png_ptr)
+{
+   if (png_ptr->skip_length && png_ptr->save_buffer_size)
+   {
+      png_size_t save_size;
+
+      if (png_ptr->skip_length < (png_uint_32)png_ptr->save_buffer_size)
+         save_size = (png_size_t)png_ptr->skip_length;
+      else
+         save_size = png_ptr->save_buffer_size;
+
+      png_calculate_crc(png_ptr, png_ptr->save_buffer_ptr, save_size);
+
+      png_ptr->skip_length -= save_size;
+      png_ptr->buffer_size -= save_size;
+      png_ptr->save_buffer_size -= save_size;
+      png_ptr->save_buffer_ptr += save_size;
+   }
+   if (png_ptr->skip_length && png_ptr->current_buffer_size)
+   {
+      png_size_t save_size;
+
+      if (png_ptr->skip_length < (png_uint_32)png_ptr->current_buffer_size)
+         save_size = (png_size_t)png_ptr->skip_length;
+      else
+         save_size = png_ptr->current_buffer_size;
+
+      png_calculate_crc(png_ptr, png_ptr->current_buffer_ptr, save_size);
+
+      png_ptr->skip_length -= save_size;
+      png_ptr->buffer_size -= save_size;
+      png_ptr->current_buffer_size -= save_size;
+      png_ptr->current_buffer_ptr += save_size;
+   }
+   if (!png_ptr->skip_length)
+   {
+      if (png_ptr->buffer_size < 4)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_crc_finish(png_ptr, 0);
+      png_ptr->process_mode = PNG_READ_CHUNK_MODE;
+   }
+}
+
+void PNGAPI
+png_push_fill_buffer(png_structp png_ptr, png_bytep buffer, png_size_t length)
+{
+   png_bytep ptr;
+
+   if (png_ptr == NULL)
+      return;
+
+   ptr = buffer;
+   if (png_ptr->save_buffer_size)
+   {
+      png_size_t save_size;
+
+      if (length < png_ptr->save_buffer_size)
+         save_size = length;
+      else
+         save_size = png_ptr->save_buffer_size;
+
+      png_memcpy(ptr, png_ptr->save_buffer_ptr, save_size);
+      length -= save_size;
+      ptr += save_size;
+      png_ptr->buffer_size -= save_size;
+      png_ptr->save_buffer_size -= save_size;
+      png_ptr->save_buffer_ptr += save_size;
+   }
+   if (length && png_ptr->current_buffer_size)
+   {
+      png_size_t save_size;
+
+      if (length < png_ptr->current_buffer_size)
+         save_size = length;
+
+      else
+         save_size = png_ptr->current_buffer_size;
+
+      png_memcpy(ptr, png_ptr->current_buffer_ptr, save_size);
+      png_ptr->buffer_size -= save_size;
+      png_ptr->current_buffer_size -= save_size;
+      png_ptr->current_buffer_ptr += save_size;
+   }
+}
+
+void /* PRIVATE */
+png_push_save_buffer(png_structp png_ptr)
+{
+   if (png_ptr->save_buffer_size)
+   {
+      if (png_ptr->save_buffer_ptr != png_ptr->save_buffer)
+      {
+         png_size_t i, istop;
+         png_bytep sp;
+         png_bytep dp;
+
+         istop = png_ptr->save_buffer_size;
+         for (i = 0, sp = png_ptr->save_buffer_ptr, dp = png_ptr->save_buffer;
+            i < istop; i++, sp++, dp++)
+         {
+            *dp = *sp;
+         }
+      }
+   }
+   if (png_ptr->save_buffer_size + png_ptr->current_buffer_size >
+      png_ptr->save_buffer_max)
+   {
+      png_size_t new_max;
+      png_bytep old_buffer;
+
+      if (png_ptr->save_buffer_size > PNG_SIZE_MAX -
+         (png_ptr->current_buffer_size + 256))
+      {
+        png_error(png_ptr, "Potential overflow of save_buffer");
+      }
+
+      new_max = png_ptr->save_buffer_size + png_ptr->current_buffer_size + 256;
+      old_buffer = png_ptr->save_buffer;
+      png_ptr->save_buffer = (png_bytep)png_malloc(png_ptr,
+         (png_uint_32)new_max);
+      png_memcpy(png_ptr->save_buffer, old_buffer, png_ptr->save_buffer_size);
+      png_free(png_ptr, old_buffer);
+      png_ptr->save_buffer_max = new_max;
+   }
+   if (png_ptr->current_buffer_size)
+   {
+      png_memcpy(png_ptr->save_buffer + png_ptr->save_buffer_size,
+         png_ptr->current_buffer_ptr, png_ptr->current_buffer_size);
+      png_ptr->save_buffer_size += png_ptr->current_buffer_size;
+      png_ptr->current_buffer_size = 0;
+   }
+   png_ptr->save_buffer_ptr = png_ptr->save_buffer;
+   png_ptr->buffer_size = 0;
+}
+
+void /* PRIVATE */
+png_push_restore_buffer(png_structp png_ptr, png_bytep buffer,
+   png_size_t buffer_length)
+{
+   png_ptr->current_buffer = buffer;
+   png_ptr->current_buffer_size = buffer_length;
+   png_ptr->buffer_size = buffer_length + png_ptr->save_buffer_size;
+   png_ptr->current_buffer_ptr = png_ptr->current_buffer;
+}
+
+void /* PRIVATE */
+png_push_read_IDAT(png_structp png_ptr)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_CONST PNG_IDAT;
+#endif
+   if (!(png_ptr->mode & PNG_HAVE_CHUNK_HEADER))
+   {
+      png_byte chunk_length[4];
+
+      if (png_ptr->buffer_size < 8)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_push_fill_buffer(png_ptr, chunk_length, 4);
+      png_ptr->push_length = png_get_uint_31(png_ptr, chunk_length);
+      png_reset_crc(png_ptr);
+      png_crc_read(png_ptr, png_ptr->chunk_name, 4);
+      png_ptr->mode |= PNG_HAVE_CHUNK_HEADER;
+
+      if (png_memcmp(png_ptr->chunk_name, png_IDAT, 4))
+      {
+         png_ptr->process_mode = PNG_READ_CHUNK_MODE;
+         if (!(png_ptr->flags & PNG_FLAG_ZLIB_FINISHED))
+            png_error(png_ptr, "Not enough compressed data");
+         return;
+      }
+
+      png_ptr->idat_size = png_ptr->push_length;
+   }
+   if (png_ptr->idat_size && png_ptr->save_buffer_size)
+   {
+      png_size_t save_size;
+
+      if (png_ptr->idat_size < (png_uint_32)png_ptr->save_buffer_size)
+      {
+         save_size = (png_size_t)png_ptr->idat_size;
+
+         /* Check for overflow */
+         if ((png_uint_32)save_size != png_ptr->idat_size)
+            png_error(png_ptr, "save_size overflowed in pngpread");
+      }
+      else
+         save_size = png_ptr->save_buffer_size;
+
+      png_calculate_crc(png_ptr, png_ptr->save_buffer_ptr, save_size);
+
+      if (!(png_ptr->flags & PNG_FLAG_ZLIB_FINISHED))
+         png_process_IDAT_data(png_ptr, png_ptr->save_buffer_ptr, save_size);
+
+      png_ptr->idat_size -= save_size;
+      png_ptr->buffer_size -= save_size;
+      png_ptr->save_buffer_size -= save_size;
+      png_ptr->save_buffer_ptr += save_size;
+   }
+   if (png_ptr->idat_size && png_ptr->current_buffer_size)
+   {
+      png_size_t save_size;
+
+      if (png_ptr->idat_size < (png_uint_32)png_ptr->current_buffer_size)
+      {
+         save_size = (png_size_t)png_ptr->idat_size;
+
+         /* Check for overflow */
+         if ((png_uint_32)save_size != png_ptr->idat_size)
+            png_error(png_ptr, "save_size overflowed in pngpread");
+      }
+      else
+         save_size = png_ptr->current_buffer_size;
+
+      png_calculate_crc(png_ptr, png_ptr->current_buffer_ptr, save_size);
+      if (!(png_ptr->flags & PNG_FLAG_ZLIB_FINISHED))
+        png_process_IDAT_data(png_ptr, png_ptr->current_buffer_ptr, save_size);
+
+      png_ptr->idat_size -= save_size;
+      png_ptr->buffer_size -= save_size;
+      png_ptr->current_buffer_size -= save_size;
+      png_ptr->current_buffer_ptr += save_size;
+   }
+   if (!png_ptr->idat_size)
+   {
+      if (png_ptr->buffer_size < 4)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_crc_finish(png_ptr, 0);
+      png_ptr->mode &= ~PNG_HAVE_CHUNK_HEADER;
+      png_ptr->mode |= PNG_AFTER_IDAT;
+   }
+}
+
+void /* PRIVATE */
+png_process_IDAT_data(png_structp png_ptr, png_bytep buffer,
+   png_size_t buffer_length)
+{
+   int ret;
+
+   if ((png_ptr->flags & PNG_FLAG_ZLIB_FINISHED) && buffer_length)
+      png_error(png_ptr, "Extra compression data");
+
+   png_ptr->zstream.next_in = buffer;
+   png_ptr->zstream.avail_in = (uInt)buffer_length;
+   for (;;)
+   {
+      ret = inflate(&png_ptr->zstream, Z_PARTIAL_FLUSH);
+      if (ret != Z_OK)
+      {
+         if (ret == Z_STREAM_END)
+         {
+            if (png_ptr->zstream.avail_in)
+               png_error(png_ptr, "Extra compressed data");
+
+            if (!(png_ptr->zstream.avail_out))
+            {
+               png_push_process_row(png_ptr);
+            }
+
+            png_ptr->mode |= PNG_AFTER_IDAT;
+            png_ptr->flags |= PNG_FLAG_ZLIB_FINISHED;
+            break;
+         }
+         else if (ret == Z_BUF_ERROR)
+            break;
+
+         else
+            png_error(png_ptr, "Decompression Error");
+      }
+      if (!(png_ptr->zstream.avail_out))
+      {
+         if ((
+#if defined(PNG_READ_INTERLACING_SUPPORTED)
+             png_ptr->interlaced && png_ptr->pass > 6) ||
+             (!png_ptr->interlaced &&
+#endif
+             png_ptr->row_number == png_ptr->num_rows))
+         {
+           if (png_ptr->zstream.avail_in)
+             png_warning(png_ptr, "Too much data in IDAT chunks");
+           png_ptr->flags |= PNG_FLAG_ZLIB_FINISHED;
+           break;
+         }
+         png_push_process_row(png_ptr);
+         png_ptr->zstream.avail_out = (uInt)png_ptr->irowbytes;
+         png_ptr->zstream.next_out = png_ptr->row_buf;
+      }
+
+      else
+         break;
+   }
+}
+
+void /* PRIVATE */
+png_push_process_row(png_structp png_ptr)
+{
+   png_ptr->row_info.color_type = png_ptr->color_type;
+   png_ptr->row_info.width = png_ptr->iwidth;
+   png_ptr->row_info.channels = png_ptr->channels;
+   png_ptr->row_info.bit_depth = png_ptr->bit_depth;
+   png_ptr->row_info.pixel_depth = png_ptr->pixel_depth;
+
+   png_ptr->row_info.rowbytes = PNG_ROWBYTES(png_ptr->row_info.pixel_depth,
+       png_ptr->row_info.width);
+
+   png_read_filter_row(png_ptr, &(png_ptr->row_info),
+      png_ptr->row_buf + 1, png_ptr->prev_row + 1,
+      (int)(png_ptr->row_buf[0]));
+
+   png_memcpy_check(png_ptr, png_ptr->prev_row, png_ptr->row_buf,
+      png_ptr->rowbytes + 1);
+
+   if (png_ptr->transformations || (png_ptr->flags&PNG_FLAG_STRIP_ALPHA))
+      png_do_read_transformations(png_ptr);
+
+#if defined(PNG_READ_INTERLACING_SUPPORTED)
+   /* Blow up interlaced rows to full size */
+   if (png_ptr->interlaced && (png_ptr->transformations & PNG_INTERLACE))
+   {
+      if (png_ptr->pass < 6)
+/*       old interface (pre-1.0.9):
+         png_do_read_interlace(&(png_ptr->row_info),
+            png_ptr->row_buf + 1, png_ptr->pass, png_ptr->transformations);
+ */
+         png_do_read_interlace(png_ptr);
+
+    switch (png_ptr->pass)
+    {
+         case 0:
+         {
+            int i;
+            for (i = 0; i < 8 && png_ptr->pass == 0; i++)
+            {
+               png_push_have_row(png_ptr, png_ptr->row_buf + 1);
+               png_read_push_finish_row(png_ptr); /* Updates png_ptr->pass */
+            }
+
+            if (png_ptr->pass == 2) /* Pass 1 might be empty */
+            {
+               for (i = 0; i < 4 && png_ptr->pass == 2; i++)
+               {
+                  png_push_have_row(png_ptr, png_bytep_NULL);
+                  png_read_push_finish_row(png_ptr);
+               }
+            }
+
+            if (png_ptr->pass == 4 && png_ptr->height <= 4)
+            {
+               for (i = 0; i < 2 && png_ptr->pass == 4; i++)
+               {
+                  png_push_have_row(png_ptr, png_bytep_NULL);
+                  png_read_push_finish_row(png_ptr);
+               }
+            }
+
+            if (png_ptr->pass == 6 && png_ptr->height <= 4)
+            {
+                png_push_have_row(png_ptr, png_bytep_NULL);
+                png_read_push_finish_row(png_ptr);
+            }
+
+            break;
+         }
+
+         case 1:
+         {
+            int i;
+            for (i = 0; i < 8 && png_ptr->pass == 1; i++)
+            {
+               png_push_have_row(png_ptr, png_ptr->row_buf + 1);
+               png_read_push_finish_row(png_ptr);
+            }
+
+            if (png_ptr->pass == 2) /* Skip top 4 generated rows */
+            {
+               for (i = 0; i < 4 && png_ptr->pass == 2; i++)
+               {
+                  png_push_have_row(png_ptr, png_bytep_NULL);
+                  png_read_push_finish_row(png_ptr);
+               }
+            }
+
+            break;
+         }
+
+         case 2:
+         {
+            int i;
+
+            for (i = 0; i < 4 && png_ptr->pass == 2; i++)
+            {
+               png_push_have_row(png_ptr, png_ptr->row_buf + 1);
+               png_read_push_finish_row(png_ptr);
+            }
+
+            for (i = 0; i < 4 && png_ptr->pass == 2; i++)
+            {
+               png_push_have_row(png_ptr, png_bytep_NULL);
+               png_read_push_finish_row(png_ptr);
+            }
+
+            if (png_ptr->pass == 4) /* Pass 3 might be empty */
+            {
+               for (i = 0; i < 2 && png_ptr->pass == 4; i++)
+               {
+                  png_push_have_row(png_ptr, png_bytep_NULL);
+                  png_read_push_finish_row(png_ptr);
+               }
+            }
+
+            break;
+         }
+
+         case 3:
+         {
+            int i;
+
+            for (i = 0; i < 4 && png_ptr->pass == 3; i++)
+            {
+               png_push_have_row(png_ptr, png_ptr->row_buf + 1);
+               png_read_push_finish_row(png_ptr);
+            }
+
+            if (png_ptr->pass == 4) /* Skip top two generated rows */
+            {
+               for (i = 0; i < 2 && png_ptr->pass == 4; i++)
+               {
+                  png_push_have_row(png_ptr, png_bytep_NULL);
+                  png_read_push_finish_row(png_ptr);
+               }
+            }
+
+            break;
+         }
+
+         case 4:
+         {
+            int i;
+
+            for (i = 0; i < 2 && png_ptr->pass == 4; i++)
+            {
+               png_push_have_row(png_ptr, png_ptr->row_buf + 1);
+               png_read_push_finish_row(png_ptr);
+            }
+
+            for (i = 0; i < 2 && png_ptr->pass == 4; i++)
+            {
+               png_push_have_row(png_ptr, png_bytep_NULL);
+               png_read_push_finish_row(png_ptr);
+            }
+
+            if (png_ptr->pass == 6) /* Pass 5 might be empty */
+            {
+               png_push_have_row(png_ptr, png_bytep_NULL);
+               png_read_push_finish_row(png_ptr);
+            }
+
+            break;
+         }
+
+         case 5:
+         {
+            int i;
+
+            for (i = 0; i < 2 && png_ptr->pass == 5; i++)
+            {
+               png_push_have_row(png_ptr, png_ptr->row_buf + 1);
+               png_read_push_finish_row(png_ptr);
+            }
+
+            if (png_ptr->pass == 6) /* Skip top generated row */
+            {
+               png_push_have_row(png_ptr, png_bytep_NULL);
+               png_read_push_finish_row(png_ptr);
+            }
+
+            break;
+         }
+         case 6:
+         {
+            png_push_have_row(png_ptr, png_ptr->row_buf + 1);
+            png_read_push_finish_row(png_ptr);
+
+            if (png_ptr->pass != 6)
+               break;
+
+            png_push_have_row(png_ptr, png_bytep_NULL);
+            png_read_push_finish_row(png_ptr);
+         }
+      }
+   }
+   else
+#endif
+   {
+      png_push_have_row(png_ptr, png_ptr->row_buf + 1);
+      png_read_push_finish_row(png_ptr);
+   }
+}
+
+void /* PRIVATE */
+png_read_push_finish_row(png_structp png_ptr)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
+
+   /* Start of interlace block */
+   PNG_CONST int FARDATA png_pass_start[] = {0, 4, 0, 2, 0, 1, 0};
+
+   /* Offset to next interlace block */
+   PNG_CONST int FARDATA png_pass_inc[] = {8, 8, 4, 4, 2, 2, 1};
+
+   /* Start of interlace block in the y direction */
+   PNG_CONST int FARDATA png_pass_ystart[] = {0, 0, 4, 0, 2, 0, 1};
+
+   /* Offset to next interlace block in the y direction */
+   PNG_CONST int FARDATA png_pass_yinc[] = {8, 8, 8, 4, 4, 2, 2};
+
+   /* Height of interlace block.  This is not currently used - if you need
+    * it, uncomment it here and in png.h
+   PNG_CONST int FARDATA png_pass_height[] = {8, 8, 4, 4, 2, 2, 1};
+   */
+#endif
+
+   png_ptr->row_number++;
+   if (png_ptr->row_number < png_ptr->num_rows)
+      return;
+
+#if defined(PNG_READ_INTERLACING_SUPPORTED)
+   if (png_ptr->interlaced)
+   {
+      png_ptr->row_number = 0;
+      png_memset_check(png_ptr, png_ptr->prev_row, 0,
+         png_ptr->rowbytes + 1);
+      do
+      {
+         png_ptr->pass++;
+         if ((png_ptr->pass == 1 && png_ptr->width < 5) ||
+             (png_ptr->pass == 3 && png_ptr->width < 3) ||
+             (png_ptr->pass == 5 && png_ptr->width < 2))
+           png_ptr->pass++;
+
+         if (png_ptr->pass > 7)
+            png_ptr->pass--;
+
+         if (png_ptr->pass >= 7)
+            break;
+
+         png_ptr->iwidth = (png_ptr->width +
+            png_pass_inc[png_ptr->pass] - 1 -
+            png_pass_start[png_ptr->pass]) /
+            png_pass_inc[png_ptr->pass];
+
+         png_ptr->irowbytes = PNG_ROWBYTES(png_ptr->pixel_depth,
+            png_ptr->iwidth) + 1;
+
+         if (png_ptr->transformations & PNG_INTERLACE)
+            break;
+
+         png_ptr->num_rows = (png_ptr->height +
+            png_pass_yinc[png_ptr->pass] - 1 -
+            png_pass_ystart[png_ptr->pass]) /
+            png_pass_yinc[png_ptr->pass];
+
+      } while (png_ptr->iwidth == 0 || png_ptr->num_rows == 0);
+   }
+#endif /* PNG_READ_INTERLACING_SUPPORTED */
+}
+
+#if defined(PNG_READ_tEXt_SUPPORTED)
+void /* PRIVATE */
+png_push_handle_tEXt(png_structp png_ptr, png_infop info_ptr, png_uint_32
+   length)
+{
+   if (!(png_ptr->mode & PNG_HAVE_IHDR) || (png_ptr->mode & PNG_HAVE_IEND))
+      {
+         png_error(png_ptr, "Out of place tEXt");
+         info_ptr = info_ptr; /* To quiet some compiler warnings */
+      }
+
+#ifdef PNG_MAX_MALLOC_64K
+   png_ptr->skip_length = 0;  /* This may not be necessary */
+
+   if (length > (png_uint_32)65535L) /* Can't hold entire string in memory */
+   {
+      png_warning(png_ptr, "tEXt chunk too large to fit in memory");
+      png_ptr->skip_length = length - (png_uint_32)65535L;
+      length = (png_uint_32)65535L;
+   }
+#endif
+
+   png_ptr->current_text = (png_charp)png_malloc(png_ptr,
+      (png_uint_32)(length + 1));
+   png_ptr->current_text[length] = '\0';
+   png_ptr->current_text_ptr = png_ptr->current_text;
+   png_ptr->current_text_size = (png_size_t)length;
+   png_ptr->current_text_left = (png_size_t)length;
+   png_ptr->process_mode = PNG_READ_tEXt_MODE;
+}
+
+void /* PRIVATE */
+png_push_read_tEXt(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr->buffer_size && png_ptr->current_text_left)
+   {
+      png_size_t text_size;
+
+      if (png_ptr->buffer_size < png_ptr->current_text_left)
+         text_size = png_ptr->buffer_size;
+
+      else
+         text_size = png_ptr->current_text_left;
+
+      png_crc_read(png_ptr, (png_bytep)png_ptr->current_text_ptr, text_size);
+      png_ptr->current_text_left -= text_size;
+      png_ptr->current_text_ptr += text_size;
+   }
+   if (!(png_ptr->current_text_left))
+   {
+      png_textp text_ptr;
+      png_charp text;
+      png_charp key;
+      int ret;
+
+      if (png_ptr->buffer_size < 4)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_push_crc_finish(png_ptr);
+
+#if defined(PNG_MAX_MALLOC_64K)
+      if (png_ptr->skip_length)
+         return;
+#endif
+
+      key = png_ptr->current_text;
+
+      for (text = key; *text; text++)
+         /* Empty loop */ ;
+
+      if (text < key + png_ptr->current_text_size)
+         text++;
+
+      text_ptr = (png_textp)png_malloc(png_ptr,
+         (png_uint_32)png_sizeof(png_text));
+      text_ptr->compression = PNG_TEXT_COMPRESSION_NONE;
+      text_ptr->key = key;
+#ifdef PNG_iTXt_SUPPORTED
+      text_ptr->lang = NULL;
+      text_ptr->lang_key = NULL;
+#endif
+      text_ptr->text = text;
+
+      ret = png_set_text_2(png_ptr, info_ptr, text_ptr, 1);
+
+      png_free(png_ptr, key);
+      png_free(png_ptr, text_ptr);
+      png_ptr->current_text = NULL;
+
+      if (ret)
+        png_warning(png_ptr, "Insufficient memory to store text chunk.");
+   }
+}
+#endif
+
+#if defined(PNG_READ_zTXt_SUPPORTED)
+void /* PRIVATE */
+png_push_handle_zTXt(png_structp png_ptr, png_infop info_ptr, png_uint_32
+   length)
+{
+   if (!(png_ptr->mode & PNG_HAVE_IHDR) || (png_ptr->mode & PNG_HAVE_IEND))
+      {
+         png_error(png_ptr, "Out of place zTXt");
+         info_ptr = info_ptr; /* To quiet some compiler warnings */
+      }
+
+#ifdef PNG_MAX_MALLOC_64K
+   /* We can't handle zTXt chunks > 64K, since we don't have enough space
+    * to be able to store the uncompressed data.  Actually, the threshold
+    * is probably around 32K, but it isn't as definite as 64K is.
+    */
+   if (length > (png_uint_32)65535L)
+   {
+      png_warning(png_ptr, "zTXt chunk too large to fit in memory");
+      png_push_crc_skip(png_ptr, length);
+      return;
+   }
+#endif
+
+   png_ptr->current_text = (png_charp)png_malloc(png_ptr,
+      (png_uint_32)(length + 1));
+   png_ptr->current_text[length] = '\0';
+   png_ptr->current_text_ptr = png_ptr->current_text;
+   png_ptr->current_text_size = (png_size_t)length;
+   png_ptr->current_text_left = (png_size_t)length;
+   png_ptr->process_mode = PNG_READ_zTXt_MODE;
+}
+
+void /* PRIVATE */
+png_push_read_zTXt(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr->buffer_size && png_ptr->current_text_left)
+   {
+      png_size_t text_size;
+
+      if (png_ptr->buffer_size < (png_uint_32)png_ptr->current_text_left)
+         text_size = png_ptr->buffer_size;
+
+      else
+         text_size = png_ptr->current_text_left;
+
+      png_crc_read(png_ptr, (png_bytep)png_ptr->current_text_ptr, text_size);
+      png_ptr->current_text_left -= text_size;
+      png_ptr->current_text_ptr += text_size;
+   }
+   if (!(png_ptr->current_text_left))
+   {
+      png_textp text_ptr;
+      png_charp text;
+      png_charp key;
+      int ret;
+      png_size_t text_size, key_size;
+
+      if (png_ptr->buffer_size < 4)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_push_crc_finish(png_ptr);
+
+      key = png_ptr->current_text;
+
+      for (text = key; *text; text++)
+         /* Empty loop */ ;
+
+      /* zTXt can't have zero text */
+      if (text >= key + png_ptr->current_text_size)
+      {
+         png_ptr->current_text = NULL;
+         png_free(png_ptr, key);
+         return;
+      }
+
+      text++;
+
+      if (*text != PNG_TEXT_COMPRESSION_zTXt) /* Check compression byte */
+      {
+         png_ptr->current_text = NULL;
+         png_free(png_ptr, key);
+         return;
+      }
+
+      text++;
+
+      png_ptr->zstream.next_in = (png_bytep )text;
+      png_ptr->zstream.avail_in = (uInt)(png_ptr->current_text_size -
+         (text - key));
+      png_ptr->zstream.next_out = png_ptr->zbuf;
+      png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+
+      key_size = text - key;
+      text_size = 0;
+      text = NULL;
+      ret = Z_STREAM_END;
+
+      while (png_ptr->zstream.avail_in)
+      {
+         ret = inflate(&png_ptr->zstream, Z_PARTIAL_FLUSH);
+         if (ret != Z_OK && ret != Z_STREAM_END)
+         {
+            inflateReset(&png_ptr->zstream);
+            png_ptr->zstream.avail_in = 0;
+            png_ptr->current_text = NULL;
+            png_free(png_ptr, key);
+            png_free(png_ptr, text);
+            return;
+         }
+         if (!(png_ptr->zstream.avail_out) || ret == Z_STREAM_END)
+         {
+            if (text == NULL)
+            {
+               text = (png_charp)png_malloc(png_ptr,
+                     (png_uint_32)(png_ptr->zbuf_size
+                     - png_ptr->zstream.avail_out + key_size + 1));
+
+               png_memcpy(text + key_size, png_ptr->zbuf,
+                  png_ptr->zbuf_size - png_ptr->zstream.avail_out);
+
+               png_memcpy(text, key, key_size);
+
+               text_size = key_size + png_ptr->zbuf_size -
+                  png_ptr->zstream.avail_out;
+
+               *(text + text_size) = '\0';
+            }
+            else
+            {
+               png_charp tmp;
+
+               tmp = text;
+               text = (png_charp)png_malloc(png_ptr, text_size +
+                  (png_uint_32)(png_ptr->zbuf_size 
+                  - png_ptr->zstream.avail_out + 1));
+
+               png_memcpy(text, tmp, text_size);
+               png_free(png_ptr, tmp);
+
+               png_memcpy(text + text_size, png_ptr->zbuf,
+                  png_ptr->zbuf_size - png_ptr->zstream.avail_out);
+
+               text_size += png_ptr->zbuf_size - png_ptr->zstream.avail_out;
+               *(text + text_size) = '\0';
+            }
+            if (ret != Z_STREAM_END)
+            {
+               png_ptr->zstream.next_out = png_ptr->zbuf;
+               png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+            }
+         }
+         else
+         {
+            break;
+         }
+
+         if (ret == Z_STREAM_END)
+            break;
+      }
+
+      inflateReset(&png_ptr->zstream);
+      png_ptr->zstream.avail_in = 0;
+
+      if (ret != Z_STREAM_END)
+      {
+         png_ptr->current_text = NULL;
+         png_free(png_ptr, key);
+         png_free(png_ptr, text);
+         return;
+      }
+
+      png_ptr->current_text = NULL;
+      png_free(png_ptr, key);
+      key = text;
+      text += key_size;
+
+      text_ptr = (png_textp)png_malloc(png_ptr,
+          (png_uint_32)png_sizeof(png_text));
+      text_ptr->compression = PNG_TEXT_COMPRESSION_zTXt;
+      text_ptr->key = key;
+#ifdef PNG_iTXt_SUPPORTED
+      text_ptr->lang = NULL;
+      text_ptr->lang_key = NULL;
+#endif
+      text_ptr->text = text;
+
+      ret = png_set_text_2(png_ptr, info_ptr, text_ptr, 1);
+
+      png_free(png_ptr, key);
+      png_free(png_ptr, text_ptr);
+
+      if (ret)
+        png_warning(png_ptr, "Insufficient memory to store text chunk.");
+   }
+}
+#endif
+
+#if defined(PNG_READ_iTXt_SUPPORTED)
+void /* PRIVATE */
+png_push_handle_iTXt(png_structp png_ptr, png_infop info_ptr, png_uint_32
+   length)
+{
+   if (!(png_ptr->mode & PNG_HAVE_IHDR) || (png_ptr->mode & PNG_HAVE_IEND))
+      {
+         png_error(png_ptr, "Out of place iTXt");
+         info_ptr = info_ptr; /* To quiet some compiler warnings */
+      }
+
+#ifdef PNG_MAX_MALLOC_64K
+   png_ptr->skip_length = 0;  /* This may not be necessary */
+
+   if (length > (png_uint_32)65535L) /* Can't hold entire string in memory */
+   {
+      png_warning(png_ptr, "iTXt chunk too large to fit in memory");
+      png_ptr->skip_length = length - (png_uint_32)65535L;
+      length = (png_uint_32)65535L;
+   }
+#endif
+
+   png_ptr->current_text = (png_charp)png_malloc(png_ptr,
+      (png_uint_32)(length + 1));
+   png_ptr->current_text[length] = '\0';
+   png_ptr->current_text_ptr = png_ptr->current_text;
+   png_ptr->current_text_size = (png_size_t)length;
+   png_ptr->current_text_left = (png_size_t)length;
+   png_ptr->process_mode = PNG_READ_iTXt_MODE;
+}
+
+void /* PRIVATE */
+png_push_read_iTXt(png_structp png_ptr, png_infop info_ptr)
+{
+
+   if (png_ptr->buffer_size && png_ptr->current_text_left)
+   {
+      png_size_t text_size;
+
+      if (png_ptr->buffer_size < png_ptr->current_text_left)
+         text_size = png_ptr->buffer_size;
+
+      else
+         text_size = png_ptr->current_text_left;
+
+      png_crc_read(png_ptr, (png_bytep)png_ptr->current_text_ptr, text_size);
+      png_ptr->current_text_left -= text_size;
+      png_ptr->current_text_ptr += text_size;
+   }
+   if (!(png_ptr->current_text_left))
+   {
+      png_textp text_ptr;
+      png_charp key;
+      int comp_flag;
+      png_charp lang;
+      png_charp lang_key;
+      png_charp text;
+      int ret;
+
+      if (png_ptr->buffer_size < 4)
+      {
+         png_push_save_buffer(png_ptr);
+         return;
+      }
+
+      png_push_crc_finish(png_ptr);
+
+#if defined(PNG_MAX_MALLOC_64K)
+      if (png_ptr->skip_length)
+         return;
+#endif
+
+      key = png_ptr->current_text;
+
+      for (lang = key; *lang; lang++)
+         /* Empty loop */ ;
+
+      if (lang < key + png_ptr->current_text_size - 3)
+         lang++;
+
+      comp_flag = *lang++;
+      lang++;     /* Skip comp_type, always zero */
+
+      for (lang_key = lang; *lang_key; lang_key++)
+         /* Empty loop */ ;
+
+      lang_key++;        /* Skip NUL separator */
+
+      text=lang_key;
+
+      if (lang_key < key + png_ptr->current_text_size - 1)
+      {
+        for (; *text; text++)
+           /* Empty loop */ ;
+      }
+
+      if (text < key + png_ptr->current_text_size)
+         text++;
+
+      text_ptr = (png_textp)png_malloc(png_ptr,
+         (png_uint_32)png_sizeof(png_text));
+
+      text_ptr->compression = comp_flag + 2;
+      text_ptr->key = key;
+      text_ptr->lang = lang;
+      text_ptr->lang_key = lang_key;
+      text_ptr->text = text;
+      text_ptr->text_length = 0;
+      text_ptr->itxt_length = png_strlen(text);
+
+      ret = png_set_text_2(png_ptr, info_ptr, text_ptr, 1);
+
+      png_ptr->current_text = NULL;
+
+      png_free(png_ptr, text_ptr);
+      if (ret)
+        png_warning(png_ptr, "Insufficient memory to store iTXt chunk.");
+   }
+}
+#endif
+
+/* This function is called when we haven't found a handler for this
+ * chunk.  If there isn't a problem with the chunk itself (ie a bad chunk
+ * name or a critical chunk), the chunk is (currently) silently ignored.
+ */
+void /* PRIVATE */
+png_push_handle_unknown(png_structp png_ptr, png_infop info_ptr, png_uint_32
+   length)
+{
+   png_uint_32 skip = 0;
+
+   if (!(png_ptr->chunk_name[0] & 0x20))
+   {
+#if defined(PNG_READ_UNKNOWN_CHUNKS_SUPPORTED)
+      if (png_handle_as_unknown(png_ptr, png_ptr->chunk_name) !=
+         PNG_HANDLE_CHUNK_ALWAYS
+#if defined(PNG_READ_USER_CHUNKS_SUPPORTED)
+         && png_ptr->read_user_chunk_fn == NULL
+#endif
+         )
+#endif
+         png_chunk_error(png_ptr, "unknown critical chunk");
+
+      info_ptr = info_ptr; /* To quiet some compiler warnings */
+   }
+
+#if defined(PNG_READ_UNKNOWN_CHUNKS_SUPPORTED)
+   if (png_ptr->flags & PNG_FLAG_KEEP_UNKNOWN_CHUNKS)
+   {
+#ifdef PNG_MAX_MALLOC_64K
+      if (length > (png_uint_32)65535L)
+      {
+          png_warning(png_ptr, "unknown chunk too large to fit in memory");
+          skip = length - (png_uint_32)65535L;
+          length = (png_uint_32)65535L;
+      }
+#endif
+      png_memcpy((png_charp)png_ptr->unknown_chunk.name,
+                 (png_charp)png_ptr->chunk_name, 
+                 png_sizeof(png_ptr->unknown_chunk.name));
+      png_ptr->unknown_chunk.name[png_sizeof(png_ptr->unknown_chunk.name) - 1]
+        = '\0';
+
+      png_ptr->unknown_chunk.size = (png_size_t)length;
+
+      if (length == 0)
+         png_ptr->unknown_chunk.data = NULL;
+
+      else
+      {
+         png_ptr->unknown_chunk.data = (png_bytep)png_malloc(png_ptr,
+       (png_uint_32)length);
+         png_crc_read(png_ptr, (png_bytep)png_ptr->unknown_chunk.data, length);
+      }
+
+#if defined(PNG_READ_USER_CHUNKS_SUPPORTED)
+      if (png_ptr->read_user_chunk_fn != NULL)
+      {
+         /* Callback to user unknown chunk handler */
+         int ret;
+         ret = (*(png_ptr->read_user_chunk_fn))
+           (png_ptr, &png_ptr->unknown_chunk);
+
+         if (ret < 0)
+            png_chunk_error(png_ptr, "error in user chunk");
+
+         if (ret == 0)
+         {
+            if (!(png_ptr->chunk_name[0] & 0x20))
+               if (png_handle_as_unknown(png_ptr, png_ptr->chunk_name) !=
+                    PNG_HANDLE_CHUNK_ALWAYS)
+                  png_chunk_error(png_ptr, "unknown critical chunk");
+            png_set_unknown_chunks(png_ptr, info_ptr,
+               &png_ptr->unknown_chunk, 1);
+         }
+      }
+
+      else
+#endif
+        png_set_unknown_chunks(png_ptr, info_ptr, &png_ptr->unknown_chunk, 1);
+      png_free(png_ptr, png_ptr->unknown_chunk.data);
+      png_ptr->unknown_chunk.data = NULL;
+   }
+
+   else
+#endif
+      skip=length;
+   png_push_crc_skip(png_ptr, skip);
+}
+
+void /* PRIVATE */
+png_push_have_info(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr->info_fn != NULL)
+      (*(png_ptr->info_fn))(png_ptr, info_ptr);
+}
+
+void /* PRIVATE */
+png_push_have_end(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr->end_fn != NULL)
+      (*(png_ptr->end_fn))(png_ptr, info_ptr);
+}
+
+void /* PRIVATE */
+png_push_have_row(png_structp png_ptr, png_bytep row)
+{
+   if (png_ptr->row_fn != NULL)
+      (*(png_ptr->row_fn))(png_ptr, row, png_ptr->row_number,
+         (int)png_ptr->pass);
+}
+
+void PNGAPI
+png_progressive_combine_row (png_structp png_ptr,
+   png_bytep old_row, png_bytep new_row)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_CONST int FARDATA png_pass_dsp_mask[7] =
+      {0xff, 0x0f, 0xff, 0x33, 0xff, 0x55, 0xff};
+#endif
+   if (png_ptr == NULL)
+      return;
+
+   if (new_row != NULL)    /* new_row must == png_ptr->row_buf here. */
+      png_combine_row(png_ptr, old_row, png_pass_dsp_mask[png_ptr->pass]);
+}
+
+void PNGAPI
+png_set_progressive_read_fn(png_structp png_ptr, png_voidp progressive_ptr,
+   png_progressive_info_ptr info_fn, png_progressive_row_ptr row_fn,
+   png_progressive_end_ptr end_fn)
+{
+   if (png_ptr == NULL)
+      return;
+
+   png_ptr->info_fn = info_fn;
+   png_ptr->row_fn = row_fn;
+   png_ptr->end_fn = end_fn;
+
+   png_set_read_fn(png_ptr, progressive_ptr, png_push_fill_buffer);
+}
+
+png_voidp PNGAPI
+png_get_progressive_ptr(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return (NULL);
+
+   return png_ptr->io_ptr;
+}
+#endif /* PNG_PROGRESSIVE_READ_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngread.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngread.c
new file mode 100755
index 0000000..f1def0e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngread.c
@@ -0,0 +1,1470 @@
+
+/* pngread.c - read a PNG file
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file contains routines that an application calls directly to
+ * read a PNG file or stream.
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED)
+
+/* Create a PNG structure for reading, and allocate any memory needed. */
+png_structp PNGAPI
+png_create_read_struct(png_const_charp user_png_ver, png_voidp error_ptr,
+   png_error_ptr error_fn, png_error_ptr warn_fn)
+{
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   return (png_create_read_struct_2(user_png_ver, error_ptr, error_fn,
+      warn_fn, png_voidp_NULL, png_malloc_ptr_NULL, png_free_ptr_NULL));
+}
+
+/* Alternate create PNG structure for reading, and allocate any memory needed. */
+png_structp PNGAPI
+png_create_read_struct_2(png_const_charp user_png_ver, png_voidp error_ptr,
+   png_error_ptr error_fn, png_error_ptr warn_fn, png_voidp mem_ptr,
+   png_malloc_ptr malloc_fn, png_free_ptr free_fn)
+{
+#endif /* PNG_USER_MEM_SUPPORTED */
+
+#ifdef PNG_SETJMP_SUPPORTED
+   volatile
+#endif
+   png_structp png_ptr;
+
+#ifdef PNG_SETJMP_SUPPORTED
+#ifdef USE_FAR_KEYWORD
+   jmp_buf jmpbuf;
+#endif
+#endif
+
+   int i;
+
+   png_debug(1, "in png_create_read_struct");
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_ptr = (png_structp)png_create_struct_2(PNG_STRUCT_PNG,
+      (png_malloc_ptr)malloc_fn, (png_voidp)mem_ptr);
+#else
+   png_ptr = (png_structp)png_create_struct(PNG_STRUCT_PNG);
+#endif
+   if (png_ptr == NULL)
+      return (NULL);
+
+   /* Added at libpng-1.2.6 */
+#ifdef PNG_SET_USER_LIMITS_SUPPORTED
+   png_ptr->user_width_max=PNG_USER_WIDTH_MAX;
+   png_ptr->user_height_max=PNG_USER_HEIGHT_MAX;
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+#ifdef USE_FAR_KEYWORD
+   if (setjmp(jmpbuf))
+#else
+   if (setjmp(png_ptr->jmpbuf))
+#endif
+   {
+      png_free(png_ptr, png_ptr->zbuf);
+      png_ptr->zbuf = NULL;
+#ifdef PNG_USER_MEM_SUPPORTED
+      png_destroy_struct_2((png_voidp)png_ptr,
+         (png_free_ptr)free_fn, (png_voidp)mem_ptr);
+#else
+      png_destroy_struct((png_voidp)png_ptr);
+#endif
+      return (NULL);
+   }
+#ifdef USE_FAR_KEYWORD
+   png_memcpy(png_ptr->jmpbuf, jmpbuf, png_sizeof(jmp_buf));
+#endif
+#endif
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_set_mem_fn(png_ptr, mem_ptr, malloc_fn, free_fn);
+#endif
+
+   png_set_error_fn(png_ptr, error_ptr, error_fn, warn_fn);
+
+   if (user_png_ver)
+   {
+     i = 0;
+     do
+     {
+       if (user_png_ver[i] != png_libpng_ver[i])
+          png_ptr->flags |= PNG_FLAG_LIBRARY_MISMATCH;
+     } while (png_libpng_ver[i++]);
+   }
+   else
+        png_ptr->flags |= PNG_FLAG_LIBRARY_MISMATCH;
+   
+
+   if (png_ptr->flags & PNG_FLAG_LIBRARY_MISMATCH)
+   {
+     /* Libpng 0.90 and later are binary incompatible with libpng 0.89, so
+      * we must recompile any applications that use any older library version.
+      * For versions after libpng 1.0, we will be compatible, so we need
+      * only check the first digit.
+      */
+     if (user_png_ver == NULL || user_png_ver[0] != png_libpng_ver[0] ||
+         (user_png_ver[0] == '1' && user_png_ver[2] != png_libpng_ver[2]) ||
+         (user_png_ver[0] == '0' && user_png_ver[2] < '9'))
+     {
+#if !defined(PNG_NO_STDIO) && !defined(_WIN32_WCE)
+        char msg[80];
+        if (user_png_ver)
+        {
+          png_snprintf(msg, 80,
+             "Application was compiled with png.h from libpng-%.20s",
+             user_png_ver);
+          png_warning(png_ptr, msg);
+        }
+        png_snprintf(msg, 80,
+             "Application  is  running with png.c from libpng-%.20s",
+           png_libpng_ver);
+        png_warning(png_ptr, msg);
+#endif
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+        png_ptr->flags = 0;
+#endif
+        png_error(png_ptr,
+           "Incompatible libpng version in application and library");
+     }
+   }
+
+   /* Initialize zbuf - compression buffer */
+   png_ptr->zbuf_size = PNG_ZBUF_SIZE;
+   png_ptr->zbuf = (png_bytep)png_malloc(png_ptr,
+     (png_uint_32)png_ptr->zbuf_size);
+   png_ptr->zstream.zalloc = png_zalloc;
+   png_ptr->zstream.zfree = png_zfree;
+   png_ptr->zstream.opaque = (voidpf)png_ptr;
+
+   switch (inflateInit(&png_ptr->zstream))
+   {
+     case Z_OK: /* Do nothing */ break;
+     case Z_MEM_ERROR:
+     case Z_STREAM_ERROR: png_error(png_ptr, "zlib memory error"); break;
+     case Z_VERSION_ERROR: png_error(png_ptr, "zlib version error"); break;
+     default: png_error(png_ptr, "Unknown zlib error");
+   }
+
+   png_ptr->zstream.next_out = png_ptr->zbuf;
+   png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+
+   png_set_read_fn(png_ptr, png_voidp_NULL, png_rw_ptr_NULL);
+
+#ifdef PNG_SETJMP_SUPPORTED
+/* Applications that neglect to set up their own setjmp() and then encounter
+   a png_error() will longjmp here.  Since the jmpbuf is then meaningless we
+   abort instead of returning. */
+#ifdef USE_FAR_KEYWORD
+   if (setjmp(jmpbuf))
+      PNG_ABORT();
+   png_memcpy(png_ptr->jmpbuf, jmpbuf, png_sizeof(jmp_buf));
+#else
+   if (setjmp(png_ptr->jmpbuf))
+      PNG_ABORT();
+#endif
+#endif
+   return (png_ptr);
+}
+
+#if defined(PNG_1_0_X) || defined(PNG_1_2_X)
+/* Initialize PNG structure for reading, and allocate any memory needed.
+   This interface is deprecated in favour of the png_create_read_struct(),
+   and it will disappear as of libpng-1.3.0. */
+#undef png_read_init
+void PNGAPI
+png_read_init(png_structp png_ptr)
+{
+   /* We only come here via pre-1.0.7-compiled applications */
+   png_read_init_2(png_ptr, "1.0.6 or earlier", 0, 0);
+}
+
+void PNGAPI
+png_read_init_2(png_structp png_ptr, png_const_charp user_png_ver,
+   png_size_t png_struct_size, png_size_t png_info_size)
+{
+   /* We only come here via pre-1.0.12-compiled applications */
+   if (png_ptr == NULL)
+      return;
+#if !defined(PNG_NO_STDIO) && !defined(_WIN32_WCE)
+   if (png_sizeof(png_struct) > png_struct_size ||
+      png_sizeof(png_info) > png_info_size)
+   {
+      char msg[80];
+      png_ptr->warning_fn = NULL;
+      if (user_png_ver)
+      {
+        png_snprintf(msg, 80,
+           "Application was compiled with png.h from libpng-%.20s",
+           user_png_ver);
+        png_warning(png_ptr, msg);
+      }
+      png_snprintf(msg, 80,
+         "Application  is  running with png.c from libpng-%.20s",
+         png_libpng_ver);
+      png_warning(png_ptr, msg);
+   }
+#endif
+   if (png_sizeof(png_struct) > png_struct_size)
+     {
+       png_ptr->error_fn = NULL;
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+       png_ptr->flags = 0;
+#endif
+       png_error(png_ptr,
+       "The png struct allocated by the application for reading is too small.");
+     }
+   if (png_sizeof(png_info) > png_info_size)
+     {
+       png_ptr->error_fn = NULL;
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+       png_ptr->flags = 0;
+#endif
+       png_error(png_ptr,
+         "The info struct allocated by application for reading is too small.");
+     }
+   png_read_init_3(&png_ptr, user_png_ver, png_struct_size);
+}
+#endif /* PNG_1_0_X || PNG_1_2_X */
+
+void PNGAPI
+png_read_init_3(png_structpp ptr_ptr, png_const_charp user_png_ver,
+   png_size_t png_struct_size)
+{
+#ifdef PNG_SETJMP_SUPPORTED
+   jmp_buf tmp_jmp;  /* to save current jump buffer */
+#endif
+
+   int i = 0;
+
+   png_structp png_ptr=*ptr_ptr;
+
+   if (png_ptr == NULL)
+      return;
+
+   do
+   {
+     if (user_png_ver[i] != png_libpng_ver[i])
+     {
+#ifdef PNG_LEGACY_SUPPORTED
+       png_ptr->flags |= PNG_FLAG_LIBRARY_MISMATCH;
+#else
+       png_ptr->warning_fn = NULL;
+       png_warning(png_ptr,
+        "Application uses deprecated png_read_init() and should be recompiled.");
+       break;
+#endif
+     }
+   } while (png_libpng_ver[i++]);
+
+   png_debug(1, "in png_read_init_3");
+
+#ifdef PNG_SETJMP_SUPPORTED
+   /* Save jump buffer and error functions */
+   png_memcpy(tmp_jmp, png_ptr->jmpbuf, png_sizeof(jmp_buf));
+#endif
+
+   if (png_sizeof(png_struct) > png_struct_size)
+   {
+      png_destroy_struct(png_ptr);
+      *ptr_ptr = (png_structp)png_create_struct(PNG_STRUCT_PNG);
+      png_ptr = *ptr_ptr;
+   }
+
+   /* Reset all variables to 0 */
+   png_memset(png_ptr, 0, png_sizeof(png_struct));
+
+#ifdef PNG_SETJMP_SUPPORTED
+   /* Restore jump buffer */
+   png_memcpy(png_ptr->jmpbuf, tmp_jmp, png_sizeof(jmp_buf));
+#endif
+
+   /* Added at libpng-1.2.6 */
+#ifdef PNG_SET_USER_LIMITS_SUPPORTED
+   png_ptr->user_width_max=PNG_USER_WIDTH_MAX;
+   png_ptr->user_height_max=PNG_USER_HEIGHT_MAX;
+#endif
+
+   /* Initialize zbuf - compression buffer */
+   png_ptr->zbuf_size = PNG_ZBUF_SIZE;
+   png_ptr->zbuf = (png_bytep)png_malloc(png_ptr,
+     (png_uint_32)png_ptr->zbuf_size);
+   png_ptr->zstream.zalloc = png_zalloc;
+   png_ptr->zstream.zfree = png_zfree;
+   png_ptr->zstream.opaque = (voidpf)png_ptr;
+
+   switch (inflateInit(&png_ptr->zstream))
+   {
+     case Z_OK: /* Do nothing */ break;
+     case Z_MEM_ERROR:
+     case Z_STREAM_ERROR: png_error(png_ptr, "zlib memory"); break;
+     case Z_VERSION_ERROR: png_error(png_ptr, "zlib version"); break;
+     default: png_error(png_ptr, "Unknown zlib error");
+   }
+
+   png_ptr->zstream.next_out = png_ptr->zbuf;
+   png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+
+   png_set_read_fn(png_ptr, png_voidp_NULL, png_rw_ptr_NULL);
+}
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+/* Read the information before the actual image data.  This has been
+ * changed in v0.90 to allow reading a file that already has the magic
+ * bytes read from the stream.  You can tell libpng how many bytes have
+ * been read from the beginning of the stream (up to the maximum of 8)
+ * via png_set_sig_bytes(), and we will only check the remaining bytes
+ * here.  The application can then have access to the signature bytes we
+ * read if it is determined that this isn't a valid PNG file.
+ */
+void PNGAPI
+png_read_info(png_structp png_ptr, png_infop info_ptr)
+{
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+   png_debug(1, "in png_read_info");
+   /* If we haven't checked all of the PNG signature bytes, do so now. */
+   if (png_ptr->sig_bytes < 8)
+   {
+      png_size_t num_checked = png_ptr->sig_bytes,
+                 num_to_check = 8 - num_checked;
+
+      png_read_data(png_ptr, &(info_ptr->signature[num_checked]), num_to_check);
+      png_ptr->sig_bytes = 8;
+
+      if (png_sig_cmp(info_ptr->signature, num_checked, num_to_check))
+      {
+         if (num_checked < 4 &&
+             png_sig_cmp(info_ptr->signature, num_checked, num_to_check - 4))
+            png_error(png_ptr, "Not a PNG file");
+         else
+            png_error(png_ptr, "PNG file corrupted by ASCII conversion");
+      }
+      if (num_checked < 3)
+         png_ptr->mode |= PNG_HAVE_PNG_SIGNATURE;
+   }
+
+   for (;;)
+   {
+#ifdef PNG_USE_LOCAL_ARRAYS
+      PNG_CONST PNG_IHDR;
+      PNG_CONST PNG_IDAT;
+      PNG_CONST PNG_IEND;
+      PNG_CONST PNG_PLTE;
+#if defined(PNG_READ_bKGD_SUPPORTED)
+      PNG_CONST PNG_bKGD;
+#endif
+#if defined(PNG_READ_cHRM_SUPPORTED)
+      PNG_CONST PNG_cHRM;
+#endif
+#if defined(PNG_READ_gAMA_SUPPORTED)
+      PNG_CONST PNG_gAMA;
+#endif
+#if defined(PNG_READ_hIST_SUPPORTED)
+      PNG_CONST PNG_hIST;
+#endif
+#if defined(PNG_READ_iCCP_SUPPORTED)
+      PNG_CONST PNG_iCCP;
+#endif
+#if defined(PNG_READ_iTXt_SUPPORTED)
+      PNG_CONST PNG_iTXt;
+#endif
+#if defined(PNG_READ_oFFs_SUPPORTED)
+      PNG_CONST PNG_oFFs;
+#endif
+#if defined(PNG_READ_pCAL_SUPPORTED)
+      PNG_CONST PNG_pCAL;
+#endif
+#if defined(PNG_READ_pHYs_SUPPORTED)
+      PNG_CONST PNG_pHYs;
+#endif
+#if defined(PNG_READ_sBIT_SUPPORTED)
+      PNG_CONST PNG_sBIT;
+#endif
+#if defined(PNG_READ_sCAL_SUPPORTED)
+      PNG_CONST PNG_sCAL;
+#endif
+#if defined(PNG_READ_sPLT_SUPPORTED)
+      PNG_CONST PNG_sPLT;
+#endif
+#if defined(PNG_READ_sRGB_SUPPORTED)
+      PNG_CONST PNG_sRGB;
+#endif
+#if defined(PNG_READ_tEXt_SUPPORTED)
+      PNG_CONST PNG_tEXt;
+#endif
+#if defined(PNG_READ_tIME_SUPPORTED)
+      PNG_CONST PNG_tIME;
+#endif
+#if defined(PNG_READ_tRNS_SUPPORTED)
+      PNG_CONST PNG_tRNS;
+#endif
+#if defined(PNG_READ_zTXt_SUPPORTED)
+      PNG_CONST PNG_zTXt;
+#endif
+#endif /* PNG_USE_LOCAL_ARRAYS */
+      png_uint_32 length = png_read_chunk_header(png_ptr);
+      PNG_CONST png_bytep chunk_name = png_ptr->chunk_name;
+
+      /* This should be a binary subdivision search or a hash for
+       * matching the chunk name rather than a linear search.
+       */
+      if (!png_memcmp(chunk_name, png_IDAT, 4))
+        if (png_ptr->mode & PNG_AFTER_IDAT)
+          png_ptr->mode |= PNG_HAVE_CHUNK_AFTER_IDAT;
+
+      if (!png_memcmp(chunk_name, png_IHDR, 4))
+         png_handle_IHDR(png_ptr, info_ptr, length);
+      else if (!png_memcmp(chunk_name, png_IEND, 4))
+         png_handle_IEND(png_ptr, info_ptr, length);
+#ifdef PNG_HANDLE_AS_UNKNOWN_SUPPORTED
+      else if (png_handle_as_unknown(png_ptr, chunk_name))
+      {
+         if (!png_memcmp(chunk_name, png_IDAT, 4))
+            png_ptr->mode |= PNG_HAVE_IDAT;
+         png_handle_unknown(png_ptr, info_ptr, length);
+         if (!png_memcmp(chunk_name, png_PLTE, 4))
+            png_ptr->mode |= PNG_HAVE_PLTE;
+         else if (!png_memcmp(chunk_name, png_IDAT, 4))
+         {
+            if (!(png_ptr->mode & PNG_HAVE_IHDR))
+               png_error(png_ptr, "Missing IHDR before IDAT");
+            else if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE &&
+                     !(png_ptr->mode & PNG_HAVE_PLTE))
+               png_error(png_ptr, "Missing PLTE before IDAT");
+            break;
+         }
+      }
+#endif
+      else if (!png_memcmp(chunk_name, png_PLTE, 4))
+         png_handle_PLTE(png_ptr, info_ptr, length);
+      else if (!png_memcmp(chunk_name, png_IDAT, 4))
+      {
+         if (!(png_ptr->mode & PNG_HAVE_IHDR))
+            png_error(png_ptr, "Missing IHDR before IDAT");
+         else if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE &&
+                  !(png_ptr->mode & PNG_HAVE_PLTE))
+            png_error(png_ptr, "Missing PLTE before IDAT");
+
+         png_ptr->idat_size = length;
+         png_ptr->mode |= PNG_HAVE_IDAT;
+         break;
+      }
+#if defined(PNG_READ_bKGD_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_bKGD, 4))
+         png_handle_bKGD(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_cHRM_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_cHRM, 4))
+         png_handle_cHRM(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_gAMA_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_gAMA, 4))
+         png_handle_gAMA(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_hIST_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_hIST, 4))
+         png_handle_hIST(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_oFFs_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_oFFs, 4))
+         png_handle_oFFs(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_pCAL_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_pCAL, 4))
+         png_handle_pCAL(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_sCAL_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_sCAL, 4))
+         png_handle_sCAL(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_pHYs_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_pHYs, 4))
+         png_handle_pHYs(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_sBIT_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_sBIT, 4))
+         png_handle_sBIT(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_sRGB_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_sRGB, 4))
+         png_handle_sRGB(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_iCCP_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_iCCP, 4))
+         png_handle_iCCP(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_sPLT_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_sPLT, 4))
+         png_handle_sPLT(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_tEXt_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_tEXt, 4))
+         png_handle_tEXt(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_tIME_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_tIME, 4))
+         png_handle_tIME(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_tRNS_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_tRNS, 4))
+         png_handle_tRNS(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_zTXt_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_zTXt, 4))
+         png_handle_zTXt(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_iTXt_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_iTXt, 4))
+         png_handle_iTXt(png_ptr, info_ptr, length);
+#endif
+      else
+         png_handle_unknown(png_ptr, info_ptr, length);
+   }
+}
+#endif /* PNG_NO_SEQUENTIAL_READ_SUPPORTED */
+
+/* Optional call to update the users info_ptr structure */
+void PNGAPI
+png_read_update_info(png_structp png_ptr, png_infop info_ptr)
+{
+   png_debug(1, "in png_read_update_info");
+   if (png_ptr == NULL)
+      return;
+   if (!(png_ptr->flags & PNG_FLAG_ROW_INIT))
+      png_read_start_row(png_ptr);
+   else
+      png_warning(png_ptr,
+      "Ignoring extra png_read_update_info() call; row buffer not reallocated");
+   png_read_transform_info(png_ptr, info_ptr);
+}
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+/* Initialize palette, background, etc, after transformations
+ * are set, but before any reading takes place.  This allows
+ * the user to obtain a gamma-corrected palette, for example.
+ * If the user doesn't call this, we will do it ourselves.
+ */
+void PNGAPI
+png_start_read_image(png_structp png_ptr)
+{
+   png_debug(1, "in png_start_read_image");
+   if (png_ptr == NULL)
+      return;
+   if (!(png_ptr->flags & PNG_FLAG_ROW_INIT))
+      png_read_start_row(png_ptr);
+}
+#endif /* PNG_NO_SEQUENTIAL_READ_SUPPORTED */
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+void PNGAPI
+png_read_row(png_structp png_ptr, png_bytep row, png_bytep dsp_row)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_CONST PNG_IDAT;
+   PNG_CONST int png_pass_dsp_mask[7] = {0xff, 0x0f, 0xff, 0x33, 0xff, 0x55,
+      0xff};
+   PNG_CONST int png_pass_mask[7] = {0x80, 0x08, 0x88, 0x22, 0xaa, 0x55, 0xff};
+#endif
+   int ret;
+   if (png_ptr == NULL)
+      return;
+   png_debug2(1, "in png_read_row (row %lu, pass %d)",
+      png_ptr->row_number, png_ptr->pass);
+   if (!(png_ptr->flags & PNG_FLAG_ROW_INIT))
+      png_read_start_row(png_ptr);
+   if (png_ptr->row_number == 0 && png_ptr->pass == 0)
+   {
+   /* Check for transforms that have been set but were defined out */
+#if defined(PNG_WRITE_INVERT_SUPPORTED) && !defined(PNG_READ_INVERT_SUPPORTED)
+   if (png_ptr->transformations & PNG_INVERT_MONO)
+      png_warning(png_ptr, "PNG_READ_INVERT_SUPPORTED is not defined.");
+#endif
+#if defined(PNG_WRITE_FILLER_SUPPORTED) && !defined(PNG_READ_FILLER_SUPPORTED)
+   if (png_ptr->transformations & PNG_FILLER)
+      png_warning(png_ptr, "PNG_READ_FILLER_SUPPORTED is not defined.");
+#endif
+#if defined(PNG_WRITE_PACKSWAP_SUPPORTED) && !defined(PNG_READ_PACKSWAP_SUPPORTED)
+   if (png_ptr->transformations & PNG_PACKSWAP)
+      png_warning(png_ptr, "PNG_READ_PACKSWAP_SUPPORTED is not defined.");
+#endif
+#if defined(PNG_WRITE_PACK_SUPPORTED) && !defined(PNG_READ_PACK_SUPPORTED)
+   if (png_ptr->transformations & PNG_PACK)
+      png_warning(png_ptr, "PNG_READ_PACK_SUPPORTED is not defined.");
+#endif
+#if defined(PNG_WRITE_SHIFT_SUPPORTED) && !defined(PNG_READ_SHIFT_SUPPORTED)
+   if (png_ptr->transformations & PNG_SHIFT)
+      png_warning(png_ptr, "PNG_READ_SHIFT_SUPPORTED is not defined.");
+#endif
+#if defined(PNG_WRITE_BGR_SUPPORTED) && !defined(PNG_READ_BGR_SUPPORTED)
+   if (png_ptr->transformations & PNG_BGR)
+      png_warning(png_ptr, "PNG_READ_BGR_SUPPORTED is not defined.");
+#endif
+#if defined(PNG_WRITE_SWAP_SUPPORTED) && !defined(PNG_READ_SWAP_SUPPORTED)
+   if (png_ptr->transformations & PNG_SWAP_BYTES)
+      png_warning(png_ptr, "PNG_READ_SWAP_SUPPORTED is not defined.");
+#endif
+   }
+
+#if defined(PNG_READ_INTERLACING_SUPPORTED)
+   /* If interlaced and we do not need a new row, combine row and return */
+   if (png_ptr->interlaced && (png_ptr->transformations & PNG_INTERLACE))
+   {
+      switch (png_ptr->pass)
+      {
+         case 0:
+            if (png_ptr->row_number & 0x07)
+            {
+               if (dsp_row != NULL)
+                  png_combine_row(png_ptr, dsp_row,
+                     png_pass_dsp_mask[png_ptr->pass]);
+               png_read_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 1:
+            if ((png_ptr->row_number & 0x07) || png_ptr->width < 5)
+            {
+               if (dsp_row != NULL)
+                  png_combine_row(png_ptr, dsp_row,
+                     png_pass_dsp_mask[png_ptr->pass]);
+               png_read_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 2:
+            if ((png_ptr->row_number & 0x07) != 4)
+            {
+               if (dsp_row != NULL && (png_ptr->row_number & 4))
+                  png_combine_row(png_ptr, dsp_row,
+                     png_pass_dsp_mask[png_ptr->pass]);
+               png_read_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 3:
+            if ((png_ptr->row_number & 3) || png_ptr->width < 3)
+            {
+               if (dsp_row != NULL)
+                  png_combine_row(png_ptr, dsp_row,
+                     png_pass_dsp_mask[png_ptr->pass]);
+               png_read_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 4:
+            if ((png_ptr->row_number & 3) != 2)
+            {
+               if (dsp_row != NULL && (png_ptr->row_number & 2))
+                  png_combine_row(png_ptr, dsp_row,
+                     png_pass_dsp_mask[png_ptr->pass]);
+               png_read_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 5:
+            if ((png_ptr->row_number & 1) || png_ptr->width < 2)
+            {
+               if (dsp_row != NULL)
+                  png_combine_row(png_ptr, dsp_row,
+                     png_pass_dsp_mask[png_ptr->pass]);
+               png_read_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 6:
+            if (!(png_ptr->row_number & 1))
+            {
+               png_read_finish_row(png_ptr);
+               return;
+            }
+            break;
+      }
+   }
+#endif
+
+   if (!(png_ptr->mode & PNG_HAVE_IDAT))
+      png_error(png_ptr, "Invalid attempt to read row data");
+
+   png_ptr->zstream.next_out = png_ptr->row_buf;
+   png_ptr->zstream.avail_out = (uInt)png_ptr->irowbytes;
+   do
+   {
+      if (!(png_ptr->zstream.avail_in))
+      {
+         while (!png_ptr->idat_size)
+         {
+            png_crc_finish(png_ptr, 0);
+
+            png_ptr->idat_size = png_read_chunk_header(png_ptr);
+            if (png_memcmp(png_ptr->chunk_name, png_IDAT, 4))
+               png_error(png_ptr, "Not enough image data");
+         }
+         png_ptr->zstream.avail_in = (uInt)png_ptr->zbuf_size;
+         png_ptr->zstream.next_in = png_ptr->zbuf;
+         if (png_ptr->zbuf_size > png_ptr->idat_size)
+            png_ptr->zstream.avail_in = (uInt)png_ptr->idat_size;
+         png_crc_read(png_ptr, png_ptr->zbuf,
+            (png_size_t)png_ptr->zstream.avail_in);
+         png_ptr->idat_size -= png_ptr->zstream.avail_in;
+      }
+      ret = inflate(&png_ptr->zstream, Z_PARTIAL_FLUSH);
+      if (ret == Z_STREAM_END)
+      {
+         if (png_ptr->zstream.avail_out || png_ptr->zstream.avail_in ||
+            png_ptr->idat_size)
+            png_error(png_ptr, "Extra compressed data");
+         png_ptr->mode |= PNG_AFTER_IDAT;
+         png_ptr->flags |= PNG_FLAG_ZLIB_FINISHED;
+         break;
+      }
+      if (ret != Z_OK)
+         png_error(png_ptr, png_ptr->zstream.msg ? png_ptr->zstream.msg :
+                   "Decompression error");
+
+   } while (png_ptr->zstream.avail_out);
+
+   png_ptr->row_info.color_type = png_ptr->color_type;
+   png_ptr->row_info.width = png_ptr->iwidth;
+   png_ptr->row_info.channels = png_ptr->channels;
+   png_ptr->row_info.bit_depth = png_ptr->bit_depth;
+   png_ptr->row_info.pixel_depth = png_ptr->pixel_depth;
+   png_ptr->row_info.rowbytes = PNG_ROWBYTES(png_ptr->row_info.pixel_depth,
+       png_ptr->row_info.width);
+
+   if (png_ptr->row_buf[0])
+   png_read_filter_row(png_ptr, &(png_ptr->row_info),
+      png_ptr->row_buf + 1, png_ptr->prev_row + 1,
+      (int)(png_ptr->row_buf[0]));
+
+   png_memcpy_check(png_ptr, png_ptr->prev_row, png_ptr->row_buf,
+      png_ptr->rowbytes + 1);
+
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+   if ((png_ptr->mng_features_permitted & PNG_FLAG_MNG_FILTER_64) &&
+      (png_ptr->filter_type == PNG_INTRAPIXEL_DIFFERENCING))
+   {
+      /* Intrapixel differencing */
+      png_do_read_intrapixel(&(png_ptr->row_info), png_ptr->row_buf + 1);
+   }
+#endif
+
+
+   if (png_ptr->transformations || (png_ptr->flags&PNG_FLAG_STRIP_ALPHA))
+      png_do_read_transformations(png_ptr);
+
+#if defined(PNG_READ_INTERLACING_SUPPORTED)
+   /* Blow up interlaced rows to full size */
+   if (png_ptr->interlaced &&
+      (png_ptr->transformations & PNG_INTERLACE))
+   {
+      if (png_ptr->pass < 6)
+         /* Old interface (pre-1.0.9):
+          * png_do_read_interlace(&(png_ptr->row_info),
+          *    png_ptr->row_buf + 1, png_ptr->pass, png_ptr->transformations);
+          */
+         png_do_read_interlace(png_ptr);
+
+      if (dsp_row != NULL)
+         png_combine_row(png_ptr, dsp_row,
+            png_pass_dsp_mask[png_ptr->pass]);
+      if (row != NULL)
+         png_combine_row(png_ptr, row,
+            png_pass_mask[png_ptr->pass]);
+   }
+   else
+#endif
+   {
+      if (row != NULL)
+         png_combine_row(png_ptr, row, 0xff);
+      if (dsp_row != NULL)
+         png_combine_row(png_ptr, dsp_row, 0xff);
+   }
+   png_read_finish_row(png_ptr);
+
+   if (png_ptr->read_row_fn != NULL)
+      (*(png_ptr->read_row_fn))(png_ptr, png_ptr->row_number, png_ptr->pass);
+}
+#endif /* PNG_NO_SEQUENTIAL_READ_SUPPORTED */
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+/* Read one or more rows of image data.  If the image is interlaced,
+ * and png_set_interlace_handling() has been called, the rows need to
+ * contain the contents of the rows from the previous pass.  If the
+ * image has alpha or transparency, and png_handle_alpha()[*] has been
+ * called, the rows contents must be initialized to the contents of the
+ * screen.
+ *
+ * "row" holds the actual image, and pixels are placed in it
+ * as they arrive.  If the image is displayed after each pass, it will
+ * appear to "sparkle" in.  "display_row" can be used to display a
+ * "chunky" progressive image, with finer detail added as it becomes
+ * available.  If you do not want this "chunky" display, you may pass
+ * NULL for display_row.  If you do not want the sparkle display, and
+ * you have not called png_handle_alpha(), you may pass NULL for rows.
+ * If you have called png_handle_alpha(), and the image has either an
+ * alpha channel or a transparency chunk, you must provide a buffer for
+ * rows.  In this case, you do not have to provide a display_row buffer
+ * also, but you may.  If the image is not interlaced, or if you have
+ * not called png_set_interlace_handling(), the display_row buffer will
+ * be ignored, so pass NULL to it.
+ *
+ * [*] png_handle_alpha() does not exist yet, as of this version of libpng
+ */
+
+void PNGAPI
+png_read_rows(png_structp png_ptr, png_bytepp row,
+   png_bytepp display_row, png_uint_32 num_rows)
+{
+   png_uint_32 i;
+   png_bytepp rp;
+   png_bytepp dp;
+
+   png_debug(1, "in png_read_rows");
+   if (png_ptr == NULL)
+      return;
+   rp = row;
+   dp = display_row;
+   if (rp != NULL && dp != NULL)
+      for (i = 0; i < num_rows; i++)
+      {
+         png_bytep rptr = *rp++;
+         png_bytep dptr = *dp++;
+
+         png_read_row(png_ptr, rptr, dptr);
+      }
+   else if (rp != NULL)
+      for (i = 0; i < num_rows; i++)
+      {
+         png_bytep rptr = *rp;
+         png_read_row(png_ptr, rptr, png_bytep_NULL);
+         rp++;
+      }
+   else if (dp != NULL)
+      for (i = 0; i < num_rows; i++)
+      {
+         png_bytep dptr = *dp;
+         png_read_row(png_ptr, png_bytep_NULL, dptr);
+         dp++;
+      }
+}
+#endif /* PNG_NO_SEQUENTIAL_READ_SUPPORTED */
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+/* Read the entire image.  If the image has an alpha channel or a tRNS
+ * chunk, and you have called png_handle_alpha()[*], you will need to
+ * initialize the image to the current image that PNG will be overlaying.
+ * We set the num_rows again here, in case it was incorrectly set in
+ * png_read_start_row() by a call to png_read_update_info() or
+ * png_start_read_image() if png_set_interlace_handling() wasn't called
+ * prior to either of these functions like it should have been.  You can
+ * only call this function once.  If you desire to have an image for
+ * each pass of a interlaced image, use png_read_rows() instead.
+ *
+ * [*] png_handle_alpha() does not exist yet, as of this version of libpng
+ */
+void PNGAPI
+png_read_image(png_structp png_ptr, png_bytepp image)
+{
+   png_uint_32 i, image_height;
+   int pass, j;
+   png_bytepp rp;
+
+   png_debug(1, "in png_read_image");
+   if (png_ptr == NULL)
+      return;
+
+#ifdef PNG_READ_INTERLACING_SUPPORTED
+   pass = png_set_interlace_handling(png_ptr);
+#else
+   if (png_ptr->interlaced)
+      png_error(png_ptr,
+        "Cannot read interlaced image -- interlace handler disabled.");
+   pass = 1;
+#endif
+
+
+   image_height=png_ptr->height;
+   png_ptr->num_rows = image_height; /* Make sure this is set correctly */
+
+   for (j = 0; j < pass; j++)
+   {
+      rp = image;
+      for (i = 0; i < image_height; i++)
+      {
+         png_read_row(png_ptr, *rp, png_bytep_NULL);
+         rp++;
+      }
+   }
+}
+#endif /* PNG_NO_SEQUENTIAL_READ_SUPPORTED */
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+/* Read the end of the PNG file.  Will not read past the end of the
+ * file, will verify the end is accurate, and will read any comments
+ * or time information at the end of the file, if info is not NULL.
+ */
+void PNGAPI
+png_read_end(png_structp png_ptr, png_infop info_ptr)
+{
+   png_debug(1, "in png_read_end");
+   if (png_ptr == NULL)
+      return;
+   png_crc_finish(png_ptr, 0); /* Finish off CRC from last IDAT chunk */
+
+   do
+   {
+#ifdef PNG_USE_LOCAL_ARRAYS
+      PNG_CONST PNG_IHDR;
+      PNG_CONST PNG_IDAT;
+      PNG_CONST PNG_IEND;
+      PNG_CONST PNG_PLTE;
+#if defined(PNG_READ_bKGD_SUPPORTED)
+      PNG_CONST PNG_bKGD;
+#endif
+#if defined(PNG_READ_cHRM_SUPPORTED)
+      PNG_CONST PNG_cHRM;
+#endif
+#if defined(PNG_READ_gAMA_SUPPORTED)
+      PNG_CONST PNG_gAMA;
+#endif
+#if defined(PNG_READ_hIST_SUPPORTED)
+      PNG_CONST PNG_hIST;
+#endif
+#if defined(PNG_READ_iCCP_SUPPORTED)
+      PNG_CONST PNG_iCCP;
+#endif
+#if defined(PNG_READ_iTXt_SUPPORTED)
+      PNG_CONST PNG_iTXt;
+#endif
+#if defined(PNG_READ_oFFs_SUPPORTED)
+      PNG_CONST PNG_oFFs;
+#endif
+#if defined(PNG_READ_pCAL_SUPPORTED)
+      PNG_CONST PNG_pCAL;
+#endif
+#if defined(PNG_READ_pHYs_SUPPORTED)
+      PNG_CONST PNG_pHYs;
+#endif
+#if defined(PNG_READ_sBIT_SUPPORTED)
+      PNG_CONST PNG_sBIT;
+#endif
+#if defined(PNG_READ_sCAL_SUPPORTED)
+      PNG_CONST PNG_sCAL;
+#endif
+#if defined(PNG_READ_sPLT_SUPPORTED)
+      PNG_CONST PNG_sPLT;
+#endif
+#if defined(PNG_READ_sRGB_SUPPORTED)
+      PNG_CONST PNG_sRGB;
+#endif
+#if defined(PNG_READ_tEXt_SUPPORTED)
+      PNG_CONST PNG_tEXt;
+#endif
+#if defined(PNG_READ_tIME_SUPPORTED)
+      PNG_CONST PNG_tIME;
+#endif
+#if defined(PNG_READ_tRNS_SUPPORTED)
+      PNG_CONST PNG_tRNS;
+#endif
+#if defined(PNG_READ_zTXt_SUPPORTED)
+      PNG_CONST PNG_zTXt;
+#endif
+#endif /* PNG_USE_LOCAL_ARRAYS */
+      png_uint_32 length = png_read_chunk_header(png_ptr);
+      PNG_CONST png_bytep chunk_name = png_ptr->chunk_name;
+
+      if (!png_memcmp(chunk_name, png_IHDR, 4))
+         png_handle_IHDR(png_ptr, info_ptr, length);
+      else if (!png_memcmp(chunk_name, png_IEND, 4))
+         png_handle_IEND(png_ptr, info_ptr, length);
+#ifdef PNG_HANDLE_AS_UNKNOWN_SUPPORTED
+      else if (png_handle_as_unknown(png_ptr, chunk_name))
+      {
+         if (!png_memcmp(chunk_name, png_IDAT, 4))
+         {
+            if ((length > 0) || (png_ptr->mode & PNG_HAVE_CHUNK_AFTER_IDAT))
+               png_error(png_ptr, "Too many IDAT's found");
+         }
+         png_handle_unknown(png_ptr, info_ptr, length);
+         if (!png_memcmp(chunk_name, png_PLTE, 4))
+            png_ptr->mode |= PNG_HAVE_PLTE;
+      }
+#endif
+      else if (!png_memcmp(chunk_name, png_IDAT, 4))
+      {
+         /* Zero length IDATs are legal after the last IDAT has been
+          * read, but not after other chunks have been read.
+          */
+         if ((length > 0) || (png_ptr->mode & PNG_HAVE_CHUNK_AFTER_IDAT))
+            png_error(png_ptr, "Too many IDAT's found");
+         png_crc_finish(png_ptr, length);
+      }
+      else if (!png_memcmp(chunk_name, png_PLTE, 4))
+         png_handle_PLTE(png_ptr, info_ptr, length);
+#if defined(PNG_READ_bKGD_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_bKGD, 4))
+         png_handle_bKGD(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_cHRM_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_cHRM, 4))
+         png_handle_cHRM(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_gAMA_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_gAMA, 4))
+         png_handle_gAMA(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_hIST_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_hIST, 4))
+         png_handle_hIST(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_oFFs_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_oFFs, 4))
+         png_handle_oFFs(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_pCAL_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_pCAL, 4))
+         png_handle_pCAL(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_sCAL_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_sCAL, 4))
+         png_handle_sCAL(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_pHYs_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_pHYs, 4))
+         png_handle_pHYs(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_sBIT_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_sBIT, 4))
+         png_handle_sBIT(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_sRGB_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_sRGB, 4))
+         png_handle_sRGB(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_iCCP_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_iCCP, 4))
+         png_handle_iCCP(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_sPLT_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_sPLT, 4))
+         png_handle_sPLT(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_tEXt_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_tEXt, 4))
+         png_handle_tEXt(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_tIME_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_tIME, 4))
+         png_handle_tIME(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_tRNS_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_tRNS, 4))
+         png_handle_tRNS(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_zTXt_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_zTXt, 4))
+         png_handle_zTXt(png_ptr, info_ptr, length);
+#endif
+#if defined(PNG_READ_iTXt_SUPPORTED)
+      else if (!png_memcmp(chunk_name, png_iTXt, 4))
+         png_handle_iTXt(png_ptr, info_ptr, length);
+#endif
+      else
+         png_handle_unknown(png_ptr, info_ptr, length);
+   } while (!(png_ptr->mode & PNG_HAVE_IEND));
+}
+#endif /* PNG_NO_SEQUENTIAL_READ_SUPPORTED */
+
+/* Free all memory used by the read */
+void PNGAPI
+png_destroy_read_struct(png_structpp png_ptr_ptr, png_infopp info_ptr_ptr,
+   png_infopp end_info_ptr_ptr)
+{
+   png_structp png_ptr = NULL;
+   png_infop info_ptr = NULL, end_info_ptr = NULL;
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_free_ptr free_fn = NULL;
+   png_voidp mem_ptr = NULL;
+#endif
+
+   png_debug(1, "in png_destroy_read_struct");
+   if (png_ptr_ptr != NULL)
+      png_ptr = *png_ptr_ptr;
+   if (png_ptr == NULL)
+      return;
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   free_fn = png_ptr->free_fn;
+   mem_ptr = png_ptr->mem_ptr;
+#endif
+
+   if (info_ptr_ptr != NULL)
+      info_ptr = *info_ptr_ptr;
+
+   if (end_info_ptr_ptr != NULL)
+      end_info_ptr = *end_info_ptr_ptr;
+
+   png_read_destroy(png_ptr, info_ptr, end_info_ptr);
+
+   if (info_ptr != NULL)
+   {
+#if defined(PNG_TEXT_SUPPORTED)
+      png_free_data(png_ptr, info_ptr, PNG_FREE_TEXT, -1);
+#endif
+
+#ifdef PNG_USER_MEM_SUPPORTED
+      png_destroy_struct_2((png_voidp)info_ptr, (png_free_ptr)free_fn,
+          (png_voidp)mem_ptr);
+#else
+      png_destroy_struct((png_voidp)info_ptr);
+#endif
+      *info_ptr_ptr = NULL;
+   }
+
+   if (end_info_ptr != NULL)
+   {
+#if defined(PNG_READ_TEXT_SUPPORTED)
+      png_free_data(png_ptr, end_info_ptr, PNG_FREE_TEXT, -1);
+#endif
+#ifdef PNG_USER_MEM_SUPPORTED
+      png_destroy_struct_2((png_voidp)end_info_ptr, (png_free_ptr)free_fn,
+         (png_voidp)mem_ptr);
+#else
+      png_destroy_struct((png_voidp)end_info_ptr);
+#endif
+      *end_info_ptr_ptr = NULL;
+   }
+
+   if (png_ptr != NULL)
+   {
+#ifdef PNG_USER_MEM_SUPPORTED
+      png_destroy_struct_2((png_voidp)png_ptr, (png_free_ptr)free_fn,
+          (png_voidp)mem_ptr);
+#else
+      png_destroy_struct((png_voidp)png_ptr);
+#endif
+      *png_ptr_ptr = NULL;
+   }
+}
+
+/* Free all memory used by the read (old method) */
+void /* PRIVATE */
+png_read_destroy(png_structp png_ptr, png_infop info_ptr, png_infop end_info_ptr)
+{
+#ifdef PNG_SETJMP_SUPPORTED
+   jmp_buf tmp_jmp;
+#endif
+   png_error_ptr error_fn;
+   png_error_ptr warning_fn;
+   png_voidp error_ptr;
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_free_ptr free_fn;
+#endif
+
+   png_debug(1, "in png_read_destroy");
+   if (info_ptr != NULL)
+      png_info_destroy(png_ptr, info_ptr);
+
+   if (end_info_ptr != NULL)
+      png_info_destroy(png_ptr, end_info_ptr);
+
+   png_free(png_ptr, png_ptr->zbuf);
+   png_free(png_ptr, png_ptr->big_row_buf);
+   png_free(png_ptr, png_ptr->prev_row);
+   png_free(png_ptr, png_ptr->chunkdata);
+#if defined(PNG_READ_DITHER_SUPPORTED)
+   png_free(png_ptr, png_ptr->palette_lookup);
+   png_free(png_ptr, png_ptr->dither_index);
+#endif
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+   png_free(png_ptr, png_ptr->gamma_table);
+#endif
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+   png_free(png_ptr, png_ptr->gamma_from_1);
+   png_free(png_ptr, png_ptr->gamma_to_1);
+#endif
+#ifdef PNG_FREE_ME_SUPPORTED
+   if (png_ptr->free_me & PNG_FREE_PLTE)
+      png_zfree(png_ptr, png_ptr->palette);
+   png_ptr->free_me &= ~PNG_FREE_PLTE;
+#else
+   if (png_ptr->flags & PNG_FLAG_FREE_PLTE)
+      png_zfree(png_ptr, png_ptr->palette);
+   png_ptr->flags &= ~PNG_FLAG_FREE_PLTE;
+#endif
+#if defined(PNG_tRNS_SUPPORTED) || \
+    defined(PNG_READ_EXPAND_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED)
+#ifdef PNG_FREE_ME_SUPPORTED
+   if (png_ptr->free_me & PNG_FREE_TRNS)
+      png_free(png_ptr, png_ptr->trans);
+   png_ptr->free_me &= ~PNG_FREE_TRNS;
+#else
+   if (png_ptr->flags & PNG_FLAG_FREE_TRNS)
+      png_free(png_ptr, png_ptr->trans);
+   png_ptr->flags &= ~PNG_FLAG_FREE_TRNS;
+#endif
+#endif
+#if defined(PNG_READ_hIST_SUPPORTED)
+#ifdef PNG_FREE_ME_SUPPORTED
+   if (png_ptr->free_me & PNG_FREE_HIST)
+      png_free(png_ptr, png_ptr->hist);
+   png_ptr->free_me &= ~PNG_FREE_HIST;
+#else
+   if (png_ptr->flags & PNG_FLAG_FREE_HIST)
+      png_free(png_ptr, png_ptr->hist);
+   png_ptr->flags &= ~PNG_FLAG_FREE_HIST;
+#endif
+#endif
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+   if (png_ptr->gamma_16_table != NULL)
+   {
+      int i;
+      int istop = (1 << (8 - png_ptr->gamma_shift));
+      for (i = 0; i < istop; i++)
+      {
+         png_free(png_ptr, png_ptr->gamma_16_table[i]);
+      }
+   png_free(png_ptr, png_ptr->gamma_16_table);
+   }
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+   if (png_ptr->gamma_16_from_1 != NULL)
+   {
+      int i;
+      int istop = (1 << (8 - png_ptr->gamma_shift));
+      for (i = 0; i < istop; i++)
+      {
+         png_free(png_ptr, png_ptr->gamma_16_from_1[i]);
+      }
+   png_free(png_ptr, png_ptr->gamma_16_from_1);
+   }
+   if (png_ptr->gamma_16_to_1 != NULL)
+   {
+      int i;
+      int istop = (1 << (8 - png_ptr->gamma_shift));
+      for (i = 0; i < istop; i++)
+      {
+         png_free(png_ptr, png_ptr->gamma_16_to_1[i]);
+      }
+   png_free(png_ptr, png_ptr->gamma_16_to_1);
+   }
+#endif
+#endif
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+   png_free(png_ptr, png_ptr->time_buffer);
+#endif
+
+   inflateEnd(&png_ptr->zstream);
+#ifdef PNG_PROGRESSIVE_READ_SUPPORTED
+   png_free(png_ptr, png_ptr->save_buffer);
+#endif
+
+#ifdef PNG_PROGRESSIVE_READ_SUPPORTED
+#ifdef PNG_TEXT_SUPPORTED
+   png_free(png_ptr, png_ptr->current_text);
+#endif /* PNG_TEXT_SUPPORTED */
+#endif /* PNG_PROGRESSIVE_READ_SUPPORTED */
+
+   /* Save the important info out of the png_struct, in case it is
+    * being used again.
+    */
+#ifdef PNG_SETJMP_SUPPORTED
+   png_memcpy(tmp_jmp, png_ptr->jmpbuf, png_sizeof(jmp_buf));
+#endif
+
+   error_fn = png_ptr->error_fn;
+   warning_fn = png_ptr->warning_fn;
+   error_ptr = png_ptr->error_ptr;
+#ifdef PNG_USER_MEM_SUPPORTED
+   free_fn = png_ptr->free_fn;
+#endif
+
+   png_memset(png_ptr, 0, png_sizeof(png_struct));
+
+   png_ptr->error_fn = error_fn;
+   png_ptr->warning_fn = warning_fn;
+   png_ptr->error_ptr = error_ptr;
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_ptr->free_fn = free_fn;
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+   png_memcpy(png_ptr->jmpbuf, tmp_jmp, png_sizeof(jmp_buf));
+#endif
+
+}
+
+void PNGAPI
+png_set_read_status_fn(png_structp png_ptr, png_read_status_ptr read_row_fn)
+{
+   if (png_ptr == NULL)
+      return;
+   png_ptr->read_row_fn = read_row_fn;
+}
+
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+#if defined(PNG_INFO_IMAGE_SUPPORTED)
+void PNGAPI
+png_read_png(png_structp png_ptr, png_infop info_ptr,
+                           int transforms,
+                           voidp params)
+{
+   int row;
+
+   if (png_ptr == NULL)
+      return;
+#if defined(PNG_READ_INVERT_ALPHA_SUPPORTED)
+   /* Invert the alpha channel from opacity to transparency
+    */
+   if (transforms & PNG_TRANSFORM_INVERT_ALPHA)
+       png_set_invert_alpha(png_ptr);
+#endif
+
+   /* png_read_info() gives us all of the information from the
+    * PNG file before the first IDAT (image data chunk).
+    */
+   png_read_info(png_ptr, info_ptr);
+   if (info_ptr->height > PNG_UINT_32_MAX/png_sizeof(png_bytep))
+      png_error(png_ptr, "Image is too high to process with png_read_png()");
+
+   /* -------------- image transformations start here ------------------- */
+
+#if defined(PNG_READ_16_TO_8_SUPPORTED)
+   /* Tell libpng to strip 16 bit/color files down to 8 bits per color.
+    */
+   if (transforms & PNG_TRANSFORM_STRIP_16)
+      png_set_strip_16(png_ptr);
+#endif
+
+#if defined(PNG_READ_STRIP_ALPHA_SUPPORTED)
+   /* Strip alpha bytes from the input data without combining with
+    * the background (not recommended).
+    */
+   if (transforms & PNG_TRANSFORM_STRIP_ALPHA)
+      png_set_strip_alpha(png_ptr);
+#endif
+
+#if defined(PNG_READ_PACK_SUPPORTED) && !defined(PNG_READ_EXPAND_SUPPORTED)
+   /* Extract multiple pixels with bit depths of 1, 2, or 4 from a single
+    * byte into separate bytes (useful for paletted and grayscale images).
+    */
+   if (transforms & PNG_TRANSFORM_PACKING)
+      png_set_packing(png_ptr);
+#endif
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)
+   /* Change the order of packed pixels to least significant bit first
+    * (not useful if you are using png_set_packing).
+    */
+   if (transforms & PNG_TRANSFORM_PACKSWAP)
+      png_set_packswap(png_ptr);
+#endif
+
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+   /* Expand paletted colors into true RGB triplets
+    * Expand grayscale images to full 8 bits from 1, 2, or 4 bits/pixel
+    * Expand paletted or RGB images with transparency to full alpha
+    * channels so the data will be available as RGBA quartets.
+    */
+   if (transforms & PNG_TRANSFORM_EXPAND)
+      if ((png_ptr->bit_depth < 8) ||
+          (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE) ||
+          (png_get_valid(png_ptr, info_ptr, PNG_INFO_tRNS)))
+         png_set_expand(png_ptr);
+#endif
+
+   /* We don't handle background color or gamma transformation or dithering.
+    */
+
+#if defined(PNG_READ_INVERT_SUPPORTED)
+   /* Invert monochrome files to have 0 as white and 1 as black
+    */
+   if (transforms & PNG_TRANSFORM_INVERT_MONO)
+      png_set_invert_mono(png_ptr);
+#endif
+
+#if defined(PNG_READ_SHIFT_SUPPORTED)
+   /* If you want to shift the pixel values from the range [0,255] or
+    * [0,65535] to the original [0,7] or [0,31], or whatever range the
+    * colors were originally in:
+    */
+   if ((transforms & PNG_TRANSFORM_SHIFT)
+       && png_get_valid(png_ptr, info_ptr, PNG_INFO_sBIT))
+   {
+      png_color_8p sig_bit;
+
+      png_get_sBIT(png_ptr, info_ptr, &sig_bit);
+      png_set_shift(png_ptr, sig_bit);
+   }
+#endif
+
+#if defined(PNG_READ_BGR_SUPPORTED)
+   /* Flip the RGB pixels to BGR (or RGBA to BGRA)
+    */
+   if (transforms & PNG_TRANSFORM_BGR)
+      png_set_bgr(png_ptr);
+#endif
+
+#if defined(PNG_READ_SWAP_ALPHA_SUPPORTED)
+   /* Swap the RGBA or GA data to ARGB or AG (or BGRA to ABGR)
+    */
+   if (transforms & PNG_TRANSFORM_SWAP_ALPHA)
+       png_set_swap_alpha(png_ptr);
+#endif
+
+#if defined(PNG_READ_SWAP_SUPPORTED)
+   /* Swap bytes of 16 bit files to least significant byte first
+    */
+   if (transforms & PNG_TRANSFORM_SWAP_ENDIAN)
+      png_set_swap(png_ptr);
+#endif
+
+   /* We don't handle adding filler bytes */
+
+   /* Optional call to gamma correct and add the background to the palette
+    * and update info structure.  REQUIRED if you are expecting libpng to
+    * update the palette for you (i.e., you selected such a transform above).
+    */
+   png_read_update_info(png_ptr, info_ptr);
+
+   /* -------------- image transformations end here ------------------- */
+
+#ifdef PNG_FREE_ME_SUPPORTED
+   png_free_data(png_ptr, info_ptr, PNG_FREE_ROWS, 0);
+#endif
+   if (info_ptr->row_pointers == NULL)
+   {
+      info_ptr->row_pointers = (png_bytepp)png_malloc(png_ptr,
+         info_ptr->height * png_sizeof(png_bytep));
+      png_memset(info_ptr->row_pointers, 0, info_ptr->height
+         * png_sizeof(png_bytep));
+#ifdef PNG_FREE_ME_SUPPORTED
+      info_ptr->free_me |= PNG_FREE_ROWS;
+#endif
+      for (row = 0; row < (int)info_ptr->height; row++)
+         info_ptr->row_pointers[row] = (png_bytep)png_malloc(png_ptr,
+            png_get_rowbytes(png_ptr, info_ptr));
+   }
+
+   png_read_image(png_ptr, info_ptr->row_pointers);
+   info_ptr->valid |= PNG_INFO_IDAT;
+
+   /* Read rest of file, and get additional chunks in info_ptr - REQUIRED */
+   png_read_end(png_ptr, info_ptr);
+
+   transforms = transforms; /* Quiet compiler warnings */
+   params = params;
+
+}
+#endif /* PNG_INFO_IMAGE_SUPPORTED */
+#endif /* PNG_NO_SEQUENTIAL_READ_SUPPORTED */
+#endif /* PNG_READ_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrio.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrio.c
new file mode 100755
index 0000000..8704afa
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrio.c
@@ -0,0 +1,174 @@
+
+/* pngrio.c - functions for data input
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file provides a location for all input.  Users who need
+ * special handling are expected to write a function that has the same
+ * arguments as this and performs a similar function, but that possibly
+ * has a different input method.  Note that you shouldn't change this
+ * function, but rather write a replacement function and then make
+ * libpng use it at run time with png_set_read_fn(...).
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED)
+
+/* Read the data from whatever input you are using.  The default routine
+ * reads from a file pointer.  Note that this routine sometimes gets called
+ * with very small lengths, so you should implement some kind of simple
+ * buffering if you are using unbuffered reads.  This should never be asked
+ * to read more then 64K on a 16 bit machine.
+ */
+void /* PRIVATE */
+png_read_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_debug1(4, "reading %d bytes", (int)length);
+   if (png_ptr->read_data_fn != NULL)
+      (*(png_ptr->read_data_fn))(png_ptr, data, length);
+   else
+      png_error(png_ptr, "Call to NULL read function");
+}
+
+#if !defined(PNG_NO_STDIO)
+/* This is the function that does the actual reading of data.  If you are
+ * not reading from a standard C stream, you should create a replacement
+ * read_data function and use it at run time with png_set_read_fn(), rather
+ * than changing the library.
+ */
+#ifndef USE_FAR_KEYWORD
+void PNGAPI
+png_default_read_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_size_t check;
+
+   if (png_ptr == NULL)
+      return;
+   /* fread() returns 0 on error, so it is OK to store this in a png_size_t
+    * instead of an int, which is what fread() actually returns.
+    */
+#if defined(_WIN32_WCE)
+   if ( !ReadFile((HANDLE)(png_ptr->io_ptr), data, length, &check, NULL) )
+      check = 0;
+#else
+   check = (png_size_t)fread(data, (png_size_t)1, length,
+      (png_FILE_p)png_ptr->io_ptr);
+#endif
+
+   if (check != length)
+      png_error(png_ptr, "Read Error");
+}
+#else
+/* This is the model-independent version. Since the standard I/O library
+   can't handle far buffers in the medium and small models, we have to copy
+   the data.
+*/
+
+#define NEAR_BUF_SIZE 1024
+#define MIN(a,b) (a <= b ? a : b)
+
+static void PNGAPI
+png_default_read_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   int check;
+   png_byte *n_data;
+   png_FILE_p io_ptr;
+
+   if (png_ptr == NULL)
+      return;
+   /* Check if data really is near. If so, use usual code. */
+   n_data = (png_byte *)CVT_PTR_NOCHECK(data);
+   io_ptr = (png_FILE_p)CVT_PTR(png_ptr->io_ptr);
+   if ((png_bytep)n_data == data)
+   {
+#if defined(_WIN32_WCE)
+      if ( !ReadFile((HANDLE)(png_ptr->io_ptr), data, length, &check, NULL) )
+         check = 0;
+#else
+      check = fread(n_data, 1, length, io_ptr);
+#endif
+   }
+   else
+   {
+      png_byte buf[NEAR_BUF_SIZE];
+      png_size_t read, remaining, err;
+      check = 0;
+      remaining = length;
+      do
+      {
+         read = MIN(NEAR_BUF_SIZE, remaining);
+#if defined(_WIN32_WCE)
+         if ( !ReadFile((HANDLE)(io_ptr), buf, read, &err, NULL) )
+            err = 0;
+#else
+         err = fread(buf, (png_size_t)1, read, io_ptr);
+#endif
+         png_memcpy(data, buf, read); /* copy far buffer to near buffer */
+         if (err != read)
+            break;
+         else
+            check += err;
+         data += read;
+         remaining -= read;
+      }
+      while (remaining != 0);
+   }
+   if ((png_uint_32)check != (png_uint_32)length)
+      png_error(png_ptr, "read Error");
+}
+#endif
+#endif
+
+/* This function allows the application to supply a new input function
+ * for libpng if standard C streams aren't being used.
+ *
+ * This function takes as its arguments:
+ * png_ptr      - pointer to a png input data structure
+ * io_ptr       - pointer to user supplied structure containing info about
+ *                the input functions.  May be NULL.
+ * read_data_fn - pointer to a new input function that takes as its
+ *                arguments a pointer to a png_struct, a pointer to
+ *                a location where input data can be stored, and a 32-bit
+ *                unsigned int that is the number of bytes to be read.
+ *                To exit and output any fatal error messages the new write
+ *                function should call png_error(png_ptr, "Error msg").
+ *                May be NULL, in which case libpng's default function will
+ *                be used.
+ */
+void PNGAPI
+png_set_read_fn(png_structp png_ptr, png_voidp io_ptr,
+   png_rw_ptr read_data_fn)
+{
+   if (png_ptr == NULL)
+      return;
+   png_ptr->io_ptr = io_ptr;
+
+#if !defined(PNG_NO_STDIO)
+   if (read_data_fn != NULL)
+      png_ptr->read_data_fn = read_data_fn;
+   else
+      png_ptr->read_data_fn = png_default_read_data;
+#else
+   png_ptr->read_data_fn = read_data_fn;
+#endif
+
+   /* It is an error to write to a read device */
+   if (png_ptr->write_data_fn != NULL)
+   {
+      png_ptr->write_data_fn = NULL;
+      png_warning(png_ptr,
+         "It's an error to set both read_data_fn and write_data_fn in the ");
+      png_warning(png_ptr,
+         "same structure.  Resetting write_data_fn to NULL.");
+   }
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+   png_ptr->output_flush_fn = NULL;
+#endif
+}
+#endif /* PNG_READ_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrtran.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrtran.c
new file mode 100755
index 0000000..1c7f474
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrtran.c
@@ -0,0 +1,4382 @@
+
+/* pngrtran.c - transforms the data in a row for PNG readers
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file contains functions optionally called by an application
+ * in order to tell libpng how to handle data when reading a PNG.
+ * Transformations that are used in both reading and writing are
+ * in pngtrans.c.
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED)
+
+/* Set the action on getting a CRC error for an ancillary or critical chunk. */
+void PNGAPI
+png_set_crc_action(png_structp png_ptr, int crit_action, int ancil_action)
+{
+   png_debug(1, "in png_set_crc_action");
+   /* Tell libpng how we react to CRC errors in critical chunks */
+   if (png_ptr == NULL)
+      return;
+   switch (crit_action)
+   {
+      case PNG_CRC_NO_CHANGE:                        /* Leave setting as is */
+         break;
+
+      case PNG_CRC_WARN_USE:                               /* Warn/use data */
+         png_ptr->flags &= ~PNG_FLAG_CRC_CRITICAL_MASK;
+         png_ptr->flags |= PNG_FLAG_CRC_CRITICAL_USE;
+         break;
+
+      case PNG_CRC_QUIET_USE:                             /* Quiet/use data */
+         png_ptr->flags &= ~PNG_FLAG_CRC_CRITICAL_MASK;
+         png_ptr->flags |= PNG_FLAG_CRC_CRITICAL_USE |
+                           PNG_FLAG_CRC_CRITICAL_IGNORE;
+         break;
+
+      case PNG_CRC_WARN_DISCARD:    /* Not a valid action for critical data */
+         png_warning(png_ptr,
+            "Can't discard critical data on CRC error.");
+      case PNG_CRC_ERROR_QUIT:                                /* Error/quit */
+
+      case PNG_CRC_DEFAULT:
+      default:
+         png_ptr->flags &= ~PNG_FLAG_CRC_CRITICAL_MASK;
+         break;
+   }
+
+   switch (ancil_action)
+   {
+      case PNG_CRC_NO_CHANGE:                       /* Leave setting as is */
+         break;
+
+      case PNG_CRC_WARN_USE:                              /* Warn/use data */
+         png_ptr->flags &= ~PNG_FLAG_CRC_ANCILLARY_MASK;
+         png_ptr->flags |= PNG_FLAG_CRC_ANCILLARY_USE;
+         break;
+
+      case PNG_CRC_QUIET_USE:                            /* Quiet/use data */
+         png_ptr->flags &= ~PNG_FLAG_CRC_ANCILLARY_MASK;
+         png_ptr->flags |= PNG_FLAG_CRC_ANCILLARY_USE |
+                           PNG_FLAG_CRC_ANCILLARY_NOWARN;
+         break;
+
+      case PNG_CRC_ERROR_QUIT:                               /* Error/quit */
+         png_ptr->flags &= ~PNG_FLAG_CRC_ANCILLARY_MASK;
+         png_ptr->flags |= PNG_FLAG_CRC_ANCILLARY_NOWARN;
+         break;
+
+      case PNG_CRC_WARN_DISCARD:                      /* Warn/discard data */
+
+      case PNG_CRC_DEFAULT:
+      default:
+         png_ptr->flags &= ~PNG_FLAG_CRC_ANCILLARY_MASK;
+         break;
+   }
+}
+
+#if defined(PNG_READ_BACKGROUND_SUPPORTED) && \
+    defined(PNG_FLOATING_POINT_SUPPORTED)
+/* Handle alpha and tRNS via a background color */
+void PNGAPI
+png_set_background(png_structp png_ptr,
+   png_color_16p background_color, int background_gamma_code,
+   int need_expand, double background_gamma)
+{
+   png_debug(1, "in png_set_background");
+   if (png_ptr == NULL)
+      return;
+   if (background_gamma_code == PNG_BACKGROUND_GAMMA_UNKNOWN)
+   {
+      png_warning(png_ptr, "Application must supply a known background gamma");
+      return;
+   }
+
+   png_ptr->transformations |= PNG_BACKGROUND;
+   png_memcpy(&(png_ptr->background), background_color,
+      png_sizeof(png_color_16));
+   png_ptr->background_gamma = (float)background_gamma;
+   png_ptr->background_gamma_type = (png_byte)(background_gamma_code);
+   png_ptr->transformations |= (need_expand ? PNG_BACKGROUND_EXPAND : 0);
+}
+#endif
+
+#if defined(PNG_READ_16_TO_8_SUPPORTED)
+/* Strip 16 bit depth files to 8 bit depth */
+void PNGAPI
+png_set_strip_16(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_strip_16");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_16_TO_8;
+}
+#endif
+
+#if defined(PNG_READ_STRIP_ALPHA_SUPPORTED)
+void PNGAPI
+png_set_strip_alpha(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_strip_alpha");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->flags |= PNG_FLAG_STRIP_ALPHA;
+}
+#endif
+
+#if defined(PNG_READ_DITHER_SUPPORTED)
+/* Dither file to 8 bit.  Supply a palette, the current number
+ * of elements in the palette, the maximum number of elements
+ * allowed, and a histogram if possible.  If the current number
+ * of colors is greater then the maximum number, the palette will be
+ * modified to fit in the maximum number.  "full_dither" indicates
+ * whether we need a dithering cube set up for RGB images, or if we
+ * simply are reducing the number of colors in a paletted image.
+ */
+
+typedef struct png_dsort_struct
+{
+   struct png_dsort_struct FAR * next;
+   png_byte left;
+   png_byte right;
+} png_dsort;
+typedef png_dsort FAR *       png_dsortp;
+typedef png_dsort FAR * FAR * png_dsortpp;
+
+void PNGAPI
+png_set_dither(png_structp png_ptr, png_colorp palette,
+   int num_palette, int maximum_colors, png_uint_16p histogram,
+   int full_dither)
+{
+   png_debug(1, "in png_set_dither");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_DITHER;
+
+   if (!full_dither)
+   {
+      int i;
+
+      png_ptr->dither_index = (png_bytep)png_malloc(png_ptr,
+         (png_uint_32)(num_palette * png_sizeof(png_byte)));
+      for (i = 0; i < num_palette; i++)
+         png_ptr->dither_index[i] = (png_byte)i;
+   }
+
+   if (num_palette > maximum_colors)
+   {
+      if (histogram != NULL)
+      {
+         /* This is easy enough, just throw out the least used colors.
+          * Perhaps not the best solution, but good enough.
+          */
+
+         int i;
+
+         /* Initialize an array to sort colors */
+         png_ptr->dither_sort = (png_bytep)png_malloc(png_ptr,
+            (png_uint_32)(num_palette * png_sizeof(png_byte)));
+
+         /* Initialize the dither_sort array */
+         for (i = 0; i < num_palette; i++)
+            png_ptr->dither_sort[i] = (png_byte)i;
+
+         /* Find the least used palette entries by starting a
+          * bubble sort, and running it until we have sorted
+          * out enough colors.  Note that we don't care about
+          * sorting all the colors, just finding which are
+          * least used.
+          */
+
+         for (i = num_palette - 1; i >= maximum_colors; i--)
+         {
+            int done; /* To stop early if the list is pre-sorted */
+            int j;
+
+            done = 1;
+            for (j = 0; j < i; j++)
+            {
+               if (histogram[png_ptr->dither_sort[j]]
+                   < histogram[png_ptr->dither_sort[j + 1]])
+               {
+                  png_byte t;
+
+                  t = png_ptr->dither_sort[j];
+                  png_ptr->dither_sort[j] = png_ptr->dither_sort[j + 1];
+                  png_ptr->dither_sort[j + 1] = t;
+                  done = 0;
+               }
+            }
+            if (done)
+               break;
+         }
+
+         /* Swap the palette around, and set up a table, if necessary */
+         if (full_dither)
+         {
+            int j = num_palette;
+
+            /* Put all the useful colors within the max, but don't
+             * move the others.
+             */
+            for (i = 0; i < maximum_colors; i++)
+            {
+               if ((int)png_ptr->dither_sort[i] >= maximum_colors)
+               {
+                  do
+                     j--;
+                  while ((int)png_ptr->dither_sort[j] >= maximum_colors);
+                  palette[i] = palette[j];
+               }
+            }
+         }
+         else
+         {
+            int j = num_palette;
+
+            /* Move all the used colors inside the max limit, and
+             * develop a translation table.
+             */
+            for (i = 0; i < maximum_colors; i++)
+            {
+               /* Only move the colors we need to */
+               if ((int)png_ptr->dither_sort[i] >= maximum_colors)
+               {
+                  png_color tmp_color;
+
+                  do
+                     j--;
+                  while ((int)png_ptr->dither_sort[j] >= maximum_colors);
+
+                  tmp_color = palette[j];
+                  palette[j] = palette[i];
+                  palette[i] = tmp_color;
+                  /* Indicate where the color went */
+                  png_ptr->dither_index[j] = (png_byte)i;
+                  png_ptr->dither_index[i] = (png_byte)j;
+               }
+            }
+
+            /* Find closest color for those colors we are not using */
+            for (i = 0; i < num_palette; i++)
+            {
+               if ((int)png_ptr->dither_index[i] >= maximum_colors)
+               {
+                  int min_d, k, min_k, d_index;
+
+                  /* Find the closest color to one we threw out */
+                  d_index = png_ptr->dither_index[i];
+                  min_d = PNG_COLOR_DIST(palette[d_index], palette[0]);
+                  for (k = 1, min_k = 0; k < maximum_colors; k++)
+                  {
+                     int d;
+
+                     d = PNG_COLOR_DIST(palette[d_index], palette[k]);
+
+                     if (d < min_d)
+                     {
+                        min_d = d;
+                        min_k = k;
+                     }
+                  }
+                  /* Point to closest color */
+                  png_ptr->dither_index[i] = (png_byte)min_k;
+               }
+            }
+         }
+         png_free(png_ptr, png_ptr->dither_sort);
+         png_ptr->dither_sort = NULL;
+      }
+      else
+      {
+         /* This is much harder to do simply (and quickly).  Perhaps
+          * we need to go through a median cut routine, but those
+          * don't always behave themselves with only a few colors
+          * as input.  So we will just find the closest two colors,
+          * and throw out one of them (chosen somewhat randomly).
+          * [We don't understand this at all, so if someone wants to
+          *  work on improving it, be our guest - AED, GRP]
+          */
+         int i;
+         int max_d;
+         int num_new_palette;
+         png_dsortp t;
+         png_dsortpp hash;
+
+         t = NULL;
+
+         /* Initialize palette index arrays */
+         png_ptr->index_to_palette = (png_bytep)png_malloc(png_ptr,
+            (png_uint_32)(num_palette * png_sizeof(png_byte)));
+         png_ptr->palette_to_index = (png_bytep)png_malloc(png_ptr,
+            (png_uint_32)(num_palette * png_sizeof(png_byte)));
+
+         /* Initialize the sort array */
+         for (i = 0; i < num_palette; i++)
+         {
+            png_ptr->index_to_palette[i] = (png_byte)i;
+            png_ptr->palette_to_index[i] = (png_byte)i;
+         }
+
+         hash = (png_dsortpp)png_malloc(png_ptr, (png_uint_32)(769 *
+            png_sizeof(png_dsortp)));
+         png_memset(hash, 0, 769 * png_sizeof(png_dsortp));
+
+         num_new_palette = num_palette;
+
+         /* Initial wild guess at how far apart the farthest pixel
+          * pair we will be eliminating will be.  Larger
+          * numbers mean more areas will be allocated, Smaller
+          * numbers run the risk of not saving enough data, and
+          * having to do this all over again.
+          *
+          * I have not done extensive checking on this number.
+          */
+         max_d = 96;
+
+         while (num_new_palette > maximum_colors)
+         {
+            for (i = 0; i < num_new_palette - 1; i++)
+            {
+               int j;
+
+               for (j = i + 1; j < num_new_palette; j++)
+               {
+                  int d;
+
+                  d = PNG_COLOR_DIST(palette[i], palette[j]);
+
+                  if (d <= max_d)
+                  {
+
+                     t = (png_dsortp)png_malloc_warn(png_ptr,
+                         (png_uint_32)(png_sizeof(png_dsort)));
+                     if (t == NULL)
+                         break;
+                     t->next = hash[d];
+                     t->left = (png_byte)i;
+                     t->right = (png_byte)j;
+                     hash[d] = t;
+                  }
+               }
+               if (t == NULL)
+                  break;
+            }
+
+            if (t != NULL)
+            for (i = 0; i <= max_d; i++)
+            {
+               if (hash[i] != NULL)
+               {
+                  png_dsortp p;
+
+                  for (p = hash[i]; p; p = p->next)
+                  {
+                     if ((int)png_ptr->index_to_palette[p->left]
+                        < num_new_palette &&
+                        (int)png_ptr->index_to_palette[p->right]
+                        < num_new_palette)
+                     {
+                        int j, next_j;
+
+                        if (num_new_palette & 0x01)
+                        {
+                           j = p->left;
+                           next_j = p->right;
+                        }
+                        else
+                        {
+                           j = p->right;
+                           next_j = p->left;
+                        }
+
+                        num_new_palette--;
+                        palette[png_ptr->index_to_palette[j]]
+                          = palette[num_new_palette];
+                        if (!full_dither)
+                        {
+                           int k;
+
+                           for (k = 0; k < num_palette; k++)
+                           {
+                              if (png_ptr->dither_index[k] ==
+                                 png_ptr->index_to_palette[j])
+                                 png_ptr->dither_index[k] =
+                                    png_ptr->index_to_palette[next_j];
+                              if ((int)png_ptr->dither_index[k] ==
+                                 num_new_palette)
+                                 png_ptr->dither_index[k] =
+                                    png_ptr->index_to_palette[j];
+                           }
+                        }
+
+                        png_ptr->index_to_palette[png_ptr->palette_to_index
+                           [num_new_palette]] = png_ptr->index_to_palette[j];
+                        png_ptr->palette_to_index[png_ptr->index_to_palette[j]]
+                           = png_ptr->palette_to_index[num_new_palette];
+
+                        png_ptr->index_to_palette[j] = (png_byte)num_new_palette;
+                        png_ptr->palette_to_index[num_new_palette] = (png_byte)j;
+                     }
+                     if (num_new_palette <= maximum_colors)
+                        break;
+                  }
+                  if (num_new_palette <= maximum_colors)
+                     break;
+               }
+            }
+
+            for (i = 0; i < 769; i++)
+            {
+               if (hash[i] != NULL)
+               {
+                  png_dsortp p = hash[i];
+                  while (p)
+                  {
+                     t = p->next;
+                     png_free(png_ptr, p);
+                     p = t;
+                  }
+               }
+               hash[i] = 0;
+            }
+            max_d += 96;
+         }
+         png_free(png_ptr, hash);
+         png_free(png_ptr, png_ptr->palette_to_index);
+         png_free(png_ptr, png_ptr->index_to_palette);
+         png_ptr->palette_to_index = NULL;
+         png_ptr->index_to_palette = NULL;
+      }
+      num_palette = maximum_colors;
+   }
+   if (png_ptr->palette == NULL)
+   {
+      png_ptr->palette = palette;
+   }
+   png_ptr->num_palette = (png_uint_16)num_palette;
+
+   if (full_dither)
+   {
+      int i;
+      png_bytep distance;
+      int total_bits = PNG_DITHER_RED_BITS + PNG_DITHER_GREEN_BITS +
+         PNG_DITHER_BLUE_BITS;
+      int num_red = (1 << PNG_DITHER_RED_BITS);
+      int num_green = (1 << PNG_DITHER_GREEN_BITS);
+      int num_blue = (1 << PNG_DITHER_BLUE_BITS);
+      png_size_t num_entries = ((png_size_t)1 << total_bits);
+      png_ptr->palette_lookup = (png_bytep )png_malloc(png_ptr,
+         (png_uint_32)(num_entries * png_sizeof(png_byte)));
+      png_memset(png_ptr->palette_lookup, 0, num_entries *
+         png_sizeof(png_byte));
+
+      distance = (png_bytep)png_malloc(png_ptr, (png_uint_32)(num_entries *
+         png_sizeof(png_byte)));
+
+      png_memset(distance, 0xff, num_entries * png_sizeof(png_byte));
+
+      for (i = 0; i < num_palette; i++)
+      {
+         int ir, ig, ib;
+         int r = (palette[i].red >> (8 - PNG_DITHER_RED_BITS));
+         int g = (palette[i].green >> (8 - PNG_DITHER_GREEN_BITS));
+         int b = (palette[i].blue >> (8 - PNG_DITHER_BLUE_BITS));
+
+         for (ir = 0; ir < num_red; ir++)
+         {
+            /* int dr = abs(ir - r); */
+            int dr = ((ir > r) ? ir - r : r - ir);
+            int index_r = (ir << (PNG_DITHER_BLUE_BITS + PNG_DITHER_GREEN_BITS));
+
+            for (ig = 0; ig < num_green; ig++)
+            {
+               /* int dg = abs(ig - g); */
+               int dg = ((ig > g) ? ig - g : g - ig);
+               int dt = dr + dg;
+               int dm = ((dr > dg) ? dr : dg);
+               int index_g = index_r | (ig << PNG_DITHER_BLUE_BITS);
+
+               for (ib = 0; ib < num_blue; ib++)
+               {
+                  int d_index = index_g | ib;
+                  /* int db = abs(ib - b); */
+                  int db = ((ib > b) ? ib - b : b - ib);
+                  int dmax = ((dm > db) ? dm : db);
+                  int d = dmax + dt + db;
+
+                  if (d < (int)distance[d_index])
+                  {
+                     distance[d_index] = (png_byte)d;
+                     png_ptr->palette_lookup[d_index] = (png_byte)i;
+                  }
+               }
+            }
+         }
+      }
+
+      png_free(png_ptr, distance);
+   }
+}
+#endif
+
+#if defined(PNG_READ_GAMMA_SUPPORTED) && defined(PNG_FLOATING_POINT_SUPPORTED)
+/* Transform the image from the file_gamma to the screen_gamma.  We
+ * only do transformations on images where the file_gamma and screen_gamma
+ * are not close reciprocals, otherwise it slows things down slightly, and
+ * also needlessly introduces small errors.
+ *
+ * We will turn off gamma transformation later if no semitransparent entries
+ * are present in the tRNS array for palette images.  We can't do it here
+ * because we don't necessarily have the tRNS chunk yet.
+ */
+void PNGAPI
+png_set_gamma(png_structp png_ptr, double scrn_gamma, double file_gamma)
+{
+   png_debug(1, "in png_set_gamma");
+   if (png_ptr == NULL)
+      return;
+   if ((fabs(scrn_gamma * file_gamma - 1.0) > PNG_GAMMA_THRESHOLD) ||
+       (png_ptr->color_type & PNG_COLOR_MASK_ALPHA) ||
+       (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE))
+     png_ptr->transformations |= PNG_GAMMA;
+   png_ptr->gamma = (float)file_gamma;
+   png_ptr->screen_gamma = (float)scrn_gamma;
+}
+#endif
+
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+/* Expand paletted images to RGB, expand grayscale images of
+ * less than 8-bit depth to 8-bit depth, and expand tRNS chunks
+ * to alpha channels.
+ */
+void PNGAPI
+png_set_expand(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_expand");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= (PNG_EXPAND | PNG_EXPAND_tRNS);
+   png_ptr->flags &= ~PNG_FLAG_ROW_INIT;
+}
+
+/* GRR 19990627:  the following three functions currently are identical
+ *  to png_set_expand().  However, it is entirely reasonable that someone
+ *  might wish to expand an indexed image to RGB but *not* expand a single,
+ *  fully transparent palette entry to a full alpha channel--perhaps instead
+ *  convert tRNS to the grayscale/RGB format (16-bit RGB value), or replace
+ *  the transparent color with a particular RGB value, or drop tRNS entirely.
+ *  IOW, a future version of the library may make the transformations flag
+ *  a bit more fine-grained, with separate bits for each of these three
+ *  functions.
+ *
+ *  More to the point, these functions make it obvious what libpng will be
+ *  doing, whereas "expand" can (and does) mean any number of things.
+ *
+ *  GRP 20060307: In libpng-1.4.0, png_set_gray_1_2_4_to_8() was modified
+ *  to expand only the sample depth but not to expand the tRNS to alpha.
+ */
+
+/* Expand paletted images to RGB. */
+void PNGAPI
+png_set_palette_to_rgb(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_palette_to_rgb");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= (PNG_EXPAND | PNG_EXPAND_tRNS);
+   png_ptr->flags &= ~PNG_FLAG_ROW_INIT;
+}
+
+#if !defined(PNG_1_0_X)
+/* Expand grayscale images of less than 8-bit depth to 8 bits. */
+void PNGAPI
+png_set_expand_gray_1_2_4_to_8(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_expand_gray_1_2_4_to_8");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_EXPAND;
+   png_ptr->flags &= ~PNG_FLAG_ROW_INIT;
+}
+#endif
+
+#if defined(PNG_1_0_X) || defined(PNG_1_2_X)
+/* Expand grayscale images of less than 8-bit depth to 8 bits. */
+/* Deprecated as of libpng-1.2.9 */
+void PNGAPI
+png_set_gray_1_2_4_to_8(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_gray_1_2_4_to_8");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= (PNG_EXPAND | PNG_EXPAND_tRNS);
+}
+#endif
+
+
+/* Expand tRNS chunks to alpha channels. */
+void PNGAPI
+png_set_tRNS_to_alpha(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_tRNS_to_alpha");
+   png_ptr->transformations |= (PNG_EXPAND | PNG_EXPAND_tRNS);
+   png_ptr->flags &= ~PNG_FLAG_ROW_INIT;
+}
+#endif /* defined(PNG_READ_EXPAND_SUPPORTED) */
+
+#if defined(PNG_READ_GRAY_TO_RGB_SUPPORTED)
+void PNGAPI
+png_set_gray_to_rgb(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_gray_to_rgb");
+   png_ptr->transformations |= PNG_GRAY_TO_RGB;
+   png_ptr->flags &= ~PNG_FLAG_ROW_INIT;
+}
+#endif
+
+#if defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+#if defined(PNG_FLOATING_POINT_SUPPORTED)
+/* Convert a RGB image to a grayscale of the same width.  This allows us,
+ * for example, to convert a 24 bpp RGB image into an 8 bpp grayscale image.
+ */
+
+void PNGAPI
+png_set_rgb_to_gray(png_structp png_ptr, int error_action, double red,
+   double green)
+{
+   int red_fixed = (int)((float)red*100000.0 + 0.5);
+   int green_fixed = (int)((float)green*100000.0 + 0.5);
+   if (png_ptr == NULL)
+      return;
+   png_set_rgb_to_gray_fixed(png_ptr, error_action, red_fixed, green_fixed);
+}
+#endif
+
+void PNGAPI
+png_set_rgb_to_gray_fixed(png_structp png_ptr, int error_action,
+   png_fixed_point red, png_fixed_point green)
+{
+   png_debug(1, "in png_set_rgb_to_gray");
+   if (png_ptr == NULL)
+      return;
+   switch(error_action)
+   {
+      case 1: png_ptr->transformations |= PNG_RGB_TO_GRAY;
+              break;
+
+      case 2: png_ptr->transformations |= PNG_RGB_TO_GRAY_WARN;
+              break;
+
+      case 3: png_ptr->transformations |= PNG_RGB_TO_GRAY_ERR;
+   }
+   if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+      png_ptr->transformations |= PNG_EXPAND;
+#else
+   {
+      png_warning(png_ptr,
+        "Cannot do RGB_TO_GRAY without EXPAND_SUPPORTED.");
+      png_ptr->transformations &= ~PNG_RGB_TO_GRAY;
+   }
+#endif
+   {
+      png_uint_16 red_int, green_int;
+      if (red < 0 || green < 0)
+      {
+         red_int   =  6968; /* .212671 * 32768 + .5 */
+         green_int = 23434; /* .715160 * 32768 + .5 */
+      }
+      else if (red + green < 100000L)
+      {
+         red_int = (png_uint_16)(((png_uint_32)red*32768L)/100000L);
+         green_int = (png_uint_16)(((png_uint_32)green*32768L)/100000L);
+      }
+      else
+      {
+         png_warning(png_ptr, "ignoring out of range rgb_to_gray coefficients");
+         red_int   =  6968;
+         green_int = 23434;
+      }
+      png_ptr->rgb_to_gray_red_coeff   = red_int;
+      png_ptr->rgb_to_gray_green_coeff = green_int;
+      png_ptr->rgb_to_gray_blue_coeff  =
+         (png_uint_16)(32768 - red_int - green_int);
+   }
+}
+#endif
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_LEGACY_SUPPORTED)
+void PNGAPI
+png_set_read_user_transform_fn(png_structp png_ptr, png_user_transform_ptr
+   read_user_transform_fn)
+{
+   png_debug(1, "in png_set_read_user_transform_fn");
+   if (png_ptr == NULL)
+      return;
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED)
+   png_ptr->transformations |= PNG_USER_TRANSFORM;
+   png_ptr->read_user_transform_fn = read_user_transform_fn;
+#endif
+#ifdef PNG_LEGACY_SUPPORTED
+   if (read_user_transform_fn)
+      png_warning(png_ptr,
+        "This version of libpng does not support user transforms");
+#endif
+}
+#endif
+
+/* Initialize everything needed for the read.  This includes modifying
+ * the palette.
+ */
+void /* PRIVATE */
+png_init_read_transformations(png_structp png_ptr)
+{
+   png_debug(1, "in png_init_read_transformations");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (png_ptr != NULL)
+#endif
+  {
+#if defined(PNG_READ_BACKGROUND_SUPPORTED) || defined(PNG_READ_SHIFT_SUPPORTED) \
+ || defined(PNG_READ_GAMMA_SUPPORTED)
+   int color_type = png_ptr->color_type;
+#endif
+
+#if defined(PNG_READ_EXPAND_SUPPORTED) && defined(PNG_READ_BACKGROUND_SUPPORTED)
+
+#if defined(PNG_READ_GRAY_TO_RGB_SUPPORTED)
+   /* Detect gray background and attempt to enable optimization
+    * for gray --> RGB case
+    *
+    * Note:  if PNG_BACKGROUND_EXPAND is set and color_type is either RGB or
+    * RGB_ALPHA (in which case need_expand is superfluous anyway), the
+    * background color might actually be gray yet not be flagged as such.
+    * This is not a problem for the current code, which uses
+    * PNG_BACKGROUND_IS_GRAY only to decide when to do the
+    * png_do_gray_to_rgb() transformation.
+    */
+   if ((png_ptr->transformations & PNG_BACKGROUND_EXPAND) &&
+       !(color_type & PNG_COLOR_MASK_COLOR))
+   {
+          png_ptr->mode |= PNG_BACKGROUND_IS_GRAY;
+   } else if ((png_ptr->transformations & PNG_BACKGROUND) &&
+              !(png_ptr->transformations & PNG_BACKGROUND_EXPAND) &&
+              (png_ptr->transformations & PNG_GRAY_TO_RGB) &&
+              png_ptr->background.red == png_ptr->background.green &&
+              png_ptr->background.red == png_ptr->background.blue)
+   {
+          png_ptr->mode |= PNG_BACKGROUND_IS_GRAY;
+          png_ptr->background.gray = png_ptr->background.red;
+   }
+#endif
+
+   if ((png_ptr->transformations & PNG_BACKGROUND_EXPAND) &&
+       (png_ptr->transformations & PNG_EXPAND))
+   {
+      if (!(color_type & PNG_COLOR_MASK_COLOR))  /* i.e., GRAY or GRAY_ALPHA */
+      {
+         /* Expand background and tRNS chunks */
+         switch (png_ptr->bit_depth)
+         {
+            case 1:
+               png_ptr->background.gray *= (png_uint_16)0xff;
+               png_ptr->background.red = png_ptr->background.green
+                 =  png_ptr->background.blue = png_ptr->background.gray;
+               if (!(png_ptr->transformations & PNG_EXPAND_tRNS))
+               {
+                 png_ptr->trans_values.gray *= (png_uint_16)0xff;
+                 png_ptr->trans_values.red = png_ptr->trans_values.green
+                   = png_ptr->trans_values.blue = png_ptr->trans_values.gray;
+               }
+               break;
+
+            case 2:
+               png_ptr->background.gray *= (png_uint_16)0x55;
+               png_ptr->background.red = png_ptr->background.green
+                 = png_ptr->background.blue = png_ptr->background.gray;
+               if (!(png_ptr->transformations & PNG_EXPAND_tRNS))
+               {
+                 png_ptr->trans_values.gray *= (png_uint_16)0x55;
+                 png_ptr->trans_values.red = png_ptr->trans_values.green
+                   = png_ptr->trans_values.blue = png_ptr->trans_values.gray;
+               }
+               break;
+
+            case 4:
+               png_ptr->background.gray *= (png_uint_16)0x11;
+               png_ptr->background.red = png_ptr->background.green
+                 = png_ptr->background.blue = png_ptr->background.gray;
+               if (!(png_ptr->transformations & PNG_EXPAND_tRNS))
+               {
+                 png_ptr->trans_values.gray *= (png_uint_16)0x11;
+                 png_ptr->trans_values.red = png_ptr->trans_values.green
+                   = png_ptr->trans_values.blue = png_ptr->trans_values.gray;
+               }
+               break;
+
+            case 8:
+
+            case 16:
+               png_ptr->background.red = png_ptr->background.green
+                 = png_ptr->background.blue = png_ptr->background.gray;
+               break;
+         }
+      }
+      else if (color_type == PNG_COLOR_TYPE_PALETTE)
+      {
+         png_ptr->background.red   =
+            png_ptr->palette[png_ptr->background.index].red;
+         png_ptr->background.green =
+            png_ptr->palette[png_ptr->background.index].green;
+         png_ptr->background.blue  =
+            png_ptr->palette[png_ptr->background.index].blue;
+
+#if defined(PNG_READ_INVERT_ALPHA_SUPPORTED)
+        if (png_ptr->transformations & PNG_INVERT_ALPHA)
+        {
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+           if (!(png_ptr->transformations & PNG_EXPAND_tRNS))
+#endif
+           {
+           /* Invert the alpha channel (in tRNS) unless the pixels are
+            * going to be expanded, in which case leave it for later
+            */
+              int i, istop;
+              istop=(int)png_ptr->num_trans;
+              for (i=0; i<istop; i++)
+                 png_ptr->trans[i] = (png_byte)(255 - png_ptr->trans[i]);
+           }
+        }
+#endif
+
+      }
+   }
+#endif
+
+#if defined(PNG_READ_BACKGROUND_SUPPORTED) && defined(PNG_READ_GAMMA_SUPPORTED)
+   png_ptr->background_1 = png_ptr->background;
+#endif
+#if defined(PNG_READ_GAMMA_SUPPORTED) && defined(PNG_FLOATING_POINT_SUPPORTED)
+
+   if ((color_type == PNG_COLOR_TYPE_PALETTE && png_ptr->num_trans != 0)
+       && (fabs(png_ptr->screen_gamma * png_ptr->gamma - 1.0)
+         < PNG_GAMMA_THRESHOLD))
+   {
+    int i, k;
+    k=0;
+    for (i=0; i<png_ptr->num_trans; i++)
+    {
+      if (png_ptr->trans[i] != 0 && png_ptr->trans[i] != 0xff)
+        k=1; /* Partial transparency is present */
+    }
+    if (k == 0)
+      png_ptr->transformations &= ~PNG_GAMMA;
+   }
+
+   if ((png_ptr->transformations & (PNG_GAMMA | PNG_RGB_TO_GRAY)) &&
+        png_ptr->gamma != 0.0)
+   {
+      png_build_gamma_table(png_ptr);
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+      if (png_ptr->transformations & PNG_BACKGROUND)
+      {
+         if (color_type == PNG_COLOR_TYPE_PALETTE)
+         {
+           /* Could skip if no transparency */
+            png_color back, back_1;
+            png_colorp palette = png_ptr->palette;
+            int num_palette = png_ptr->num_palette;
+            int i;
+            if (png_ptr->background_gamma_type == PNG_BACKGROUND_GAMMA_FILE)
+            {
+               back.red = png_ptr->gamma_table[png_ptr->background.red];
+               back.green = png_ptr->gamma_table[png_ptr->background.green];
+               back.blue = png_ptr->gamma_table[png_ptr->background.blue];
+
+               back_1.red = png_ptr->gamma_to_1[png_ptr->background.red];
+               back_1.green = png_ptr->gamma_to_1[png_ptr->background.green];
+               back_1.blue = png_ptr->gamma_to_1[png_ptr->background.blue];
+            }
+            else
+            {
+               double g, gs;
+
+               switch (png_ptr->background_gamma_type)
+               {
+                  case PNG_BACKGROUND_GAMMA_SCREEN:
+                     g = (png_ptr->screen_gamma);
+                     gs = 1.0;
+                     break;
+
+                  case PNG_BACKGROUND_GAMMA_FILE:
+                     g = 1.0 / (png_ptr->gamma);
+                     gs = 1.0 / (png_ptr->gamma * png_ptr->screen_gamma);
+                     break;
+
+                  case PNG_BACKGROUND_GAMMA_UNIQUE:
+                     g = 1.0 / (png_ptr->background_gamma);
+                     gs = 1.0 / (png_ptr->background_gamma *
+                                 png_ptr->screen_gamma);
+                     break;
+                  default:
+                     g = 1.0;    /* back_1 */
+                     gs = 1.0;   /* back */
+               }
+
+               if ( fabs(gs - 1.0) < PNG_GAMMA_THRESHOLD)
+               {
+                  back.red   = (png_byte)png_ptr->background.red;
+                  back.green = (png_byte)png_ptr->background.green;
+                  back.blue  = (png_byte)png_ptr->background.blue;
+               }
+               else
+               {
+                  back.red = (png_byte)(pow(
+                     (double)png_ptr->background.red/255, gs) * 255.0 + .5);
+                  back.green = (png_byte)(pow(
+                     (double)png_ptr->background.green/255, gs) * 255.0 + .5);
+                  back.blue = (png_byte)(pow(
+                     (double)png_ptr->background.blue/255, gs) * 255.0 + .5);
+               }
+
+               back_1.red = (png_byte)(pow(
+                  (double)png_ptr->background.red/255, g) * 255.0 + .5);
+               back_1.green = (png_byte)(pow(
+                  (double)png_ptr->background.green/255, g) * 255.0 + .5);
+               back_1.blue = (png_byte)(pow(
+                  (double)png_ptr->background.blue/255, g) * 255.0 + .5);
+            }
+            for (i = 0; i < num_palette; i++)
+            {
+               if (i < (int)png_ptr->num_trans && png_ptr->trans[i] != 0xff)
+               {
+                  if (png_ptr->trans[i] == 0)
+                  {
+                     palette[i] = back;
+                  }
+                  else /* if (png_ptr->trans[i] != 0xff) */
+                  {
+                     png_byte v, w;
+
+                     v = png_ptr->gamma_to_1[palette[i].red];
+                     png_composite(w, v, png_ptr->trans[i], back_1.red);
+                     palette[i].red = png_ptr->gamma_from_1[w];
+
+                     v = png_ptr->gamma_to_1[palette[i].green];
+                     png_composite(w, v, png_ptr->trans[i], back_1.green);
+                     palette[i].green = png_ptr->gamma_from_1[w];
+
+                     v = png_ptr->gamma_to_1[palette[i].blue];
+                     png_composite(w, v, png_ptr->trans[i], back_1.blue);
+                     palette[i].blue = png_ptr->gamma_from_1[w];
+                  }
+               }
+               else
+               {
+                  palette[i].red = png_ptr->gamma_table[palette[i].red];
+                  palette[i].green = png_ptr->gamma_table[palette[i].green];
+                  palette[i].blue = png_ptr->gamma_table[palette[i].blue];
+               }
+            }
+	    /* Prevent the transformations being done again, and make sure
+	     * that the now spurious alpha channel is stripped - the code
+	     * has just reduced background composition and gamma correction
+	     * to a simple alpha channel strip.
+	     */
+	    png_ptr->transformations &= ~PNG_BACKGROUND;
+	    png_ptr->transformations &= ~PNG_GAMMA;
+	    png_ptr->transformations |= PNG_STRIP_ALPHA;
+         }
+         /* if (png_ptr->background_gamma_type!=PNG_BACKGROUND_GAMMA_UNKNOWN) */
+         else
+         /* color_type != PNG_COLOR_TYPE_PALETTE */
+         {
+            double m = (double)(((png_uint_32)1 << png_ptr->bit_depth) - 1);
+            double g = 1.0;
+            double gs = 1.0;
+
+            switch (png_ptr->background_gamma_type)
+            {
+               case PNG_BACKGROUND_GAMMA_SCREEN:
+                  g = (png_ptr->screen_gamma);
+                  gs = 1.0;
+                  break;
+
+               case PNG_BACKGROUND_GAMMA_FILE:
+                  g = 1.0 / (png_ptr->gamma);
+                  gs = 1.0 / (png_ptr->gamma * png_ptr->screen_gamma);
+                  break;
+
+               case PNG_BACKGROUND_GAMMA_UNIQUE:
+                  g = 1.0 / (png_ptr->background_gamma);
+                  gs = 1.0 / (png_ptr->background_gamma *
+                     png_ptr->screen_gamma);
+                  break;
+            }
+
+            png_ptr->background_1.gray = (png_uint_16)(pow(
+               (double)png_ptr->background.gray / m, g) * m + .5);
+            png_ptr->background.gray = (png_uint_16)(pow(
+               (double)png_ptr->background.gray / m, gs) * m + .5);
+
+            if ((png_ptr->background.red != png_ptr->background.green) ||
+                (png_ptr->background.red != png_ptr->background.blue) ||
+                (png_ptr->background.red != png_ptr->background.gray))
+            {
+               /* RGB or RGBA with color background */
+               png_ptr->background_1.red = (png_uint_16)(pow(
+                  (double)png_ptr->background.red / m, g) * m + .5);
+               png_ptr->background_1.green = (png_uint_16)(pow(
+                  (double)png_ptr->background.green / m, g) * m + .5);
+               png_ptr->background_1.blue = (png_uint_16)(pow(
+                  (double)png_ptr->background.blue / m, g) * m + .5);
+               png_ptr->background.red = (png_uint_16)(pow(
+                  (double)png_ptr->background.red / m, gs) * m + .5);
+               png_ptr->background.green = (png_uint_16)(pow(
+                  (double)png_ptr->background.green / m, gs) * m + .5);
+               png_ptr->background.blue = (png_uint_16)(pow(
+                  (double)png_ptr->background.blue / m, gs) * m + .5);
+            }
+            else
+            {
+               /* GRAY, GRAY ALPHA, RGB, or RGBA with gray background */
+               png_ptr->background_1.red = png_ptr->background_1.green
+                 = png_ptr->background_1.blue = png_ptr->background_1.gray;
+               png_ptr->background.red = png_ptr->background.green
+                 = png_ptr->background.blue = png_ptr->background.gray;
+            }
+         }
+      }
+      else
+      /* Transformation does not include PNG_BACKGROUND */
+#endif /* PNG_READ_BACKGROUND_SUPPORTED */
+      if (color_type == PNG_COLOR_TYPE_PALETTE)
+      {
+         png_colorp palette = png_ptr->palette;
+         int num_palette = png_ptr->num_palette;
+         int i;
+
+         for (i = 0; i < num_palette; i++)
+         {
+            palette[i].red = png_ptr->gamma_table[palette[i].red];
+            palette[i].green = png_ptr->gamma_table[palette[i].green];
+            palette[i].blue = png_ptr->gamma_table[palette[i].blue];
+         }
+
+	 /* Done the gamma correction. */
+	 png_ptr->transformations &= ~PNG_GAMMA;
+      }
+   }
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+   else
+#endif
+#endif /* PNG_READ_GAMMA_SUPPORTED && PNG_FLOATING_POINT_SUPPORTED */
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+   /* No GAMMA transformation */
+   if ((png_ptr->transformations & PNG_BACKGROUND) &&
+       (color_type == PNG_COLOR_TYPE_PALETTE))
+   {
+      int i;
+      int istop = (int)png_ptr->num_trans;
+      png_color back;
+      png_colorp palette = png_ptr->palette;
+
+      back.red   = (png_byte)png_ptr->background.red;
+      back.green = (png_byte)png_ptr->background.green;
+      back.blue  = (png_byte)png_ptr->background.blue;
+
+      for (i = 0; i < istop; i++)
+      {
+         if (png_ptr->trans[i] == 0)
+         {
+            palette[i] = back;
+         }
+         else if (png_ptr->trans[i] != 0xff)
+         {
+            /* The png_composite() macro is defined in png.h */
+            png_composite(palette[i].red, palette[i].red,
+               png_ptr->trans[i], back.red);
+            png_composite(palette[i].green, palette[i].green,
+               png_ptr->trans[i], back.green);
+            png_composite(palette[i].blue, palette[i].blue,
+               png_ptr->trans[i], back.blue);
+         }
+      }
+
+      /* Handled alpha, still need to strip the channel. */
+      png_ptr->transformations &= ~PNG_BACKGROUND;
+      png_ptr->transformations |= PNG_STRIP_ALPHA;
+   }
+#endif /* PNG_READ_BACKGROUND_SUPPORTED */
+
+#if defined(PNG_READ_SHIFT_SUPPORTED)
+   if ((png_ptr->transformations & PNG_SHIFT) &&
+      (color_type == PNG_COLOR_TYPE_PALETTE))
+   {
+      png_uint_16 i;
+      png_uint_16 istop = png_ptr->num_palette;
+      int sr = 8 - png_ptr->sig_bit.red;
+      int sg = 8 - png_ptr->sig_bit.green;
+      int sb = 8 - png_ptr->sig_bit.blue;
+
+      if (sr < 0 || sr > 8)
+         sr = 0;
+      if (sg < 0 || sg > 8)
+         sg = 0;
+      if (sb < 0 || sb > 8)
+         sb = 0;
+      for (i = 0; i < istop; i++)
+      {
+         png_ptr->palette[i].red >>= sr;
+         png_ptr->palette[i].green >>= sg;
+         png_ptr->palette[i].blue >>= sb;
+      }
+   }
+#endif  /* PNG_READ_SHIFT_SUPPORTED */
+ }
+#if !defined(PNG_READ_GAMMA_SUPPORTED) && !defined(PNG_READ_SHIFT_SUPPORTED) \
+ && !defined(PNG_READ_BACKGROUND_SUPPORTED)
+   if (png_ptr)
+      return;
+#endif
+}
+
+/* Modify the info structure to reflect the transformations.  The
+ * info should be updated so a PNG file could be written with it,
+ * assuming the transformations result in valid PNG data.
+ */
+void /* PRIVATE */
+png_read_transform_info(png_structp png_ptr, png_infop info_ptr)
+{
+   png_debug(1, "in png_read_transform_info");
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+   if (png_ptr->transformations & PNG_EXPAND)
+   {
+      if (info_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      {
+         if (png_ptr->num_trans &&
+              (png_ptr->transformations & PNG_EXPAND_tRNS))
+            info_ptr->color_type = PNG_COLOR_TYPE_RGB_ALPHA;
+         else
+            info_ptr->color_type = PNG_COLOR_TYPE_RGB;
+         info_ptr->bit_depth = 8;
+         info_ptr->num_trans = 0;
+      }
+      else
+      {
+         if (png_ptr->num_trans)
+         {
+            if (png_ptr->transformations & PNG_EXPAND_tRNS)
+              info_ptr->color_type |= PNG_COLOR_MASK_ALPHA;
+#if 0 /* Removed from libpng-1.2.27 */
+            else
+              info_ptr->color_type |= PNG_COLOR_MASK_COLOR;
+#endif
+         }
+         if (info_ptr->bit_depth < 8)
+            info_ptr->bit_depth = 8;
+         info_ptr->num_trans = 0;
+      }
+   }
+#endif
+
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+   if (png_ptr->transformations & PNG_BACKGROUND)
+   {
+      info_ptr->color_type &= ~PNG_COLOR_MASK_ALPHA;
+      info_ptr->num_trans = 0;
+      info_ptr->background = png_ptr->background;
+   }
+#endif
+
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+   if (png_ptr->transformations & PNG_GAMMA)
+   {
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+      info_ptr->gamma = png_ptr->gamma;
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+      info_ptr->int_gamma = png_ptr->int_gamma;
+#endif
+   }
+#endif
+
+#if defined(PNG_READ_16_TO_8_SUPPORTED)
+   if ((png_ptr->transformations & PNG_16_TO_8) && (info_ptr->bit_depth == 16))
+      info_ptr->bit_depth = 8;
+#endif
+
+#if defined(PNG_READ_GRAY_TO_RGB_SUPPORTED)
+   if (png_ptr->transformations & PNG_GRAY_TO_RGB)
+      info_ptr->color_type |= PNG_COLOR_MASK_COLOR;
+#endif
+
+#if defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+   if (png_ptr->transformations & PNG_RGB_TO_GRAY)
+      info_ptr->color_type &= ~PNG_COLOR_MASK_COLOR;
+#endif
+
+#if defined(PNG_READ_DITHER_SUPPORTED)
+   if (png_ptr->transformations & PNG_DITHER)
+   {
+      if (((info_ptr->color_type == PNG_COLOR_TYPE_RGB) ||
+          (info_ptr->color_type == PNG_COLOR_TYPE_RGB_ALPHA)) &&
+          png_ptr->palette_lookup && info_ptr->bit_depth == 8)
+      {
+         info_ptr->color_type = PNG_COLOR_TYPE_PALETTE;
+      }
+   }
+#endif
+
+#if defined(PNG_READ_PACK_SUPPORTED)
+   if ((png_ptr->transformations & PNG_PACK) && (info_ptr->bit_depth < 8))
+      info_ptr->bit_depth = 8;
+#endif
+
+   if (info_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      info_ptr->channels = 1;
+   else if (info_ptr->color_type & PNG_COLOR_MASK_COLOR)
+      info_ptr->channels = 3;
+   else
+      info_ptr->channels = 1;
+
+#if defined(PNG_READ_STRIP_ALPHA_SUPPORTED)
+   if (png_ptr->flags & PNG_FLAG_STRIP_ALPHA)
+      info_ptr->color_type &= ~PNG_COLOR_MASK_ALPHA;
+#endif
+
+   if (info_ptr->color_type & PNG_COLOR_MASK_ALPHA)
+      info_ptr->channels++;
+
+#if defined(PNG_READ_FILLER_SUPPORTED)
+   /* STRIP_ALPHA and FILLER allowed:  MASK_ALPHA bit stripped above */
+   if ((png_ptr->transformations & PNG_FILLER) &&
+       ((info_ptr->color_type == PNG_COLOR_TYPE_RGB) ||
+       (info_ptr->color_type == PNG_COLOR_TYPE_GRAY)))
+   {
+      info_ptr->channels++;
+      /* If adding a true alpha channel not just filler */
+#if !defined(PNG_1_0_X)
+      if (png_ptr->transformations & PNG_ADD_ALPHA)
+        info_ptr->color_type |= PNG_COLOR_MASK_ALPHA;
+#endif
+   }
+#endif
+
+#if defined(PNG_USER_TRANSFORM_PTR_SUPPORTED) && \
+defined(PNG_READ_USER_TRANSFORM_SUPPORTED)
+   if (png_ptr->transformations & PNG_USER_TRANSFORM)
+     {
+       if (info_ptr->bit_depth < png_ptr->user_transform_depth)
+         info_ptr->bit_depth = png_ptr->user_transform_depth;
+       if (info_ptr->channels < png_ptr->user_transform_channels)
+         info_ptr->channels = png_ptr->user_transform_channels;
+     }
+#endif
+
+   info_ptr->pixel_depth = (png_byte)(info_ptr->channels *
+      info_ptr->bit_depth);
+
+   info_ptr->rowbytes = PNG_ROWBYTES(info_ptr->pixel_depth, info_ptr->width);
+
+#if !defined(PNG_READ_EXPAND_SUPPORTED)
+   if (png_ptr)
+      return;
+#endif
+}
+
+/* Transform the row.  The order of transformations is significant,
+ * and is very touchy.  If you add a transformation, take care to
+ * decide how it fits in with the other transformations here.
+ */
+void /* PRIVATE */
+png_do_read_transformations(png_structp png_ptr)
+{
+   png_debug(1, "in png_do_read_transformations");
+   if (png_ptr->row_buf == NULL)
+   {
+#if !defined(PNG_NO_STDIO) && !defined(_WIN32_WCE)
+      char msg[50];
+
+      png_snprintf2(msg, 50,
+         "NULL row buffer for row %ld, pass %d", (long)png_ptr->row_number,
+         png_ptr->pass);
+      png_error(png_ptr, msg);
+#else
+      png_error(png_ptr, "NULL row buffer");
+#endif
+   }
+#ifdef PNG_WARN_UNINITIALIZED_ROW
+   if (!(png_ptr->flags & PNG_FLAG_ROW_INIT))
+      /* Application has failed to call either png_read_start_image()
+       * or png_read_update_info() after setting transforms that expand
+       * pixels.  This check added to libpng-1.2.19
+       */
+#if (PNG_WARN_UNINITIALIZED_ROW==1)
+      png_error(png_ptr, "Uninitialized row");
+#else
+      png_warning(png_ptr, "Uninitialized row");
+#endif
+#endif
+
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+   if (png_ptr->transformations & PNG_EXPAND)
+   {
+      if (png_ptr->row_info.color_type == PNG_COLOR_TYPE_PALETTE)
+      {
+         png_do_expand_palette(&(png_ptr->row_info), png_ptr->row_buf + 1,
+            png_ptr->palette, png_ptr->trans, png_ptr->num_trans);
+      }
+      else
+      {
+         if (png_ptr->num_trans &&
+             (png_ptr->transformations & PNG_EXPAND_tRNS))
+            png_do_expand(&(png_ptr->row_info), png_ptr->row_buf + 1,
+               &(png_ptr->trans_values));
+         else
+            png_do_expand(&(png_ptr->row_info), png_ptr->row_buf + 1,
+               NULL);
+      }
+   }
+#endif
+
+#if defined(PNG_READ_STRIP_ALPHA_SUPPORTED)
+   if (png_ptr->flags & PNG_FLAG_STRIP_ALPHA)
+      png_do_strip_filler(&(png_ptr->row_info), png_ptr->row_buf + 1,
+         PNG_FLAG_FILLER_AFTER | (png_ptr->flags & PNG_FLAG_STRIP_ALPHA));
+#endif
+
+#if defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+   if (png_ptr->transformations & PNG_RGB_TO_GRAY)
+   {
+      int rgb_error =
+         png_do_rgb_to_gray(png_ptr, &(png_ptr->row_info), png_ptr->row_buf + 1);
+      if (rgb_error)
+      {
+         png_ptr->rgb_to_gray_status=1;
+         if ((png_ptr->transformations & PNG_RGB_TO_GRAY) ==
+             PNG_RGB_TO_GRAY_WARN)
+            png_warning(png_ptr, "png_do_rgb_to_gray found nongray pixel");
+         if ((png_ptr->transformations & PNG_RGB_TO_GRAY) ==
+             PNG_RGB_TO_GRAY_ERR)
+            png_error(png_ptr, "png_do_rgb_to_gray found nongray pixel");
+      }
+   }
+#endif
+
+/* From Andreas Dilger e-mail to png-implement, 26 March 1998:
+ * 
+ *   In most cases, the "simple transparency" should be done prior to doing
+ *   gray-to-RGB, or you will have to test 3x as many bytes to check if a
+ *   pixel is transparent.  You would also need to make sure that the
+ *   transparency information is upgraded to RGB.
+ * 
+ *   To summarize, the current flow is:
+ *   - Gray + simple transparency -> compare 1 or 2 gray bytes and composite
+ *                                   with background "in place" if transparent,
+ *                                   convert to RGB if necessary
+ *   - Gray + alpha -> composite with gray background and remove alpha bytes,
+ *                                   convert to RGB if necessary
+ *
+ *   To support RGB backgrounds for gray images we need:
+ *   - Gray + simple transparency -> convert to RGB + simple transparency,
+ *                                   compare 3 or 6 bytes and composite with
+ *                                   background "in place" if transparent
+ *                                   (3x compare/pixel compared to doing
+ *                                   composite with gray bkgrnd)
+ *   - Gray + alpha -> convert to RGB + alpha, composite with background and
+ *                                   remove alpha bytes (3x float
+ *                                   operations/pixel compared with composite
+ *                                   on gray background)
+ *
+ *  Greg's change will do this.  The reason it wasn't done before is for
+ *  performance, as this increases the per-pixel operations.  If we would check
+ *  in advance if the background was gray or RGB, and position the gray-to-RGB
+ *  transform appropriately, then it would save a lot of work/time.
+ */
+
+#if defined(PNG_READ_GRAY_TO_RGB_SUPPORTED)
+   /* If gray -> RGB, do so now only if background is non-gray; else do later
+    * for performance reasons
+    */
+   if ((png_ptr->transformations & PNG_GRAY_TO_RGB) &&
+       !(png_ptr->mode & PNG_BACKGROUND_IS_GRAY))
+      png_do_gray_to_rgb(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+   if ((png_ptr->transformations & PNG_BACKGROUND) &&
+      ((png_ptr->num_trans != 0 ) ||
+      (png_ptr->color_type & PNG_COLOR_MASK_ALPHA)))
+      png_do_background(&(png_ptr->row_info), png_ptr->row_buf + 1,
+         &(png_ptr->trans_values), &(png_ptr->background)
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+         , &(png_ptr->background_1),
+         png_ptr->gamma_table, png_ptr->gamma_from_1,
+         png_ptr->gamma_to_1, png_ptr->gamma_16_table,
+         png_ptr->gamma_16_from_1, png_ptr->gamma_16_to_1,
+         png_ptr->gamma_shift
+#endif
+);
+#endif
+
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+   if ((png_ptr->transformations & PNG_GAMMA) &&
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+       !((png_ptr->transformations & PNG_BACKGROUND) &&
+       ((png_ptr->num_trans != 0) ||
+       (png_ptr->color_type & PNG_COLOR_MASK_ALPHA))) &&
+#endif
+       (png_ptr->color_type != PNG_COLOR_TYPE_PALETTE))
+      png_do_gamma(&(png_ptr->row_info), png_ptr->row_buf + 1,
+          png_ptr->gamma_table, png_ptr->gamma_16_table,
+          png_ptr->gamma_shift);
+#endif
+
+#if defined(PNG_READ_16_TO_8_SUPPORTED)
+   if (png_ptr->transformations & PNG_16_TO_8)
+      png_do_chop(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+
+#if defined(PNG_READ_DITHER_SUPPORTED)
+   if (png_ptr->transformations & PNG_DITHER)
+   {
+      png_do_dither((png_row_infop)&(png_ptr->row_info), png_ptr->row_buf + 1,
+         png_ptr->palette_lookup, png_ptr->dither_index);
+      if (png_ptr->row_info.rowbytes == (png_uint_32)0)
+         png_error(png_ptr, "png_do_dither returned rowbytes=0");
+   }
+#endif
+
+#if defined(PNG_READ_INVERT_SUPPORTED)
+   if (png_ptr->transformations & PNG_INVERT_MONO)
+      png_do_invert(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+
+#if defined(PNG_READ_SHIFT_SUPPORTED)
+   if (png_ptr->transformations & PNG_SHIFT)
+      png_do_unshift(&(png_ptr->row_info), png_ptr->row_buf + 1,
+         &(png_ptr->shift));
+#endif
+
+#if defined(PNG_READ_PACK_SUPPORTED)
+   if (png_ptr->transformations & PNG_PACK)
+      png_do_unpack(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+
+#if defined(PNG_READ_BGR_SUPPORTED)
+   if (png_ptr->transformations & PNG_BGR)
+      png_do_bgr(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)
+   if (png_ptr->transformations & PNG_PACKSWAP)
+      png_do_packswap(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+
+#if defined(PNG_READ_GRAY_TO_RGB_SUPPORTED)
+   /* If gray -> RGB, do so now only if we did not do so above */
+   if ((png_ptr->transformations & PNG_GRAY_TO_RGB) &&
+       (png_ptr->mode & PNG_BACKGROUND_IS_GRAY))
+      png_do_gray_to_rgb(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+
+#if defined(PNG_READ_FILLER_SUPPORTED)
+   if (png_ptr->transformations & PNG_FILLER)
+      png_do_read_filler(&(png_ptr->row_info), png_ptr->row_buf + 1,
+         (png_uint_32)png_ptr->filler, png_ptr->flags);
+#endif
+
+#if defined(PNG_READ_INVERT_ALPHA_SUPPORTED)
+   if (png_ptr->transformations & PNG_INVERT_ALPHA)
+      png_do_read_invert_alpha(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+
+#if defined(PNG_READ_SWAP_ALPHA_SUPPORTED)
+   if (png_ptr->transformations & PNG_SWAP_ALPHA)
+      png_do_read_swap_alpha(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+
+#if defined(PNG_READ_SWAP_SUPPORTED)
+   if (png_ptr->transformations & PNG_SWAP_BYTES)
+      png_do_swap(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED)
+   if (png_ptr->transformations & PNG_USER_TRANSFORM)
+    {
+      if (png_ptr->read_user_transform_fn != NULL)
+         (*(png_ptr->read_user_transform_fn)) /* User read transform function */
+            (png_ptr,                    /* png_ptr */
+               &(png_ptr->row_info),     /* row_info: */
+               /*  png_uint_32 width;       width of row */
+               /*  png_uint_32 rowbytes;    number of bytes in row */
+               /*  png_byte color_type;     color type of pixels */
+               /*  png_byte bit_depth;      bit depth of samples */
+               /*  png_byte channels;       number of channels (1-4) */
+               /*  png_byte pixel_depth;    bits per pixel (depth*channels) */
+               png_ptr->row_buf + 1);    /* start of pixel data for row */
+#if defined(PNG_USER_TRANSFORM_PTR_SUPPORTED)
+      if (png_ptr->user_transform_depth)
+         png_ptr->row_info.bit_depth = png_ptr->user_transform_depth;
+      if (png_ptr->user_transform_channels)
+         png_ptr->row_info.channels = png_ptr->user_transform_channels;
+#endif
+      png_ptr->row_info.pixel_depth = (png_byte)(png_ptr->row_info.bit_depth *
+         png_ptr->row_info.channels);
+      png_ptr->row_info.rowbytes = PNG_ROWBYTES(png_ptr->row_info.pixel_depth,
+         png_ptr->row_info.width);
+   }
+#endif
+
+}
+
+#if defined(PNG_READ_PACK_SUPPORTED)
+/* Unpack pixels of 1, 2, or 4 bits per pixel into 1 byte per pixel,
+ * without changing the actual values.  Thus, if you had a row with
+ * a bit depth of 1, you would end up with bytes that only contained
+ * the numbers 0 or 1.  If you would rather they contain 0 and 255, use
+ * png_do_shift() after this.
+ */
+void /* PRIVATE */
+png_do_unpack(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_unpack");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL && row_info->bit_depth < 8)
+#else
+   if (row_info->bit_depth < 8)
+#endif
+   {
+      png_uint_32 i;
+      png_uint_32 row_width=row_info->width;
+
+      switch (row_info->bit_depth)
+      {
+         case 1:
+         {
+            png_bytep sp = row + (png_size_t)((row_width - 1) >> 3);
+            png_bytep dp = row + (png_size_t)row_width - 1;
+            png_uint_32 shift = 7 - (int)((row_width + 7) & 0x07);
+            for (i = 0; i < row_width; i++)
+            {
+               *dp = (png_byte)((*sp >> shift) & 0x01);
+               if (shift == 7)
+               {
+                  shift = 0;
+                  sp--;
+               }
+               else
+                  shift++;
+
+               dp--;
+            }
+            break;
+         }
+
+         case 2:
+         {
+
+            png_bytep sp = row + (png_size_t)((row_width - 1) >> 2);
+            png_bytep dp = row + (png_size_t)row_width - 1;
+            png_uint_32 shift = (int)((3 - ((row_width + 3) & 0x03)) << 1);
+            for (i = 0; i < row_width; i++)
+            {
+               *dp = (png_byte)((*sp >> shift) & 0x03);
+               if (shift == 6)
+               {
+                  shift = 0;
+                  sp--;
+               }
+               else
+                  shift += 2;
+
+               dp--;
+            }
+            break;
+         }
+
+         case 4:
+         {
+            png_bytep sp = row + (png_size_t)((row_width - 1) >> 1);
+            png_bytep dp = row + (png_size_t)row_width - 1;
+            png_uint_32 shift = (int)((1 - ((row_width + 1) & 0x01)) << 2);
+            for (i = 0; i < row_width; i++)
+            {
+               *dp = (png_byte)((*sp >> shift) & 0x0f);
+               if (shift == 4)
+               {
+                  shift = 0;
+                  sp--;
+               }
+               else
+                  shift = 4;
+
+               dp--;
+            }
+            break;
+         }
+      }
+      row_info->bit_depth = 8;
+      row_info->pixel_depth = (png_byte)(8 * row_info->channels);
+      row_info->rowbytes = row_width * row_info->channels;
+   }
+}
+#endif
+
+#if defined(PNG_READ_SHIFT_SUPPORTED)
+/* Reverse the effects of png_do_shift.  This routine merely shifts the
+ * pixels back to their significant bits values.  Thus, if you have
+ * a row of bit depth 8, but only 5 are significant, this will shift
+ * the values back to 0 through 31.
+ */
+void /* PRIVATE */
+png_do_unshift(png_row_infop row_info, png_bytep row, png_color_8p sig_bits)
+{
+   png_debug(1, "in png_do_unshift");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL && sig_bits != NULL &&
+#endif
+       row_info->color_type != PNG_COLOR_TYPE_PALETTE)
+   {
+      int shift[4];
+      int channels = 0;
+      int c;
+      png_uint_16 value = 0;
+      png_uint_32 row_width = row_info->width;
+
+      if (row_info->color_type & PNG_COLOR_MASK_COLOR)
+      {
+         shift[channels++] = row_info->bit_depth - sig_bits->red;
+         shift[channels++] = row_info->bit_depth - sig_bits->green;
+         shift[channels++] = row_info->bit_depth - sig_bits->blue;
+      }
+      else
+      {
+         shift[channels++] = row_info->bit_depth - sig_bits->gray;
+      }
+      if (row_info->color_type & PNG_COLOR_MASK_ALPHA)
+      {
+         shift[channels++] = row_info->bit_depth - sig_bits->alpha;
+      }
+
+      for (c = 0; c < channels; c++)
+      {
+         if (shift[c] <= 0)
+            shift[c] = 0;
+         else
+            value = 1;
+      }
+
+      if (!value)
+         return;
+
+      switch (row_info->bit_depth)
+      {
+         case 2:
+         {
+            png_bytep bp;
+            png_uint_32 i;
+            png_uint_32 istop = row_info->rowbytes;
+
+            for (bp = row, i = 0; i < istop; i++)
+            {
+               *bp >>= 1;
+               *bp++ &= 0x55;
+            }
+            break;
+         }
+
+         case 4:
+         {
+            png_bytep bp = row;
+            png_uint_32 i;
+            png_uint_32 istop = row_info->rowbytes;
+            png_byte mask = (png_byte)((((int)0xf0 >> shift[0]) & (int)0xf0) |
+               (png_byte)((int)0xf >> shift[0]));
+
+            for (i = 0; i < istop; i++)
+            {
+               *bp >>= shift[0];
+               *bp++ &= mask;
+            }
+            break;
+         }
+
+         case 8:
+         {
+            png_bytep bp = row;
+            png_uint_32 i;
+            png_uint_32 istop = row_width * channels;
+
+            for (i = 0; i < istop; i++)
+            {
+               *bp++ >>= shift[i%channels];
+            }
+            break;
+         }
+
+         case 16:
+         {
+            png_bytep bp = row;
+            png_uint_32 i;
+            png_uint_32 istop = channels * row_width;
+
+            for (i = 0; i < istop; i++)
+            {
+               value = (png_uint_16)((*bp << 8) + *(bp + 1));
+               value >>= shift[i%channels];
+               *bp++ = (png_byte)(value >> 8);
+               *bp++ = (png_byte)(value & 0xff);
+            }
+            break;
+         }
+      }
+   }
+}
+#endif
+
+#if defined(PNG_READ_16_TO_8_SUPPORTED)
+/* Chop rows of bit depth 16 down to 8 */
+void /* PRIVATE */
+png_do_chop(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_chop");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL && row_info->bit_depth == 16)
+#else
+   if (row_info->bit_depth == 16)
+#endif
+   {
+      png_bytep sp = row;
+      png_bytep dp = row;
+      png_uint_32 i;
+      png_uint_32 istop = row_info->width * row_info->channels;
+
+      for (i = 0; i<istop; i++, sp += 2, dp++)
+      {
+#if defined(PNG_READ_16_TO_8_ACCURATE_SCALE_SUPPORTED)
+      /* This does a more accurate scaling of the 16-bit color
+       * value, rather than a simple low-byte truncation.
+       *
+       * What the ideal calculation should be:
+       *   *dp = (((((png_uint_32)(*sp) << 8) |
+       *          (png_uint_32)(*(sp + 1))) * 255 + 127)
+       *          / (png_uint_32)65535L;
+       *
+       * GRR: no, I think this is what it really should be:
+       *   *dp = (((((png_uint_32)(*sp) << 8) |
+       *           (png_uint_32)(*(sp + 1))) + 128L)
+       *           / (png_uint_32)257L;
+       *
+       * GRR: here's the exact calculation with shifts:
+       *   temp = (((png_uint_32)(*sp) << 8) |
+       *           (png_uint_32)(*(sp + 1))) + 128L;
+       *   *dp = (temp - (temp >> 8)) >> 8;
+       *
+       * Approximate calculation with shift/add instead of multiply/divide:
+       *   *dp = ((((png_uint_32)(*sp) << 8) |
+       *          (png_uint_32)((int)(*(sp + 1)) - *sp)) + 128) >> 8;
+       *
+       * What we actually do to avoid extra shifting and conversion:
+       */
+
+         *dp = *sp + ((((int)(*(sp + 1)) - *sp) > 128) ? 1 : 0);
+#else
+       /* Simply discard the low order byte */
+         *dp = *sp;
+#endif
+      }
+      row_info->bit_depth = 8;
+      row_info->pixel_depth = (png_byte)(8 * row_info->channels);
+      row_info->rowbytes = row_info->width * row_info->channels;
+   }
+}
+#endif
+
+#if defined(PNG_READ_SWAP_ALPHA_SUPPORTED)
+void /* PRIVATE */
+png_do_read_swap_alpha(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_read_swap_alpha");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL)
+#endif
+   {
+      png_uint_32 row_width = row_info->width;
+      if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+      {
+         /* This converts from RGBA to ARGB */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp = row + row_info->rowbytes;
+            png_bytep dp = sp;
+            png_byte save;
+            png_uint_32 i;
+
+            for (i = 0; i < row_width; i++)
+            {
+               save = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = save;
+            }
+         }
+         /* This converts from RRGGBBAA to AARRGGBB */
+         else
+         {
+            png_bytep sp = row + row_info->rowbytes;
+            png_bytep dp = sp;
+            png_byte save[2];
+            png_uint_32 i;
+
+            for (i = 0; i < row_width; i++)
+            {
+               save[0] = *(--sp);
+               save[1] = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = save[0];
+               *(--dp) = save[1];
+            }
+         }
+      }
+      else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA)
+      {
+         /* This converts from GA to AG */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp = row + row_info->rowbytes;
+            png_bytep dp = sp;
+            png_byte save;
+            png_uint_32 i;
+
+            for (i = 0; i < row_width; i++)
+            {
+               save = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = save;
+            }
+         }
+         /* This converts from GGAA to AAGG */
+         else
+         {
+            png_bytep sp = row + row_info->rowbytes;
+            png_bytep dp = sp;
+            png_byte save[2];
+            png_uint_32 i;
+
+            for (i = 0; i < row_width; i++)
+            {
+               save[0] = *(--sp);
+               save[1] = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = save[0];
+               *(--dp) = save[1];
+            }
+         }
+      }
+   }
+}
+#endif
+
+#if defined(PNG_READ_INVERT_ALPHA_SUPPORTED)
+void /* PRIVATE */
+png_do_read_invert_alpha(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_read_invert_alpha");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL)
+#endif
+   {
+      png_uint_32 row_width = row_info->width;
+      if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+      {
+         /* This inverts the alpha channel in RGBA */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp = row + row_info->rowbytes;
+            png_bytep dp = sp;
+            png_uint_32 i;
+
+            for (i = 0; i < row_width; i++)
+            {
+               *(--dp) = (png_byte)(255 - *(--sp));
+
+/*             This does nothing:
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               We can replace it with:
+*/
+               sp-=3;
+               dp=sp;
+            }
+         }
+         /* This inverts the alpha channel in RRGGBBAA */
+         else
+         {
+            png_bytep sp = row + row_info->rowbytes;
+            png_bytep dp = sp;
+            png_uint_32 i;
+
+            for (i = 0; i < row_width; i++)
+            {
+               *(--dp) = (png_byte)(255 - *(--sp));
+               *(--dp) = (png_byte)(255 - *(--sp));
+
+/*             This does nothing:
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               We can replace it with:
+*/
+               sp-=6;
+               dp=sp;
+            }
+         }
+      }
+      else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA)
+      {
+         /* This inverts the alpha channel in GA */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp = row + row_info->rowbytes;
+            png_bytep dp = sp;
+            png_uint_32 i;
+
+            for (i = 0; i < row_width; i++)
+            {
+               *(--dp) = (png_byte)(255 - *(--sp));
+               *(--dp) = *(--sp);
+            }
+         }
+         /* This inverts the alpha channel in GGAA */
+         else
+         {
+            png_bytep sp  = row + row_info->rowbytes;
+            png_bytep dp = sp;
+            png_uint_32 i;
+
+            for (i = 0; i < row_width; i++)
+            {
+               *(--dp) = (png_byte)(255 - *(--sp));
+               *(--dp) = (png_byte)(255 - *(--sp));
+/*
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+*/
+               sp-=2;
+               dp=sp;
+            }
+         }
+      }
+   }
+}
+#endif
+
+#if defined(PNG_READ_FILLER_SUPPORTED)
+/* Add filler channel if we have RGB color */
+void /* PRIVATE */
+png_do_read_filler(png_row_infop row_info, png_bytep row,
+   png_uint_32 filler, png_uint_32 flags)
+{
+   png_uint_32 i;
+   png_uint_32 row_width = row_info->width;
+
+   png_byte hi_filler = (png_byte)((filler>>8) & 0xff);
+   png_byte lo_filler = (png_byte)(filler & 0xff);
+
+   png_debug(1, "in png_do_read_filler");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL  && row_info != NULL &&
+#endif
+       row_info->color_type == PNG_COLOR_TYPE_GRAY)
+   {
+      if (row_info->bit_depth == 8)
+      {
+         /* This changes the data from G to GX */
+         if (flags & PNG_FLAG_FILLER_AFTER)
+         {
+            png_bytep sp = row + (png_size_t)row_width;
+            png_bytep dp =  sp + (png_size_t)row_width;
+            for (i = 1; i < row_width; i++)
+            {
+               *(--dp) = lo_filler;
+               *(--dp) = *(--sp);
+            }
+            *(--dp) = lo_filler;
+            row_info->channels = 2;
+            row_info->pixel_depth = 16;
+            row_info->rowbytes = row_width * 2;
+         }
+      /* This changes the data from G to XG */
+         else
+         {
+            png_bytep sp = row + (png_size_t)row_width;
+            png_bytep dp = sp  + (png_size_t)row_width;
+            for (i = 0; i < row_width; i++)
+            {
+               *(--dp) = *(--sp);
+               *(--dp) = lo_filler;
+            }
+            row_info->channels = 2;
+            row_info->pixel_depth = 16;
+            row_info->rowbytes = row_width * 2;
+         }
+      }
+      else if (row_info->bit_depth == 16)
+      {
+         /* This changes the data from GG to GGXX */
+         if (flags & PNG_FLAG_FILLER_AFTER)
+         {
+            png_bytep sp = row + (png_size_t)row_width * 2;
+            png_bytep dp = sp  + (png_size_t)row_width * 2;
+            for (i = 1; i < row_width; i++)
+            {
+               *(--dp) = hi_filler;
+               *(--dp) = lo_filler;
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+            }
+            *(--dp) = hi_filler;
+            *(--dp) = lo_filler;
+            row_info->channels = 2;
+            row_info->pixel_depth = 32;
+            row_info->rowbytes = row_width * 4;
+         }
+         /* This changes the data from GG to XXGG */
+         else
+         {
+            png_bytep sp = row + (png_size_t)row_width * 2;
+            png_bytep dp = sp  + (png_size_t)row_width * 2;
+            for (i = 0; i < row_width; i++)
+            {
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = hi_filler;
+               *(--dp) = lo_filler;
+            }
+            row_info->channels = 2;
+            row_info->pixel_depth = 32;
+            row_info->rowbytes = row_width * 4;
+         }
+      }
+   } /* COLOR_TYPE == GRAY */
+   else if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+   {
+      if (row_info->bit_depth == 8)
+      {
+         /* This changes the data from RGB to RGBX */
+         if (flags & PNG_FLAG_FILLER_AFTER)
+         {
+            png_bytep sp = row + (png_size_t)row_width * 3;
+            png_bytep dp = sp  + (png_size_t)row_width;
+            for (i = 1; i < row_width; i++)
+            {
+               *(--dp) = lo_filler;
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+            }
+            *(--dp) = lo_filler;
+            row_info->channels = 4;
+            row_info->pixel_depth = 32;
+            row_info->rowbytes = row_width * 4;
+         }
+      /* This changes the data from RGB to XRGB */
+         else
+         {
+            png_bytep sp = row + (png_size_t)row_width * 3;
+            png_bytep dp = sp + (png_size_t)row_width;
+            for (i = 0; i < row_width; i++)
+            {
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = lo_filler;
+            }
+            row_info->channels = 4;
+            row_info->pixel_depth = 32;
+            row_info->rowbytes = row_width * 4;
+         }
+      }
+      else if (row_info->bit_depth == 16)
+      {
+         /* This changes the data from RRGGBB to RRGGBBXX */
+         if (flags & PNG_FLAG_FILLER_AFTER)
+         {
+            png_bytep sp = row + (png_size_t)row_width * 6;
+            png_bytep dp = sp  + (png_size_t)row_width * 2;
+            for (i = 1; i < row_width; i++)
+            {
+               *(--dp) = hi_filler;
+               *(--dp) = lo_filler;
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+            }
+            *(--dp) = hi_filler;
+            *(--dp) = lo_filler;
+            row_info->channels = 4;
+            row_info->pixel_depth = 64;
+            row_info->rowbytes = row_width * 8;
+         }
+         /* This changes the data from RRGGBB to XXRRGGBB */
+         else
+         {
+            png_bytep sp = row + (png_size_t)row_width * 6;
+            png_bytep dp = sp  + (png_size_t)row_width * 2;
+            for (i = 0; i < row_width; i++)
+            {
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = *(--sp);
+               *(--dp) = hi_filler;
+               *(--dp) = lo_filler;
+            }
+            row_info->channels = 4;
+            row_info->pixel_depth = 64;
+            row_info->rowbytes = row_width * 8;
+         }
+      }
+   } /* COLOR_TYPE == RGB */
+}
+#endif
+
+#if defined(PNG_READ_GRAY_TO_RGB_SUPPORTED)
+/* Expand grayscale files to RGB, with or without alpha */
+void /* PRIVATE */
+png_do_gray_to_rgb(png_row_infop row_info, png_bytep row)
+{
+   png_uint_32 i;
+   png_uint_32 row_width = row_info->width;
+
+   png_debug(1, "in png_do_gray_to_rgb");
+   if (row_info->bit_depth >= 8 &&
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+      !(row_info->color_type & PNG_COLOR_MASK_COLOR))
+   {
+      if (row_info->color_type == PNG_COLOR_TYPE_GRAY)
+      {
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp = row + (png_size_t)row_width - 1;
+            png_bytep dp = sp  + (png_size_t)row_width * 2;
+            for (i = 0; i < row_width; i++)
+            {
+               *(dp--) = *sp;
+               *(dp--) = *sp;
+               *(dp--) = *(sp--);
+            }
+         }
+         else
+         {
+            png_bytep sp = row + (png_size_t)row_width * 2 - 1;
+            png_bytep dp = sp  + (png_size_t)row_width * 4;
+            for (i = 0; i < row_width; i++)
+            {
+               *(dp--) = *sp;
+               *(dp--) = *(sp - 1);
+               *(dp--) = *sp;
+               *(dp--) = *(sp - 1);
+               *(dp--) = *(sp--);
+               *(dp--) = *(sp--);
+            }
+         }
+      }
+      else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA)
+      {
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp = row + (png_size_t)row_width * 2 - 1;
+            png_bytep dp = sp  + (png_size_t)row_width * 2;
+            for (i = 0; i < row_width; i++)
+            {
+               *(dp--) = *(sp--);
+               *(dp--) = *sp;
+               *(dp--) = *sp;
+               *(dp--) = *(sp--);
+            }
+         }
+         else
+         {
+            png_bytep sp = row + (png_size_t)row_width * 4 - 1;
+            png_bytep dp = sp  + (png_size_t)row_width * 4;
+            for (i = 0; i < row_width; i++)
+            {
+               *(dp--) = *(sp--);
+               *(dp--) = *(sp--);
+               *(dp--) = *sp;
+               *(dp--) = *(sp - 1);
+               *(dp--) = *sp;
+               *(dp--) = *(sp - 1);
+               *(dp--) = *(sp--);
+               *(dp--) = *(sp--);
+            }
+         }
+      }
+      row_info->channels += (png_byte)2;
+      row_info->color_type |= PNG_COLOR_MASK_COLOR;
+      row_info->pixel_depth = (png_byte)(row_info->channels *
+         row_info->bit_depth);
+      row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth, row_width);
+   }
+}
+#endif
+
+#if defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+/* Reduce RGB files to grayscale, with or without alpha
+ * using the equation given in Poynton's ColorFAQ at
+ * <http://www.inforamp.net/~poynton/>  (THIS LINK IS DEAD June 2008)
+ * New link:
+ * <http://www.poynton.com/notes/colour_and_gamma/>
+ * Charles Poynton poynton at poynton.com
+ *
+ *     Y = 0.212671 * R + 0.715160 * G + 0.072169 * B
+ *
+ *  We approximate this with
+ *
+ *     Y = 0.21268 * R    + 0.7151 * G    + 0.07217 * B
+ *
+ *  which can be expressed with integers as
+ *
+ *     Y = (6969 * R + 23434 * G + 2365 * B)/32768
+ *
+ *  The calculation is to be done in a linear colorspace.
+ *
+ *  Other integer coefficents can be used via png_set_rgb_to_gray().
+ */
+int /* PRIVATE */
+png_do_rgb_to_gray(png_structp png_ptr, png_row_infop row_info, png_bytep row)
+
+{
+   png_uint_32 i;
+
+   png_uint_32 row_width = row_info->width;
+   int rgb_error = 0;
+
+   png_debug(1, "in png_do_rgb_to_gray");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+      (row_info->color_type & PNG_COLOR_MASK_COLOR))
+   {
+      png_uint_32 rc = png_ptr->rgb_to_gray_red_coeff;
+      png_uint_32 gc = png_ptr->rgb_to_gray_green_coeff;
+      png_uint_32 bc = png_ptr->rgb_to_gray_blue_coeff;
+
+      if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+      {
+         if (row_info->bit_depth == 8)
+         {
+#if defined(PNG_READ_GAMMA_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED)
+            if (png_ptr->gamma_from_1 != NULL && png_ptr->gamma_to_1 != NULL)
+            {
+               png_bytep sp = row;
+               png_bytep dp = row;
+
+               for (i = 0; i < row_width; i++)
+               {
+                  png_byte red   = png_ptr->gamma_to_1[*(sp++)];
+                  png_byte green = png_ptr->gamma_to_1[*(sp++)];
+                  png_byte blue  = png_ptr->gamma_to_1[*(sp++)];
+                  if (red != green || red != blue)
+                  {
+                     rgb_error |= 1;
+                     *(dp++) = png_ptr->gamma_from_1[
+                       (rc*red + gc*green + bc*blue)>>15];
+                  }
+                  else
+                     *(dp++) = *(sp - 1);
+               }
+            }
+            else
+#endif
+            {
+               png_bytep sp = row;
+               png_bytep dp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_byte red   = *(sp++);
+                  png_byte green = *(sp++);
+                  png_byte blue  = *(sp++);
+                  if (red != green || red != blue)
+                  {
+                     rgb_error |= 1;
+                     *(dp++) = (png_byte)((rc*red + gc*green + bc*blue)>>15);
+                  }
+                  else
+                     *(dp++) = *(sp - 1);
+               }
+            }
+         }
+
+         else /* RGB bit_depth == 16 */
+         {
+#if defined(PNG_READ_GAMMA_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED)
+            if (png_ptr->gamma_16_to_1 != NULL &&
+                png_ptr->gamma_16_from_1 != NULL)
+            {
+               png_bytep sp = row;
+               png_bytep dp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_uint_16 red, green, blue, w;
+
+                  red   = (png_uint_16)(((*(sp))<<8) | *(sp+1)); sp+=2;
+                  green = (png_uint_16)(((*(sp))<<8) | *(sp+1)); sp+=2;
+                  blue  = (png_uint_16)(((*(sp))<<8) | *(sp+1)); sp+=2;
+
+                  if (red == green && red == blue)
+                     w = red;
+                  else
+                  {
+                     png_uint_16 red_1   = png_ptr->gamma_16_to_1[(red&0xff) >>
+                                  png_ptr->gamma_shift][red>>8];
+                     png_uint_16 green_1 = png_ptr->gamma_16_to_1[(green&0xff) >>
+                                  png_ptr->gamma_shift][green>>8];
+                     png_uint_16 blue_1  = png_ptr->gamma_16_to_1[(blue&0xff) >>
+                                  png_ptr->gamma_shift][blue>>8];
+                     png_uint_16 gray16  = (png_uint_16)((rc*red_1 + gc*green_1
+                                  + bc*blue_1)>>15);
+                     w = png_ptr->gamma_16_from_1[(gray16&0xff) >>
+                         png_ptr->gamma_shift][gray16 >> 8];
+                     rgb_error |= 1;
+                  }
+
+                  *(dp++) = (png_byte)((w>>8) & 0xff);
+                  *(dp++) = (png_byte)(w & 0xff);
+               }
+            }
+            else
+#endif
+            {
+               png_bytep sp = row;
+               png_bytep dp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_uint_16 red, green, blue, gray16;
+
+                  red   = (png_uint_16)(((*(sp))<<8) | *(sp+1)); sp+=2;
+                  green = (png_uint_16)(((*(sp))<<8) | *(sp+1)); sp+=2;
+                  blue  = (png_uint_16)(((*(sp))<<8) | *(sp+1)); sp+=2;
+
+                  if (red != green || red != blue)
+                     rgb_error |= 1;
+                  gray16  = (png_uint_16)((rc*red + gc*green + bc*blue)>>15);
+                  *(dp++) = (png_byte)((gray16>>8) & 0xff);
+                  *(dp++) = (png_byte)(gray16 & 0xff);
+               }
+            }
+         }
+      }
+      if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+      {
+         if (row_info->bit_depth == 8)
+         {
+#if defined(PNG_READ_GAMMA_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED)
+            if (png_ptr->gamma_from_1 != NULL && png_ptr->gamma_to_1 != NULL)
+            {
+               png_bytep sp = row;
+               png_bytep dp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_byte red   = png_ptr->gamma_to_1[*(sp++)];
+                  png_byte green = png_ptr->gamma_to_1[*(sp++)];
+                  png_byte blue  = png_ptr->gamma_to_1[*(sp++)];
+                  if (red != green || red != blue)
+                     rgb_error |= 1;
+                  *(dp++) =  png_ptr->gamma_from_1
+                             [(rc*red + gc*green + bc*blue)>>15];
+                  *(dp++) = *(sp++);  /* alpha */
+               }
+            }
+            else
+#endif
+            {
+               png_bytep sp = row;
+               png_bytep dp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_byte red   = *(sp++);
+                  png_byte green = *(sp++);
+                  png_byte blue  = *(sp++);
+                  if (red != green || red != blue)
+                     rgb_error |= 1;
+                  *(dp++) =  (png_byte)((rc*red + gc*green + bc*blue)>>15);
+                  *(dp++) = *(sp++);  /* alpha */
+               }
+            }
+         }
+         else /* RGBA bit_depth == 16 */
+         {
+#if defined(PNG_READ_GAMMA_SUPPORTED) || defined(PNG_READ_BACKGROUND_SUPPORTED)
+            if (png_ptr->gamma_16_to_1 != NULL &&
+                png_ptr->gamma_16_from_1 != NULL)
+            {
+               png_bytep sp = row;
+               png_bytep dp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_uint_16 red, green, blue, w;
+
+                  red   = (png_uint_16)(((*(sp))<<8) | *(sp+1)); sp+=2;
+                  green = (png_uint_16)(((*(sp))<<8) | *(sp+1)); sp+=2;
+                  blue  = (png_uint_16)(((*(sp))<<8) | *(sp+1)); sp+=2;
+
+                  if (red == green && red == blue)
+                     w = red;
+                  else
+                  {
+                     png_uint_16 red_1   = png_ptr->gamma_16_to_1[(red&0xff) >>
+                                  png_ptr->gamma_shift][red>>8];
+                     png_uint_16 green_1 = png_ptr->gamma_16_to_1[(green&0xff) >>
+                                  png_ptr->gamma_shift][green>>8];
+                     png_uint_16 blue_1  = png_ptr->gamma_16_to_1[(blue&0xff) >>
+                                  png_ptr->gamma_shift][blue>>8];
+                     png_uint_16 gray16  = (png_uint_16)((rc * red_1
+                                  + gc * green_1 + bc * blue_1)>>15);
+                     w = png_ptr->gamma_16_from_1[(gray16&0xff) >>
+                         png_ptr->gamma_shift][gray16 >> 8];
+                     rgb_error |= 1;
+                  }
+
+                  *(dp++) = (png_byte)((w>>8) & 0xff);
+                  *(dp++) = (png_byte)(w & 0xff);
+                  *(dp++) = *(sp++);  /* alpha */
+                  *(dp++) = *(sp++);
+               }
+            }
+            else
+#endif
+            {
+               png_bytep sp = row;
+               png_bytep dp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_uint_16 red, green, blue, gray16;
+                  red   = (png_uint_16)((*(sp)<<8) | *(sp+1)); sp+=2;
+                  green = (png_uint_16)((*(sp)<<8) | *(sp+1)); sp+=2;
+                  blue  = (png_uint_16)((*(sp)<<8) | *(sp+1)); sp+=2;
+                  if (red != green || red != blue)
+                     rgb_error |= 1;
+                  gray16  = (png_uint_16)((rc*red + gc*green + bc*blue)>>15);
+                  *(dp++) = (png_byte)((gray16>>8) & 0xff);
+                  *(dp++) = (png_byte)(gray16 & 0xff);
+                  *(dp++) = *(sp++);  /* alpha */
+                  *(dp++) = *(sp++);
+               }
+            }
+         }
+      }
+   row_info->channels -= (png_byte)2;
+      row_info->color_type &= ~PNG_COLOR_MASK_COLOR;
+      row_info->pixel_depth = (png_byte)(row_info->channels *
+         row_info->bit_depth);
+      row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth, row_width);
+   }
+   return rgb_error;
+}
+#endif
+
+/* Build a grayscale palette.  Palette is assumed to be 1 << bit_depth
+ * large of png_color.  This lets grayscale images be treated as
+ * paletted.  Most useful for gamma correction and simplification
+ * of code.
+ */
+void PNGAPI
+png_build_grayscale_palette(int bit_depth, png_colorp palette)
+{
+   int num_palette;
+   int color_inc;
+   int i;
+   int v;
+
+   png_debug(1, "in png_do_build_grayscale_palette");
+   if (palette == NULL)
+      return;
+
+   switch (bit_depth)
+   {
+      case 1:
+         num_palette = 2;
+         color_inc = 0xff;
+         break;
+
+      case 2:
+         num_palette = 4;
+         color_inc = 0x55;
+         break;
+
+      case 4:
+         num_palette = 16;
+         color_inc = 0x11;
+         break;
+
+      case 8:
+         num_palette = 256;
+         color_inc = 1;
+         break;
+
+      default:
+         num_palette = 0;
+         color_inc = 0;
+         break;
+   }
+
+   for (i = 0, v = 0; i < num_palette; i++, v += color_inc)
+   {
+      palette[i].red = (png_byte)v;
+      palette[i].green = (png_byte)v;
+      palette[i].blue = (png_byte)v;
+   }
+}
+
+/* This function is currently unused.  Do we really need it? */
+#if defined(PNG_READ_DITHER_SUPPORTED) && defined(PNG_CORRECT_PALETTE_SUPPORTED)
+void /* PRIVATE */
+png_correct_palette(png_structp png_ptr, png_colorp palette,
+   int num_palette)
+{
+   png_debug(1, "in png_correct_palette");
+#if defined(PNG_READ_BACKGROUND_SUPPORTED) && \
+    defined(PNG_READ_GAMMA_SUPPORTED) && defined(PNG_FLOATING_POINT_SUPPORTED)
+   if (png_ptr->transformations & (PNG_GAMMA | PNG_BACKGROUND))
+   {
+      png_color back, back_1;
+
+      if (png_ptr->background_gamma_type == PNG_BACKGROUND_GAMMA_FILE)
+      {
+         back.red = png_ptr->gamma_table[png_ptr->background.red];
+         back.green = png_ptr->gamma_table[png_ptr->background.green];
+         back.blue = png_ptr->gamma_table[png_ptr->background.blue];
+
+         back_1.red = png_ptr->gamma_to_1[png_ptr->background.red];
+         back_1.green = png_ptr->gamma_to_1[png_ptr->background.green];
+         back_1.blue = png_ptr->gamma_to_1[png_ptr->background.blue];
+      }
+      else
+      {
+         double g;
+
+         g = 1.0 / (png_ptr->background_gamma * png_ptr->screen_gamma);
+
+         if (png_ptr->background_gamma_type == PNG_BACKGROUND_GAMMA_SCREEN ||
+             fabs(g - 1.0) < PNG_GAMMA_THRESHOLD)
+         {
+            back.red = png_ptr->background.red;
+            back.green = png_ptr->background.green;
+            back.blue = png_ptr->background.blue;
+         }
+         else
+         {
+            back.red =
+               (png_byte)(pow((double)png_ptr->background.red/255, g) *
+                255.0 + 0.5);
+            back.green =
+               (png_byte)(pow((double)png_ptr->background.green/255, g) *
+                255.0 + 0.5);
+            back.blue =
+               (png_byte)(pow((double)png_ptr->background.blue/255, g) *
+                255.0 + 0.5);
+         }
+
+         g = 1.0 / png_ptr->background_gamma;
+
+         back_1.red =
+            (png_byte)(pow((double)png_ptr->background.red/255, g) *
+             255.0 + 0.5);
+         back_1.green =
+            (png_byte)(pow((double)png_ptr->background.green/255, g) *
+             255.0 + 0.5);
+         back_1.blue =
+            (png_byte)(pow((double)png_ptr->background.blue/255, g) *
+             255.0 + 0.5);
+      }
+
+      if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      {
+         png_uint_32 i;
+
+         for (i = 0; i < (png_uint_32)num_palette; i++)
+         {
+            if (i < png_ptr->num_trans && png_ptr->trans[i] == 0)
+            {
+               palette[i] = back;
+            }
+            else if (i < png_ptr->num_trans && png_ptr->trans[i] != 0xff)
+            {
+               png_byte v, w;
+
+               v = png_ptr->gamma_to_1[png_ptr->palette[i].red];
+               png_composite(w, v, png_ptr->trans[i], back_1.red);
+               palette[i].red = png_ptr->gamma_from_1[w];
+
+               v = png_ptr->gamma_to_1[png_ptr->palette[i].green];
+               png_composite(w, v, png_ptr->trans[i], back_1.green);
+               palette[i].green = png_ptr->gamma_from_1[w];
+
+               v = png_ptr->gamma_to_1[png_ptr->palette[i].blue];
+               png_composite(w, v, png_ptr->trans[i], back_1.blue);
+               palette[i].blue = png_ptr->gamma_from_1[w];
+            }
+            else
+            {
+               palette[i].red = png_ptr->gamma_table[palette[i].red];
+               palette[i].green = png_ptr->gamma_table[palette[i].green];
+               palette[i].blue = png_ptr->gamma_table[palette[i].blue];
+            }
+         }
+      }
+      else
+      {
+         int i;
+
+         for (i = 0; i < num_palette; i++)
+         {
+            if (palette[i].red == (png_byte)png_ptr->trans_values.gray)
+            {
+               palette[i] = back;
+            }
+            else
+            {
+               palette[i].red = png_ptr->gamma_table[palette[i].red];
+               palette[i].green = png_ptr->gamma_table[palette[i].green];
+               palette[i].blue = png_ptr->gamma_table[palette[i].blue];
+            }
+         }
+      }
+   }
+   else
+#endif
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+   if (png_ptr->transformations & PNG_GAMMA)
+   {
+      int i;
+
+      for (i = 0; i < num_palette; i++)
+      {
+         palette[i].red = png_ptr->gamma_table[palette[i].red];
+         palette[i].green = png_ptr->gamma_table[palette[i].green];
+         palette[i].blue = png_ptr->gamma_table[palette[i].blue];
+      }
+   }
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+   else
+#endif
+#endif
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+   if (png_ptr->transformations & PNG_BACKGROUND)
+   {
+      if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      {
+         png_color back;
+
+         back.red   = (png_byte)png_ptr->background.red;
+         back.green = (png_byte)png_ptr->background.green;
+         back.blue  = (png_byte)png_ptr->background.blue;
+
+         for (i = 0; i < (int)png_ptr->num_trans; i++)
+         {
+            if (png_ptr->trans[i] == 0)
+            {
+               palette[i].red = back.red;
+               palette[i].green = back.green;
+               palette[i].blue = back.blue;
+            }
+            else if (png_ptr->trans[i] != 0xff)
+            {
+               png_composite(palette[i].red, png_ptr->palette[i].red,
+                  png_ptr->trans[i], back.red);
+               png_composite(palette[i].green, png_ptr->palette[i].green,
+                  png_ptr->trans[i], back.green);
+               png_composite(palette[i].blue, png_ptr->palette[i].blue,
+                  png_ptr->trans[i], back.blue);
+            }
+         }
+      }
+      else /* Assume grayscale palette (what else could it be?) */
+      {
+         int i;
+
+         for (i = 0; i < num_palette; i++)
+         {
+            if (i == (png_byte)png_ptr->trans_values.gray)
+            {
+               palette[i].red = (png_byte)png_ptr->background.red;
+               palette[i].green = (png_byte)png_ptr->background.green;
+               palette[i].blue = (png_byte)png_ptr->background.blue;
+            }
+         }
+      }
+   }
+#endif
+}
+#endif
+
+#if defined(PNG_READ_BACKGROUND_SUPPORTED)
+/* Replace any alpha or transparency with the supplied background color.
+ * "background" is already in the screen gamma, while "background_1" is
+ * at a gamma of 1.0.  Paletted files have already been taken care of.
+ */
+void /* PRIVATE */
+png_do_background(png_row_infop row_info, png_bytep row,
+   png_color_16p trans_values, png_color_16p background
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+   , png_color_16p background_1,
+   png_bytep gamma_table, png_bytep gamma_from_1, png_bytep gamma_to_1,
+   png_uint_16pp gamma_16, png_uint_16pp gamma_16_from_1,
+   png_uint_16pp gamma_16_to_1, int gamma_shift
+#endif
+   )
+{
+   png_bytep sp, dp;
+   png_uint_32 i;
+   png_uint_32 row_width=row_info->width;
+   int shift;
+
+   png_debug(1, "in png_do_background");
+   if (background != NULL &&
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+      (!(row_info->color_type & PNG_COLOR_MASK_ALPHA) ||
+      (row_info->color_type != PNG_COLOR_TYPE_PALETTE && trans_values)))
+   {
+      switch (row_info->color_type)
+      {
+         case PNG_COLOR_TYPE_GRAY:
+         {
+            switch (row_info->bit_depth)
+            {
+               case 1:
+               {
+                  sp = row;
+                  shift = 7;
+                  for (i = 0; i < row_width; i++)
+                  {
+                     if ((png_uint_16)((*sp >> shift) & 0x01)
+                        == trans_values->gray)
+                     {
+                        *sp &= (png_byte)((0x7f7f >> (7 - shift)) & 0xff);
+                        *sp |= (png_byte)(background->gray << shift);
+                     }
+                     if (!shift)
+                     {
+                        shift = 7;
+                        sp++;
+                     }
+                     else
+                        shift--;
+                  }
+                  break;
+               }
+
+               case 2:
+               {
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+                  if (gamma_table != NULL)
+                  {
+                     sp = row;
+                     shift = 6;
+                     for (i = 0; i < row_width; i++)
+                     {
+                        if ((png_uint_16)((*sp >> shift) & 0x03)
+                            == trans_values->gray)
+                        {
+                           *sp &= (png_byte)((0x3f3f >> (6 - shift)) & 0xff);
+                           *sp |= (png_byte)(background->gray << shift);
+                        }
+                        else
+                        {
+                           png_byte p = (png_byte)((*sp >> shift) & 0x03);
+                           png_byte g = (png_byte)((gamma_table [p | (p << 2) |
+                               (p << 4) | (p << 6)] >> 6) & 0x03);
+                           *sp &= (png_byte)((0x3f3f >> (6 - shift)) & 0xff);
+                           *sp |= (png_byte)(g << shift);
+                        }
+                        if (!shift)
+                        {
+                           shift = 6;
+                           sp++;
+                        }
+                        else
+                           shift -= 2;
+                     }
+                  }
+                  else
+#endif
+                  {
+                     sp = row;
+                     shift = 6;
+                     for (i = 0; i < row_width; i++)
+                     {
+                        if ((png_uint_16)((*sp >> shift) & 0x03)
+                            == trans_values->gray)
+                        {
+                           *sp &= (png_byte)((0x3f3f >> (6 - shift)) & 0xff);
+                           *sp |= (png_byte)(background->gray << shift);
+                        }
+                        if (!shift)
+                        {
+                           shift = 6;
+                           sp++;
+                        }
+                        else
+                           shift -= 2;
+                     }
+                  }
+                  break;
+               }
+
+               case 4:
+               {
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+                  if (gamma_table != NULL)
+                  {
+                     sp = row;
+                     shift = 4;
+                     for (i = 0; i < row_width; i++)
+                     {
+                        if ((png_uint_16)((*sp >> shift) & 0x0f)
+                            == trans_values->gray)
+                        {
+                           *sp &= (png_byte)((0xf0f >> (4 - shift)) & 0xff);
+                           *sp |= (png_byte)(background->gray << shift);
+                        }
+                        else
+                        {
+                           png_byte p = (png_byte)((*sp >> shift) & 0x0f);
+                           png_byte g = (png_byte)((gamma_table[p |
+                             (p << 4)] >> 4) & 0x0f);
+                           *sp &= (png_byte)((0xf0f >> (4 - shift)) & 0xff);
+                           *sp |= (png_byte)(g << shift);
+                        }
+                        if (!shift)
+                        {
+                           shift = 4;
+                           sp++;
+                        }
+                        else
+                           shift -= 4;
+                     }
+                  }
+                  else
+#endif
+                  {
+                     sp = row;
+                     shift = 4;
+                     for (i = 0; i < row_width; i++)
+                     {
+                        if ((png_uint_16)((*sp >> shift) & 0x0f)
+                            == trans_values->gray)
+                        {
+                           *sp &= (png_byte)((0xf0f >> (4 - shift)) & 0xff);
+                           *sp |= (png_byte)(background->gray << shift);
+                        }
+                        if (!shift)
+                        {
+                           shift = 4;
+                           sp++;
+                        }
+                        else
+                           shift -= 4;
+                     }
+                  }
+                  break;
+               }
+
+               case 8:
+               {
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+                  if (gamma_table != NULL)
+                  {
+                     sp = row;
+                     for (i = 0; i < row_width; i++, sp++)
+                     {
+                        if (*sp == trans_values->gray)
+                        {
+                           *sp = (png_byte)background->gray;
+                        }
+                        else
+                        {
+                           *sp = gamma_table[*sp];
+                        }
+                     }
+                  }
+                  else
+#endif
+                  {
+                     sp = row;
+                     for (i = 0; i < row_width; i++, sp++)
+                     {
+                        if (*sp == trans_values->gray)
+                        {
+                           *sp = (png_byte)background->gray;
+                        }
+                     }
+                  }
+                  break;
+               }
+
+               case 16:
+               {
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+                  if (gamma_16 != NULL)
+                  {
+                     sp = row;
+                     for (i = 0; i < row_width; i++, sp += 2)
+                     {
+                        png_uint_16 v;
+
+                        v = (png_uint_16)(((*sp) << 8) + *(sp + 1));
+                        if (v == trans_values->gray)
+                        {
+                           /* Background is already in screen gamma */
+                           *sp = (png_byte)((background->gray >> 8) & 0xff);
+                           *(sp + 1) = (png_byte)(background->gray & 0xff);
+                        }
+                        else
+                        {
+                           v = gamma_16[*(sp + 1) >> gamma_shift][*sp];
+                           *sp = (png_byte)((v >> 8) & 0xff);
+                           *(sp + 1) = (png_byte)(v & 0xff);
+                        }
+                     }
+                  }
+                  else
+#endif
+                  {
+                     sp = row;
+                     for (i = 0; i < row_width; i++, sp += 2)
+                     {
+                        png_uint_16 v;
+
+                        v = (png_uint_16)(((*sp) << 8) + *(sp + 1));
+                        if (v == trans_values->gray)
+                        {
+                           *sp = (png_byte)((background->gray >> 8) & 0xff);
+                           *(sp + 1) = (png_byte)(background->gray & 0xff);
+                        }
+                     }
+                  }
+                  break;
+               }
+            }
+            break;
+         }
+
+         case PNG_COLOR_TYPE_RGB:
+         {
+            if (row_info->bit_depth == 8)
+            {
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+               if (gamma_table != NULL)
+               {
+                  sp = row;
+                  for (i = 0; i < row_width; i++, sp += 3)
+                  {
+                     if (*sp == trans_values->red &&
+                        *(sp + 1) == trans_values->green &&
+                        *(sp + 2) == trans_values->blue)
+                     {
+                        *sp = (png_byte)background->red;
+                        *(sp + 1) = (png_byte)background->green;
+                        *(sp + 2) = (png_byte)background->blue;
+                     }
+                     else
+                     {
+                        *sp = gamma_table[*sp];
+                        *(sp + 1) = gamma_table[*(sp + 1)];
+                        *(sp + 2) = gamma_table[*(sp + 2)];
+                     }
+                  }
+               }
+               else
+#endif
+               {
+                  sp = row;
+                  for (i = 0; i < row_width; i++, sp += 3)
+                  {
+                     if (*sp == trans_values->red &&
+                        *(sp + 1) == trans_values->green &&
+                        *(sp + 2) == trans_values->blue)
+                     {
+                        *sp = (png_byte)background->red;
+                        *(sp + 1) = (png_byte)background->green;
+                        *(sp + 2) = (png_byte)background->blue;
+                     }
+                  }
+               }
+            }
+            else /* if (row_info->bit_depth == 16) */
+            {
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+               if (gamma_16 != NULL)
+               {
+                  sp = row;
+                  for (i = 0; i < row_width; i++, sp += 6)
+                  {
+                     png_uint_16 r = (png_uint_16)(((*sp) << 8) + *(sp + 1));
+                     png_uint_16 g = (png_uint_16)(((*(sp+2)) << 8) + *(sp+3));
+                     png_uint_16 b = (png_uint_16)(((*(sp+4)) << 8) + *(sp+5));
+                     if (r == trans_values->red && g == trans_values->green &&
+                        b == trans_values->blue)
+                     {
+                        /* Background is already in screen gamma */
+                        *sp = (png_byte)((background->red >> 8) & 0xff);
+                        *(sp + 1) = (png_byte)(background->red & 0xff);
+                        *(sp + 2) = (png_byte)((background->green >> 8) & 0xff);
+                        *(sp + 3) = (png_byte)(background->green & 0xff);
+                        *(sp + 4) = (png_byte)((background->blue >> 8) & 0xff);
+                        *(sp + 5) = (png_byte)(background->blue & 0xff);
+                     }
+                     else
+                     {
+                        png_uint_16 v = gamma_16[*(sp + 1) >> gamma_shift][*sp];
+                        *sp = (png_byte)((v >> 8) & 0xff);
+                        *(sp + 1) = (png_byte)(v & 0xff);
+                        v = gamma_16[*(sp + 3) >> gamma_shift][*(sp + 2)];
+                        *(sp + 2) = (png_byte)((v >> 8) & 0xff);
+                        *(sp + 3) = (png_byte)(v & 0xff);
+                        v = gamma_16[*(sp + 5) >> gamma_shift][*(sp + 4)];
+                        *(sp + 4) = (png_byte)((v >> 8) & 0xff);
+                        *(sp + 5) = (png_byte)(v & 0xff);
+                     }
+                  }
+               }
+               else
+#endif
+               {
+                  sp = row;
+                  for (i = 0; i < row_width; i++, sp += 6)
+                  {
+                     png_uint_16 r = (png_uint_16)(((*sp) << 8) + *(sp+1));
+                     png_uint_16 g = (png_uint_16)(((*(sp+2)) << 8) + *(sp+3));
+                     png_uint_16 b = (png_uint_16)(((*(sp+4)) << 8) + *(sp+5));
+
+                     if (r == trans_values->red && g == trans_values->green &&
+                        b == trans_values->blue)
+                     {
+                        *sp = (png_byte)((background->red >> 8) & 0xff);
+                        *(sp + 1) = (png_byte)(background->red & 0xff);
+                        *(sp + 2) = (png_byte)((background->green >> 8) & 0xff);
+                        *(sp + 3) = (png_byte)(background->green & 0xff);
+                        *(sp + 4) = (png_byte)((background->blue >> 8) & 0xff);
+                        *(sp + 5) = (png_byte)(background->blue & 0xff);
+                     }
+                  }
+               }
+            }
+            break;
+         }
+
+         case PNG_COLOR_TYPE_GRAY_ALPHA:
+         {
+            if (row_info->bit_depth == 8)
+            {
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+               if (gamma_to_1 != NULL && gamma_from_1 != NULL &&
+                   gamma_table != NULL)
+               {
+                  sp = row;
+                  dp = row;
+                  for (i = 0; i < row_width; i++, sp += 2, dp++)
+                  {
+                     png_uint_16 a = *(sp + 1);
+
+                     if (a == 0xff)
+                     {
+                        *dp = gamma_table[*sp];
+                     }
+                     else if (a == 0)
+                     {
+                        /* Background is already in screen gamma */
+                        *dp = (png_byte)background->gray;
+                     }
+                     else
+                     {
+                        png_byte v, w;
+
+                        v = gamma_to_1[*sp];
+                        png_composite(w, v, a, background_1->gray);
+                        *dp = gamma_from_1[w];
+                     }
+                  }
+               }
+               else
+#endif
+               {
+                  sp = row;
+                  dp = row;
+                  for (i = 0; i < row_width; i++, sp += 2, dp++)
+                  {
+                     png_byte a = *(sp + 1);
+
+                     if (a == 0xff)
+                     {
+                        *dp = *sp;
+                     }
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+                     else if (a == 0)
+                     {
+                        *dp = (png_byte)background->gray;
+                     }
+                     else
+                     {
+                        png_composite(*dp, *sp, a, background_1->gray);
+                     }
+#else
+                     *dp = (png_byte)background->gray;
+#endif
+                  }
+               }
+            }
+            else /* if (png_ptr->bit_depth == 16) */
+            {
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+               if (gamma_16 != NULL && gamma_16_from_1 != NULL &&
+                   gamma_16_to_1 != NULL)
+               {
+                  sp = row;
+                  dp = row;
+                  for (i = 0; i < row_width; i++, sp += 4, dp += 2)
+                  {
+                     png_uint_16 a = (png_uint_16)(((*(sp+2)) << 8) + *(sp+3));
+
+                     if (a == (png_uint_16)0xffff)
+                     {
+                        png_uint_16 v;
+
+                        v = gamma_16[*(sp + 1) >> gamma_shift][*sp];
+                        *dp = (png_byte)((v >> 8) & 0xff);
+                        *(dp + 1) = (png_byte)(v & 0xff);
+                     }
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+                     else if (a == 0)
+#else
+                     else
+#endif
+                     {
+                        /* Background is already in screen gamma */
+                        *dp = (png_byte)((background->gray >> 8) & 0xff);
+                        *(dp + 1) = (png_byte)(background->gray & 0xff);
+                     }
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+                     else
+                     {
+                        png_uint_16 g, v, w;
+
+                        g = gamma_16_to_1[*(sp + 1) >> gamma_shift][*sp];
+                        png_composite_16(v, g, a, background_1->gray);
+                        w = gamma_16_from_1[(v&0xff) >> gamma_shift][v >> 8];
+                        *dp = (png_byte)((w >> 8) & 0xff);
+                        *(dp + 1) = (png_byte)(w & 0xff);
+                     }
+#endif
+                  }
+               }
+               else
+#endif
+               {
+                  sp = row;
+                  dp = row;
+                  for (i = 0; i < row_width; i++, sp += 4, dp += 2)
+                  {
+                     png_uint_16 a = (png_uint_16)(((*(sp+2)) << 8) + *(sp+3));
+                     if (a == (png_uint_16)0xffff)
+                     {
+                        png_memcpy(dp, sp, 2);
+                     }
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+                     else if (a == 0)
+#else
+                     else
+#endif
+                     {
+                        *dp = (png_byte)((background->gray >> 8) & 0xff);
+                        *(dp + 1) = (png_byte)(background->gray & 0xff);
+                     }
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+                     else
+                     {
+                        png_uint_16 g, v;
+
+                        g = (png_uint_16)(((*sp) << 8) + *(sp + 1));
+                        png_composite_16(v, g, a, background_1->gray);
+                        *dp = (png_byte)((v >> 8) & 0xff);
+                        *(dp + 1) = (png_byte)(v & 0xff);
+                     }
+#endif
+                  }
+               }
+            }
+            break;
+         }
+
+         case PNG_COLOR_TYPE_RGB_ALPHA:
+         {
+            if (row_info->bit_depth == 8)
+            {
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+               if (gamma_to_1 != NULL && gamma_from_1 != NULL &&
+                   gamma_table != NULL)
+               {
+                  sp = row;
+                  dp = row;
+                  for (i = 0; i < row_width; i++, sp += 4, dp += 3)
+                  {
+                     png_byte a = *(sp + 3);
+
+                     if (a == 0xff)
+                     {
+                        *dp = gamma_table[*sp];
+                        *(dp + 1) = gamma_table[*(sp + 1)];
+                        *(dp + 2) = gamma_table[*(sp + 2)];
+                     }
+                     else if (a == 0)
+                     {
+                        /* Background is already in screen gamma */
+                        *dp = (png_byte)background->red;
+                        *(dp + 1) = (png_byte)background->green;
+                        *(dp + 2) = (png_byte)background->blue;
+                     }
+                     else
+                     {
+                        png_byte v, w;
+
+                        v = gamma_to_1[*sp];
+                        png_composite(w, v, a, background_1->red);
+                        *dp = gamma_from_1[w];
+                        v = gamma_to_1[*(sp + 1)];
+                        png_composite(w, v, a, background_1->green);
+                        *(dp + 1) = gamma_from_1[w];
+                        v = gamma_to_1[*(sp + 2)];
+                        png_composite(w, v, a, background_1->blue);
+                        *(dp + 2) = gamma_from_1[w];
+                     }
+                  }
+               }
+               else
+#endif
+               {
+                  sp = row;
+                  dp = row;
+                  for (i = 0; i < row_width; i++, sp += 4, dp += 3)
+                  {
+                     png_byte a = *(sp + 3);
+
+                     if (a == 0xff)
+                     {
+                        *dp = *sp;
+                        *(dp + 1) = *(sp + 1);
+                        *(dp + 2) = *(sp + 2);
+                     }
+                     else if (a == 0)
+                     {
+                        *dp = (png_byte)background->red;
+                        *(dp + 1) = (png_byte)background->green;
+                        *(dp + 2) = (png_byte)background->blue;
+                     }
+                     else
+                     {
+                        png_composite(*dp, *sp, a, background->red);
+                        png_composite(*(dp + 1), *(sp + 1), a,
+                           background->green);
+                        png_composite(*(dp + 2), *(sp + 2), a,
+                           background->blue);
+                     }
+                  }
+               }
+            }
+            else /* if (row_info->bit_depth == 16) */
+            {
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+               if (gamma_16 != NULL && gamma_16_from_1 != NULL &&
+                   gamma_16_to_1 != NULL)
+               {
+                  sp = row;
+                  dp = row;
+                  for (i = 0; i < row_width; i++, sp += 8, dp += 6)
+                  {
+                     png_uint_16 a = (png_uint_16)(((png_uint_16)(*(sp + 6))
+                         << 8) + (png_uint_16)(*(sp + 7)));
+                     if (a == (png_uint_16)0xffff)
+                     {
+                        png_uint_16 v;
+
+                        v = gamma_16[*(sp + 1) >> gamma_shift][*sp];
+                        *dp = (png_byte)((v >> 8) & 0xff);
+                        *(dp + 1) = (png_byte)(v & 0xff);
+                        v = gamma_16[*(sp + 3) >> gamma_shift][*(sp + 2)];
+                        *(dp + 2) = (png_byte)((v >> 8) & 0xff);
+                        *(dp + 3) = (png_byte)(v & 0xff);
+                        v = gamma_16[*(sp + 5) >> gamma_shift][*(sp + 4)];
+                        *(dp + 4) = (png_byte)((v >> 8) & 0xff);
+                        *(dp + 5) = (png_byte)(v & 0xff);
+                     }
+                     else if (a == 0)
+                     {
+                        /* Background is already in screen gamma */
+                        *dp = (png_byte)((background->red >> 8) & 0xff);
+                        *(dp + 1) = (png_byte)(background->red & 0xff);
+                        *(dp + 2) = (png_byte)((background->green >> 8) & 0xff);
+                        *(dp + 3) = (png_byte)(background->green & 0xff);
+                        *(dp + 4) = (png_byte)((background->blue >> 8) & 0xff);
+                        *(dp + 5) = (png_byte)(background->blue & 0xff);
+                     }
+                     else
+                     {
+                        png_uint_16 v, w, x;
+
+                        v = gamma_16_to_1[*(sp + 1) >> gamma_shift][*sp];
+                        png_composite_16(w, v, a, background_1->red);
+                        x = gamma_16_from_1[((w&0xff) >> gamma_shift)][w >> 8];
+                        *dp = (png_byte)((x >> 8) & 0xff);
+                        *(dp + 1) = (png_byte)(x & 0xff);
+                        v = gamma_16_to_1[*(sp + 3) >> gamma_shift][*(sp + 2)];
+                        png_composite_16(w, v, a, background_1->green);
+                        x = gamma_16_from_1[((w&0xff) >> gamma_shift)][w >> 8];
+                        *(dp + 2) = (png_byte)((x >> 8) & 0xff);
+                        *(dp + 3) = (png_byte)(x & 0xff);
+                        v = gamma_16_to_1[*(sp + 5) >> gamma_shift][*(sp + 4)];
+                        png_composite_16(w, v, a, background_1->blue);
+                        x = gamma_16_from_1[(w & 0xff) >> gamma_shift][w >> 8];
+                        *(dp + 4) = (png_byte)((x >> 8) & 0xff);
+                        *(dp + 5) = (png_byte)(x & 0xff);
+                     }
+                  }
+               }
+               else
+#endif
+               {
+                  sp = row;
+                  dp = row;
+                  for (i = 0; i < row_width; i++, sp += 8, dp += 6)
+                  {
+                     png_uint_16 a = (png_uint_16)(((png_uint_16)(*(sp + 6))
+                        << 8) + (png_uint_16)(*(sp + 7)));
+                     if (a == (png_uint_16)0xffff)
+                     {
+                        png_memcpy(dp, sp, 6);
+                     }
+                     else if (a == 0)
+                     {
+                        *dp = (png_byte)((background->red >> 8) & 0xff);
+                        *(dp + 1) = (png_byte)(background->red & 0xff);
+                        *(dp + 2) = (png_byte)((background->green >> 8) & 0xff);
+                        *(dp + 3) = (png_byte)(background->green & 0xff);
+                        *(dp + 4) = (png_byte)((background->blue >> 8) & 0xff);
+                        *(dp + 5) = (png_byte)(background->blue & 0xff);
+                     }
+                     else
+                     {
+                        png_uint_16 v;
+
+                        png_uint_16 r = (png_uint_16)(((*sp) << 8) + *(sp + 1));
+                        png_uint_16 g = (png_uint_16)(((*(sp + 2)) << 8)
+                            + *(sp + 3));
+                        png_uint_16 b = (png_uint_16)(((*(sp + 4)) << 8)
+                            + *(sp + 5));
+
+                        png_composite_16(v, r, a, background->red);
+                        *dp = (png_byte)((v >> 8) & 0xff);
+                        *(dp + 1) = (png_byte)(v & 0xff);
+                        png_composite_16(v, g, a, background->green);
+                        *(dp + 2) = (png_byte)((v >> 8) & 0xff);
+                        *(dp + 3) = (png_byte)(v & 0xff);
+                        png_composite_16(v, b, a, background->blue);
+                        *(dp + 4) = (png_byte)((v >> 8) & 0xff);
+                        *(dp + 5) = (png_byte)(v & 0xff);
+                     }
+                  }
+               }
+            }
+            break;
+         }
+      }
+
+      if (row_info->color_type & PNG_COLOR_MASK_ALPHA)
+      {
+         row_info->color_type &= ~PNG_COLOR_MASK_ALPHA;
+         row_info->channels--;
+         row_info->pixel_depth = (png_byte)(row_info->channels *
+            row_info->bit_depth);
+         row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth, row_width);
+      }
+   }
+}
+#endif
+
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+/* Gamma correct the image, avoiding the alpha channel.  Make sure
+ * you do this after you deal with the transparency issue on grayscale
+ * or RGB images. If your bit depth is 8, use gamma_table, if it
+ * is 16, use gamma_16_table and gamma_shift.  Build these with
+ * build_gamma_table().
+ */
+void /* PRIVATE */
+png_do_gamma(png_row_infop row_info, png_bytep row,
+   png_bytep gamma_table, png_uint_16pp gamma_16_table,
+   int gamma_shift)
+{
+   png_bytep sp;
+   png_uint_32 i;
+   png_uint_32 row_width=row_info->width;
+
+   png_debug(1, "in png_do_gamma");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       ((row_info->bit_depth <= 8 && gamma_table != NULL) ||
+        (row_info->bit_depth == 16 && gamma_16_table != NULL)))
+   {
+      switch (row_info->color_type)
+      {
+         case PNG_COLOR_TYPE_RGB:
+         {
+            if (row_info->bit_depth == 8)
+            {
+               sp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  *sp = gamma_table[*sp];
+                  sp++;
+                  *sp = gamma_table[*sp];
+                  sp++;
+                  *sp = gamma_table[*sp];
+                  sp++;
+               }
+            }
+            else /* if (row_info->bit_depth == 16) */
+            {
+               sp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_uint_16 v;
+
+                  v = gamma_16_table[*(sp + 1) >> gamma_shift][*sp];
+                  *sp = (png_byte)((v >> 8) & 0xff);
+                  *(sp + 1) = (png_byte)(v & 0xff);
+                  sp += 2;
+                  v = gamma_16_table[*(sp + 1) >> gamma_shift][*sp];
+                  *sp = (png_byte)((v >> 8) & 0xff);
+                  *(sp + 1) = (png_byte)(v & 0xff);
+                  sp += 2;
+                  v = gamma_16_table[*(sp + 1) >> gamma_shift][*sp];
+                  *sp = (png_byte)((v >> 8) & 0xff);
+                  *(sp + 1) = (png_byte)(v & 0xff);
+                  sp += 2;
+               }
+            }
+            break;
+         }
+
+         case PNG_COLOR_TYPE_RGB_ALPHA:
+         {
+            if (row_info->bit_depth == 8)
+            {
+               sp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  *sp = gamma_table[*sp];
+                  sp++;
+                  *sp = gamma_table[*sp];
+                  sp++;
+                  *sp = gamma_table[*sp];
+                  sp++;
+                  sp++;
+               }
+            }
+            else /* if (row_info->bit_depth == 16) */
+            {
+               sp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_uint_16 v = gamma_16_table[*(sp + 1) >> gamma_shift][*sp];
+                  *sp = (png_byte)((v >> 8) & 0xff);
+                  *(sp + 1) = (png_byte)(v & 0xff);
+                  sp += 2;
+                  v = gamma_16_table[*(sp + 1) >> gamma_shift][*sp];
+                  *sp = (png_byte)((v >> 8) & 0xff);
+                  *(sp + 1) = (png_byte)(v & 0xff);
+                  sp += 2;
+                  v = gamma_16_table[*(sp + 1) >> gamma_shift][*sp];
+                  *sp = (png_byte)((v >> 8) & 0xff);
+                  *(sp + 1) = (png_byte)(v & 0xff);
+                  sp += 4;
+               }
+            }
+            break;
+         }
+
+         case PNG_COLOR_TYPE_GRAY_ALPHA:
+         {
+            if (row_info->bit_depth == 8)
+            {
+               sp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  *sp = gamma_table[*sp];
+                  sp += 2;
+               }
+            }
+            else /* if (row_info->bit_depth == 16) */
+            {
+               sp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_uint_16 v = gamma_16_table[*(sp + 1) >> gamma_shift][*sp];
+                  *sp = (png_byte)((v >> 8) & 0xff);
+                  *(sp + 1) = (png_byte)(v & 0xff);
+                  sp += 4;
+               }
+            }
+            break;
+         }
+
+         case PNG_COLOR_TYPE_GRAY:
+         {
+            if (row_info->bit_depth == 2)
+            {
+               sp = row;
+               for (i = 0; i < row_width; i += 4)
+               {
+                  int a = *sp & 0xc0;
+                  int b = *sp & 0x30;
+                  int c = *sp & 0x0c;
+                  int d = *sp & 0x03;
+
+                  *sp = (png_byte)(
+                        ((((int)gamma_table[a|(a>>2)|(a>>4)|(a>>6)])   ) & 0xc0)|
+                        ((((int)gamma_table[(b<<2)|b|(b>>2)|(b>>4)])>>2) & 0x30)|
+                        ((((int)gamma_table[(c<<4)|(c<<2)|c|(c>>2)])>>4) & 0x0c)|
+                        ((((int)gamma_table[(d<<6)|(d<<4)|(d<<2)|d])>>6) ));
+                  sp++;
+               }
+            }
+
+            if (row_info->bit_depth == 4)
+            {
+               sp = row;
+               for (i = 0; i < row_width; i += 2)
+               {
+                  int msb = *sp & 0xf0;
+                  int lsb = *sp & 0x0f;
+
+                  *sp = (png_byte)((((int)gamma_table[msb | (msb >> 4)]) & 0xf0)
+                          | (((int)gamma_table[(lsb << 4) | lsb]) >> 4));
+                  sp++;
+               }
+            }
+
+            else if (row_info->bit_depth == 8)
+            {
+               sp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  *sp = gamma_table[*sp];
+                  sp++;
+               }
+            }
+
+            else if (row_info->bit_depth == 16)
+            {
+               sp = row;
+               for (i = 0; i < row_width; i++)
+               {
+                  png_uint_16 v = gamma_16_table[*(sp + 1) >> gamma_shift][*sp];
+                  *sp = (png_byte)((v >> 8) & 0xff);
+                  *(sp + 1) = (png_byte)(v & 0xff);
+                  sp += 2;
+               }
+            }
+            break;
+         }
+      }
+   }
+}
+#endif
+
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+/* Expands a palette row to an RGB or RGBA row depending
+ * upon whether you supply trans and num_trans.
+ */
+void /* PRIVATE */
+png_do_expand_palette(png_row_infop row_info, png_bytep row,
+   png_colorp palette, png_bytep trans, int num_trans)
+{
+   int shift, value;
+   png_bytep sp, dp;
+   png_uint_32 i;
+   png_uint_32 row_width=row_info->width;
+
+   png_debug(1, "in png_do_expand_palette");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       row_info->color_type == PNG_COLOR_TYPE_PALETTE)
+   {
+      if (row_info->bit_depth < 8)
+      {
+         switch (row_info->bit_depth)
+         {
+            case 1:
+            {
+               sp = row + (png_size_t)((row_width - 1) >> 3);
+               dp = row + (png_size_t)row_width - 1;
+               shift = 7 - (int)((row_width + 7) & 0x07);
+               for (i = 0; i < row_width; i++)
+               {
+                  if ((*sp >> shift) & 0x01)
+                     *dp = 1;
+                  else
+                     *dp = 0;
+                  if (shift == 7)
+                  {
+                     shift = 0;
+                     sp--;
+                  }
+                  else
+                     shift++;
+
+                  dp--;
+               }
+               break;
+            }
+
+            case 2:
+            {
+               sp = row + (png_size_t)((row_width - 1) >> 2);
+               dp = row + (png_size_t)row_width - 1;
+               shift = (int)((3 - ((row_width + 3) & 0x03)) << 1);
+               for (i = 0; i < row_width; i++)
+               {
+                  value = (*sp >> shift) & 0x03;
+                  *dp = (png_byte)value;
+                  if (shift == 6)
+                  {
+                     shift = 0;
+                     sp--;
+                  }
+                  else
+                     shift += 2;
+
+                  dp--;
+               }
+               break;
+            }
+
+            case 4:
+            {
+               sp = row + (png_size_t)((row_width - 1) >> 1);
+               dp = row + (png_size_t)row_width - 1;
+               shift = (int)((row_width & 0x01) << 2);
+               for (i = 0; i < row_width; i++)
+               {
+                  value = (*sp >> shift) & 0x0f;
+                  *dp = (png_byte)value;
+                  if (shift == 4)
+                  {
+                     shift = 0;
+                     sp--;
+                  }
+                  else
+                     shift += 4;
+
+                  dp--;
+               }
+               break;
+            }
+         }
+         row_info->bit_depth = 8;
+         row_info->pixel_depth = 8;
+         row_info->rowbytes = row_width;
+      }
+      switch (row_info->bit_depth)
+      {
+         case 8:
+         {
+            if (trans != NULL)
+            {
+               sp = row + (png_size_t)row_width - 1;
+               dp = row + (png_size_t)(row_width << 2) - 1;
+
+               for (i = 0; i < row_width; i++)
+               {
+                  if ((int)(*sp) >= num_trans)
+                     *dp-- = 0xff;
+                  else
+                     *dp-- = trans[*sp];
+                  *dp-- = palette[*sp].blue;
+                  *dp-- = palette[*sp].green;
+                  *dp-- = palette[*sp].red;
+                  sp--;
+               }
+               row_info->bit_depth = 8;
+               row_info->pixel_depth = 32;
+               row_info->rowbytes = row_width * 4;
+               row_info->color_type = 6;
+               row_info->channels = 4;
+            }
+            else
+            {
+               sp = row + (png_size_t)row_width - 1;
+               dp = row + (png_size_t)(row_width * 3) - 1;
+
+               for (i = 0; i < row_width; i++)
+               {
+                  *dp-- = palette[*sp].blue;
+                  *dp-- = palette[*sp].green;
+                  *dp-- = palette[*sp].red;
+                  sp--;
+               }
+
+               row_info->bit_depth = 8;
+               row_info->pixel_depth = 24;
+               row_info->rowbytes = row_width * 3;
+               row_info->color_type = 2;
+               row_info->channels = 3;
+            }
+            break;
+         }
+      }
+   }
+}
+
+/* If the bit depth < 8, it is expanded to 8.  Also, if the already
+ * expanded transparency value is supplied, an alpha channel is built.
+ */
+void /* PRIVATE */
+png_do_expand(png_row_infop row_info, png_bytep row,
+   png_color_16p trans_value)
+{
+   int shift, value;
+   png_bytep sp, dp;
+   png_uint_32 i;
+   png_uint_32 row_width=row_info->width;
+
+   png_debug(1, "in png_do_expand");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL)
+#endif
+   {
+      if (row_info->color_type == PNG_COLOR_TYPE_GRAY)
+      {
+         png_uint_16 gray = (png_uint_16)(trans_value ? trans_value->gray : 0);
+
+         if (row_info->bit_depth < 8)
+         {
+            switch (row_info->bit_depth)
+            {
+               case 1:
+               {
+                  gray = (png_uint_16)((gray&0x01)*0xff);
+                  sp = row + (png_size_t)((row_width - 1) >> 3);
+                  dp = row + (png_size_t)row_width - 1;
+                  shift = 7 - (int)((row_width + 7) & 0x07);
+                  for (i = 0; i < row_width; i++)
+                  {
+                     if ((*sp >> shift) & 0x01)
+                        *dp = 0xff;
+                     else
+                        *dp = 0;
+                     if (shift == 7)
+                     {
+                        shift = 0;
+                        sp--;
+                     }
+                     else
+                        shift++;
+
+                     dp--;
+                  }
+                  break;
+               }
+
+               case 2:
+               {
+                  gray = (png_uint_16)((gray&0x03)*0x55);
+                  sp = row + (png_size_t)((row_width - 1) >> 2);
+                  dp = row + (png_size_t)row_width - 1;
+                  shift = (int)((3 - ((row_width + 3) & 0x03)) << 1);
+                  for (i = 0; i < row_width; i++)
+                  {
+                     value = (*sp >> shift) & 0x03;
+                     *dp = (png_byte)(value | (value << 2) | (value << 4) |
+                        (value << 6));
+                     if (shift == 6)
+                     {
+                        shift = 0;
+                        sp--;
+                     }
+                     else
+                        shift += 2;
+
+                     dp--;
+                  }
+                  break;
+               }
+
+               case 4:
+               {
+                  gray = (png_uint_16)((gray&0x0f)*0x11);
+                  sp = row + (png_size_t)((row_width - 1) >> 1);
+                  dp = row + (png_size_t)row_width - 1;
+                  shift = (int)((1 - ((row_width + 1) & 0x01)) << 2);
+                  for (i = 0; i < row_width; i++)
+                  {
+                     value = (*sp >> shift) & 0x0f;
+                     *dp = (png_byte)(value | (value << 4));
+                     if (shift == 4)
+                     {
+                        shift = 0;
+                        sp--;
+                     }
+                     else
+                        shift = 4;
+
+                     dp--;
+                  }
+                  break;
+               }
+            }
+
+            row_info->bit_depth = 8;
+            row_info->pixel_depth = 8;
+            row_info->rowbytes = row_width;
+         }
+
+         if (trans_value != NULL)
+         {
+            if (row_info->bit_depth == 8)
+            {
+               gray = gray & 0xff;
+               sp = row + (png_size_t)row_width - 1;
+               dp = row + (png_size_t)(row_width << 1) - 1;
+               for (i = 0; i < row_width; i++)
+               {
+                  if (*sp == gray)
+                     *dp-- = 0;
+                  else
+                     *dp-- = 0xff;
+                  *dp-- = *sp--;
+               }
+            }
+
+            else if (row_info->bit_depth == 16)
+            {
+               png_byte gray_high = (gray >> 8) & 0xff;
+               png_byte gray_low = gray & 0xff;
+               sp = row + row_info->rowbytes - 1;
+               dp = row + (row_info->rowbytes << 1) - 1;
+               for (i = 0; i < row_width; i++)
+               {
+                  if (*(sp - 1) == gray_high && *(sp) == gray_low)
+                  {
+                     *dp-- = 0;
+                     *dp-- = 0;
+                  }
+                  else
+                  {
+                     *dp-- = 0xff;
+                     *dp-- = 0xff;
+                  }
+                  *dp-- = *sp--;
+                  *dp-- = *sp--;
+               }
+            }
+
+            row_info->color_type = PNG_COLOR_TYPE_GRAY_ALPHA;
+            row_info->channels = 2;
+            row_info->pixel_depth = (png_byte)(row_info->bit_depth << 1);
+            row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth,
+               row_width);
+         }
+      }
+      else if (row_info->color_type == PNG_COLOR_TYPE_RGB && trans_value)
+      {
+         if (row_info->bit_depth == 8)
+         {
+            png_byte red = trans_value->red & 0xff;
+            png_byte green = trans_value->green & 0xff;
+            png_byte blue = trans_value->blue & 0xff;
+            sp = row + (png_size_t)row_info->rowbytes - 1;
+            dp = row + (png_size_t)(row_width << 2) - 1;
+            for (i = 0; i < row_width; i++)
+            {
+               if (*(sp - 2) == red && *(sp - 1) == green && *(sp) == blue)
+                  *dp-- = 0;
+               else
+                  *dp-- = 0xff;
+               *dp-- = *sp--;
+               *dp-- = *sp--;
+               *dp-- = *sp--;
+            }
+         }
+         else if (row_info->bit_depth == 16)
+         {
+            png_byte red_high = (trans_value->red >> 8) & 0xff;
+            png_byte green_high = (trans_value->green >> 8) & 0xff;
+            png_byte blue_high = (trans_value->blue >> 8) & 0xff;
+            png_byte red_low = trans_value->red & 0xff;
+            png_byte green_low = trans_value->green & 0xff;
+            png_byte blue_low = trans_value->blue & 0xff;
+            sp = row + row_info->rowbytes - 1;
+            dp = row + (png_size_t)(row_width << 3) - 1;
+            for (i = 0; i < row_width; i++)
+            {
+               if (*(sp - 5) == red_high &&
+                  *(sp - 4) == red_low &&
+                  *(sp - 3) == green_high &&
+                  *(sp - 2) == green_low &&
+                  *(sp - 1) == blue_high &&
+                  *(sp    ) == blue_low)
+               {
+                  *dp-- = 0;
+                  *dp-- = 0;
+               }
+               else
+               {
+                  *dp-- = 0xff;
+                  *dp-- = 0xff;
+               }
+               *dp-- = *sp--;
+               *dp-- = *sp--;
+               *dp-- = *sp--;
+               *dp-- = *sp--;
+               *dp-- = *sp--;
+               *dp-- = *sp--;
+            }
+         }
+         row_info->color_type = PNG_COLOR_TYPE_RGB_ALPHA;
+         row_info->channels = 4;
+         row_info->pixel_depth = (png_byte)(row_info->bit_depth << 2);
+         row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth, row_width);
+      }
+   }
+}
+#endif
+
+#if defined(PNG_READ_DITHER_SUPPORTED)
+void /* PRIVATE */
+png_do_dither(png_row_infop row_info, png_bytep row,
+    png_bytep palette_lookup, png_bytep dither_lookup)
+{
+   png_bytep sp, dp;
+   png_uint_32 i;
+   png_uint_32 row_width=row_info->width;
+
+   png_debug(1, "in png_do_dither");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL)
+#endif
+   {
+      if (row_info->color_type == PNG_COLOR_TYPE_RGB &&
+         palette_lookup && row_info->bit_depth == 8)
+      {
+         int r, g, b, p;
+         sp = row;
+         dp = row;
+         for (i = 0; i < row_width; i++)
+         {
+            r = *sp++;
+            g = *sp++;
+            b = *sp++;
+
+            /* This looks real messy, but the compiler will reduce
+             * it down to a reasonable formula.  For example, with
+             * 5 bits per color, we get:
+             * p = (((r >> 3) & 0x1f) << 10) |
+             *    (((g >> 3) & 0x1f) << 5) |
+             *    ((b >> 3) & 0x1f);
+             */
+            p = (((r >> (8 - PNG_DITHER_RED_BITS)) &
+               ((1 << PNG_DITHER_RED_BITS) - 1)) <<
+               (PNG_DITHER_GREEN_BITS + PNG_DITHER_BLUE_BITS)) |
+               (((g >> (8 - PNG_DITHER_GREEN_BITS)) &
+               ((1 << PNG_DITHER_GREEN_BITS) - 1)) <<
+               (PNG_DITHER_BLUE_BITS)) |
+               ((b >> (8 - PNG_DITHER_BLUE_BITS)) &
+               ((1 << PNG_DITHER_BLUE_BITS) - 1));
+
+            *dp++ = palette_lookup[p];
+         }
+         row_info->color_type = PNG_COLOR_TYPE_PALETTE;
+         row_info->channels = 1;
+         row_info->pixel_depth = row_info->bit_depth;
+         row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth, row_width);
+      }
+      else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA &&
+         palette_lookup != NULL && row_info->bit_depth == 8)
+      {
+         int r, g, b, p;
+         sp = row;
+         dp = row;
+         for (i = 0; i < row_width; i++)
+         {
+            r = *sp++;
+            g = *sp++;
+            b = *sp++;
+            sp++;
+
+            p = (((r >> (8 - PNG_DITHER_RED_BITS)) &
+               ((1 << PNG_DITHER_RED_BITS) - 1)) <<
+               (PNG_DITHER_GREEN_BITS + PNG_DITHER_BLUE_BITS)) |
+               (((g >> (8 - PNG_DITHER_GREEN_BITS)) &
+               ((1 << PNG_DITHER_GREEN_BITS) - 1)) <<
+               (PNG_DITHER_BLUE_BITS)) |
+               ((b >> (8 - PNG_DITHER_BLUE_BITS)) &
+               ((1 << PNG_DITHER_BLUE_BITS) - 1));
+
+            *dp++ = palette_lookup[p];
+         }
+         row_info->color_type = PNG_COLOR_TYPE_PALETTE;
+         row_info->channels = 1;
+         row_info->pixel_depth = row_info->bit_depth;
+         row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth, row_width);
+      }
+      else if (row_info->color_type == PNG_COLOR_TYPE_PALETTE &&
+         dither_lookup && row_info->bit_depth == 8)
+      {
+         sp = row;
+         for (i = 0; i < row_width; i++, sp++)
+         {
+            *sp = dither_lookup[*sp];
+         }
+      }
+   }
+}
+#endif
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+#if defined(PNG_READ_GAMMA_SUPPORTED)
+static PNG_CONST int png_gamma_shift[] =
+   {0x10, 0x21, 0x42, 0x84, 0x110, 0x248, 0x550, 0xff0, 0x00};
+
+/* We build the 8- or 16-bit gamma tables here.  Note that for 16-bit
+ * tables, we don't make a full table if we are reducing to 8-bit in
+ * the future.  Note also how the gamma_16 tables are segmented so that
+ * we don't need to allocate > 64K chunks for a full 16-bit table.
+ */
+void /* PRIVATE */
+png_build_gamma_table(png_structp png_ptr)
+{
+  png_debug(1, "in png_build_gamma_table");
+
+  if (png_ptr->bit_depth <= 8)
+  {
+     int i;
+     double g;
+
+     if (png_ptr->screen_gamma > .000001)
+        g = 1.0 / (png_ptr->gamma * png_ptr->screen_gamma);
+
+     else
+        g = 1.0;
+
+     png_ptr->gamma_table = (png_bytep)png_malloc(png_ptr,
+        (png_uint_32)256);
+
+     for (i = 0; i < 256; i++)
+     {
+        png_ptr->gamma_table[i] = (png_byte)(pow((double)i / 255.0,
+           g) * 255.0 + .5);
+     }
+
+#if defined(PNG_READ_BACKGROUND_SUPPORTED) || \
+   defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+     if (png_ptr->transformations & ((PNG_BACKGROUND) | PNG_RGB_TO_GRAY))
+     {
+
+        g = 1.0 / (png_ptr->gamma);
+
+        png_ptr->gamma_to_1 = (png_bytep)png_malloc(png_ptr,
+           (png_uint_32)256);
+
+        for (i = 0; i < 256; i++)
+        {
+           png_ptr->gamma_to_1[i] = (png_byte)(pow((double)i / 255.0,
+              g) * 255.0 + .5);
+        }
+
+
+        png_ptr->gamma_from_1 = (png_bytep)png_malloc(png_ptr,
+           (png_uint_32)256);
+
+        if (png_ptr->screen_gamma > 0.000001)
+           g = 1.0 / png_ptr->screen_gamma;
+
+        else
+           g = png_ptr->gamma;   /* Probably doing rgb_to_gray */
+
+        for (i = 0; i < 256; i++)
+        {
+           png_ptr->gamma_from_1[i] = (png_byte)(pow((double)i / 255.0,
+              g) * 255.0 + .5);
+
+        }
+     }
+#endif /* PNG_READ_BACKGROUND_SUPPORTED || PNG_RGB_TO_GRAY_SUPPORTED */
+  }
+  else
+  {
+     double g;
+     int i, j, shift, num;
+     int sig_bit;
+     png_uint_32 ig;
+
+     if (png_ptr->color_type & PNG_COLOR_MASK_COLOR)
+     {
+        sig_bit = (int)png_ptr->sig_bit.red;
+
+        if ((int)png_ptr->sig_bit.green > sig_bit)
+           sig_bit = png_ptr->sig_bit.green;
+
+        if ((int)png_ptr->sig_bit.blue > sig_bit)
+           sig_bit = png_ptr->sig_bit.blue;
+     }
+     else
+     {
+        sig_bit = (int)png_ptr->sig_bit.gray;
+     }
+
+     if (sig_bit > 0)
+        shift = 16 - sig_bit;
+
+     else
+        shift = 0;
+
+     if (png_ptr->transformations & PNG_16_TO_8)
+     {
+        if (shift < (16 - PNG_MAX_GAMMA_8))
+           shift = (16 - PNG_MAX_GAMMA_8);
+     }
+
+     if (shift > 8)
+        shift = 8;
+
+     if (shift < 0)
+        shift = 0;
+
+     png_ptr->gamma_shift = (png_byte)shift;
+
+     num = (1 << (8 - shift));
+
+     if (png_ptr->screen_gamma > .000001)
+        g = 1.0 / (png_ptr->gamma * png_ptr->screen_gamma);
+     else
+        g = 1.0;
+
+     png_ptr->gamma_16_table = (png_uint_16pp)png_malloc(png_ptr,
+        (png_uint_32)(num * png_sizeof(png_uint_16p)));
+     png_memset(png_ptr->gamma_16_table, 0, num * png_sizeof(png_uint_16p)); 
+
+     if (png_ptr->transformations & (PNG_16_TO_8 | PNG_BACKGROUND))
+     {
+        double fin, fout;
+        png_uint_32 last, max;
+
+        for (i = 0; i < num; i++)
+        {
+           png_ptr->gamma_16_table[i] = (png_uint_16p)png_malloc(png_ptr,
+              (png_uint_32)(256 * png_sizeof(png_uint_16)));
+        }
+
+        g = 1.0 / g;
+        last = 0;
+        for (i = 0; i < 256; i++)
+        {
+           fout = ((double)i + 0.5) / 256.0;
+           fin = pow(fout, g);
+           max = (png_uint_32)(fin * (double)((png_uint_32)num << 8));
+           while (last <= max)
+           {
+              png_ptr->gamma_16_table[(int)(last & (0xff >> shift))]
+                 [(int)(last >> (8 - shift))] = (png_uint_16)(
+                 (png_uint_16)i | ((png_uint_16)i << 8));
+              last++;
+           }
+        }
+        while (last < ((png_uint_32)num << 8))
+        {
+           png_ptr->gamma_16_table[(int)(last & (0xff >> shift))]
+              [(int)(last >> (8 - shift))] = (png_uint_16)65535L;
+           last++;
+        }
+     }
+     else
+     {
+        for (i = 0; i < num; i++)
+        {
+           png_ptr->gamma_16_table[i] = (png_uint_16p)png_malloc(png_ptr,
+              (png_uint_32)(256 * png_sizeof(png_uint_16)));
+
+           ig = (((png_uint_32)i * (png_uint_32)png_gamma_shift[shift]) >> 4);
+
+           for (j = 0; j < 256; j++)
+           {
+              png_ptr->gamma_16_table[i][j] =
+                 (png_uint_16)(pow((double)(ig + ((png_uint_32)j << 8)) /
+                    65535.0, g) * 65535.0 + .5);
+           }
+        }
+     }
+
+#if defined(PNG_READ_BACKGROUND_SUPPORTED) || \
+   defined(PNG_READ_RGB_TO_GRAY_SUPPORTED)
+     if (png_ptr->transformations & (PNG_BACKGROUND | PNG_RGB_TO_GRAY))
+     {
+
+        g = 1.0 / (png_ptr->gamma);
+
+        png_ptr->gamma_16_to_1 = (png_uint_16pp)png_malloc(png_ptr,
+           (png_uint_32)(num * png_sizeof(png_uint_16p )));
+        png_memset(png_ptr->gamma_16_to_1, 0, num * png_sizeof(png_uint_16p)); 
+
+        for (i = 0; i < num; i++)
+        {
+           png_ptr->gamma_16_to_1[i] = (png_uint_16p)png_malloc(png_ptr,
+              (png_uint_32)(256 * png_sizeof(png_uint_16)));
+
+           ig = (((png_uint_32)i *
+              (png_uint_32)png_gamma_shift[shift]) >> 4);
+           for (j = 0; j < 256; j++)
+           {
+              png_ptr->gamma_16_to_1[i][j] =
+                 (png_uint_16)(pow((double)(ig + ((png_uint_32)j << 8)) /
+                    65535.0, g) * 65535.0 + .5);
+           }
+        }
+
+        if (png_ptr->screen_gamma > 0.000001)
+           g = 1.0 / png_ptr->screen_gamma;
+
+        else
+           g = png_ptr->gamma;   /* Probably doing rgb_to_gray */
+
+        png_ptr->gamma_16_from_1 = (png_uint_16pp)png_malloc(png_ptr,
+           (png_uint_32)(num * png_sizeof(png_uint_16p)));
+        png_memset(png_ptr->gamma_16_from_1, 0,
+           num * png_sizeof(png_uint_16p)); 
+
+        for (i = 0; i < num; i++)
+        {
+           png_ptr->gamma_16_from_1[i] = (png_uint_16p)png_malloc(png_ptr,
+              (png_uint_32)(256 * png_sizeof(png_uint_16)));
+
+           ig = (((png_uint_32)i *
+              (png_uint_32)png_gamma_shift[shift]) >> 4);
+
+           for (j = 0; j < 256; j++)
+           {
+              png_ptr->gamma_16_from_1[i][j] =
+                 (png_uint_16)(pow((double)(ig + ((png_uint_32)j << 8)) /
+                    65535.0, g) * 65535.0 + .5);
+           }
+        }
+     }
+#endif /* PNG_READ_BACKGROUND_SUPPORTED || PNG_RGB_TO_GRAY_SUPPORTED */
+  }
+}
+#endif
+/* To do: install integer version of png_build_gamma_table here */
+#endif
+
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+/* Undoes intrapixel differencing  */
+void /* PRIVATE */
+png_do_read_intrapixel(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_read_intrapixel");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       (row_info->color_type & PNG_COLOR_MASK_COLOR))
+   {
+      int bytes_per_pixel;
+      png_uint_32 row_width = row_info->width;
+      if (row_info->bit_depth == 8)
+      {
+         png_bytep rp;
+         png_uint_32 i;
+
+         if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+            bytes_per_pixel = 3;
+
+         else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+            bytes_per_pixel = 4;
+
+         else
+            return;
+
+         for (i = 0, rp = row; i < row_width; i++, rp += bytes_per_pixel)
+         {
+            *(rp) = (png_byte)((256 + *rp + *(rp+1))&0xff);
+            *(rp+2) = (png_byte)((256 + *(rp+2) + *(rp+1))&0xff);
+         }
+      }
+      else if (row_info->bit_depth == 16)
+      {
+         png_bytep rp;
+         png_uint_32 i;
+
+         if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+            bytes_per_pixel = 6;
+
+         else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+            bytes_per_pixel = 8;
+
+         else
+            return;
+
+         for (i = 0, rp = row; i < row_width; i++, rp += bytes_per_pixel)
+         {
+            png_uint_32 s0   = (*(rp    ) << 8) | *(rp + 1);
+            png_uint_32 s1   = (*(rp + 2) << 8) | *(rp + 3);
+            png_uint_32 s2   = (*(rp + 4) << 8) | *(rp + 5);
+            png_uint_32 red  = (png_uint_32)((s0 + s1 + 65536L) & 0xffffL);
+            png_uint_32 blue = (png_uint_32)((s2 + s1 + 65536L) & 0xffffL);
+            *(rp  ) = (png_byte)((red >> 8) & 0xff);
+            *(rp+1) = (png_byte)(red & 0xff);
+            *(rp+4) = (png_byte)((blue >> 8) & 0xff);
+            *(rp+5) = (png_byte)(blue & 0xff);
+         }
+      }
+   }
+}
+#endif /* PNG_MNG_FEATURES_SUPPORTED */
+#endif /* PNG_READ_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrutil.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrutil.c
new file mode 100755
index 0000000..a5f9ccf
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngrutil.c
@@ -0,0 +1,3244 @@
+
+/* pngrutil.c - utilities to read a PNG file
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file contains routines that are only called from within
+ * libpng itself during the course of reading an image.
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED)
+
+#if defined(_WIN32_WCE) && (_WIN32_WCE<0x500)
+#  define WIN32_WCE_OLD
+#endif
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+#  if defined(WIN32_WCE_OLD)
+/* The strtod() function is not supported on WindowsCE */
+__inline double png_strtod(png_structp png_ptr, PNG_CONST char *nptr, char **endptr)
+{
+   double result = 0;
+   int len;
+   wchar_t *str, *end;
+
+   len = MultiByteToWideChar(CP_ACP, 0, nptr, -1, NULL, 0);
+   str = (wchar_t *)png_malloc(png_ptr, len * png_sizeof(wchar_t));
+   if ( NULL != str )
+   {
+      MultiByteToWideChar(CP_ACP, 0, nptr, -1, str, len);
+      result = wcstod(str, &end);
+      len = WideCharToMultiByte(CP_ACP, 0, end, -1, NULL, 0, NULL, NULL);
+      *endptr = (char *)nptr + (png_strlen(nptr) - len + 1);
+      png_free(png_ptr, str);
+   }
+   return result;
+}
+#  else
+#    define png_strtod(p,a,b) strtod(a,b)
+#  endif
+#endif
+
+png_uint_32 PNGAPI
+png_get_uint_31(png_structp png_ptr, png_bytep buf)
+{
+#ifdef PNG_READ_BIG_ENDIAN_SUPPORTED
+   png_uint_32 i = png_get_uint_32(buf);
+#else
+   /* Avoid an extra function call by inlining the result. */
+   png_uint_32 i = ((png_uint_32)(*buf) << 24) +
+      ((png_uint_32)(*(buf + 1)) << 16) +
+      ((png_uint_32)(*(buf + 2)) << 8) +
+      (png_uint_32)(*(buf + 3));
+#endif
+   if (i > PNG_UINT_31_MAX)
+     png_error(png_ptr, "PNG unsigned integer out of range.");
+   return (i);
+}
+#ifndef PNG_READ_BIG_ENDIAN_SUPPORTED
+/* Grab an unsigned 32-bit integer from a buffer in big-endian format. */
+png_uint_32 PNGAPI
+png_get_uint_32(png_bytep buf)
+{
+   png_uint_32 i = ((png_uint_32)(*buf) << 24) +
+      ((png_uint_32)(*(buf + 1)) << 16) +
+      ((png_uint_32)(*(buf + 2)) << 8) +
+      (png_uint_32)(*(buf + 3));
+
+   return (i);
+}
+
+/* Grab a signed 32-bit integer from a buffer in big-endian format.  The
+ * data is stored in the PNG file in two's complement format, and it is
+ * assumed that the machine format for signed integers is the same.
+ */
+png_int_32 PNGAPI
+png_get_int_32(png_bytep buf)
+{
+   png_int_32 i = ((png_int_32)(*buf) << 24) +
+      ((png_int_32)(*(buf + 1)) << 16) +
+      ((png_int_32)(*(buf + 2)) << 8) +
+      (png_int_32)(*(buf + 3));
+
+   return (i);
+}
+
+/* Grab an unsigned 16-bit integer from a buffer in big-endian format. */
+png_uint_16 PNGAPI
+png_get_uint_16(png_bytep buf)
+{
+   png_uint_16 i = (png_uint_16)(((png_uint_16)(*buf) << 8) +
+      (png_uint_16)(*(buf + 1)));
+
+   return (i);
+}
+#endif /* PNG_READ_BIG_ENDIAN_SUPPORTED */
+
+/* Read the chunk header (length + type name).
+ * Put the type name into png_ptr->chunk_name, and return the length.
+ */
+png_uint_32 /* PRIVATE */
+png_read_chunk_header(png_structp png_ptr)
+{
+   png_byte buf[8];
+   png_uint_32 length;
+
+   /* Read the length and the chunk name */
+   png_read_data(png_ptr, buf, 8);
+   length = png_get_uint_31(png_ptr, buf);
+
+   /* Put the chunk name into png_ptr->chunk_name */
+   png_memcpy(png_ptr->chunk_name, buf + 4, 4);
+
+   png_debug2(0, "Reading %s chunk, length = %lu",
+      png_ptr->chunk_name, length);
+
+   /* Reset the crc and run it over the chunk name */
+   png_reset_crc(png_ptr);
+   png_calculate_crc(png_ptr, png_ptr->chunk_name, 4);
+
+   /* Check to see if chunk name is valid */
+   png_check_chunk_name(png_ptr, png_ptr->chunk_name);
+
+   return length;
+}
+
+/* Read data, and (optionally) run it through the CRC. */
+void /* PRIVATE */
+png_crc_read(png_structp png_ptr, png_bytep buf, png_size_t length)
+{
+   if (png_ptr == NULL)
+      return;
+   png_read_data(png_ptr, buf, length);
+   png_calculate_crc(png_ptr, buf, length);
+}
+
+/* Optionally skip data and then check the CRC.  Depending on whether we
+ * are reading a ancillary or critical chunk, and how the program has set
+ * things up, we may calculate the CRC on the data and print a message.
+ * Returns '1' if there was a CRC error, '0' otherwise.
+ */
+int /* PRIVATE */
+png_crc_finish(png_structp png_ptr, png_uint_32 skip)
+{
+   png_size_t i;
+   png_size_t istop = png_ptr->zbuf_size;
+
+   for (i = (png_size_t)skip; i > istop; i -= istop)
+   {
+      png_crc_read(png_ptr, png_ptr->zbuf, png_ptr->zbuf_size);
+   }
+   if (i)
+   {
+      png_crc_read(png_ptr, png_ptr->zbuf, i);
+   }
+
+   if (png_crc_error(png_ptr))
+   {
+      if (((png_ptr->chunk_name[0] & 0x20) &&                /* Ancillary */
+          !(png_ptr->flags & PNG_FLAG_CRC_ANCILLARY_NOWARN)) ||
+          (!(png_ptr->chunk_name[0] & 0x20) &&             /* Critical  */
+          (png_ptr->flags & PNG_FLAG_CRC_CRITICAL_USE)))
+      {
+         png_chunk_warning(png_ptr, "CRC error");
+      }
+      else
+      {
+         png_chunk_error(png_ptr, "CRC error");
+      }
+      return (1);
+   }
+
+   return (0);
+}
+
+/* Compare the CRC stored in the PNG file with that calculated by libpng from
+ * the data it has read thus far.
+ */
+int /* PRIVATE */
+png_crc_error(png_structp png_ptr)
+{
+   png_byte crc_bytes[4];
+   png_uint_32 crc;
+   int need_crc = 1;
+
+   if (png_ptr->chunk_name[0] & 0x20)                     /* ancillary */
+   {
+      if ((png_ptr->flags & PNG_FLAG_CRC_ANCILLARY_MASK) ==
+          (PNG_FLAG_CRC_ANCILLARY_USE | PNG_FLAG_CRC_ANCILLARY_NOWARN))
+         need_crc = 0;
+   }
+   else                                                    /* critical */
+   {
+      if (png_ptr->flags & PNG_FLAG_CRC_CRITICAL_IGNORE)
+         need_crc = 0;
+   }
+
+   png_read_data(png_ptr, crc_bytes, 4);
+
+   if (need_crc)
+   {
+      crc = png_get_uint_32(crc_bytes);
+      return ((int)(crc != png_ptr->crc));
+   }
+   else
+      return (0);
+}
+
+#if defined(PNG_READ_zTXt_SUPPORTED) || defined(PNG_READ_iTXt_SUPPORTED) || \
+    defined(PNG_READ_iCCP_SUPPORTED)
+/*
+ * Decompress trailing data in a chunk.  The assumption is that chunkdata
+ * points at an allocated area holding the contents of a chunk with a
+ * trailing compressed part.  What we get back is an allocated area
+ * holding the original prefix part and an uncompressed version of the
+ * trailing part (the malloc area passed in is freed).
+ */
+void /* PRIVATE */
+png_decompress_chunk(png_structp png_ptr, int comp_type,
+                              png_size_t chunklength,
+                              png_size_t prefix_size, png_size_t *newlength)
+{
+   static PNG_CONST char msg[] = "Error decoding compressed text";
+   png_charp text;
+   png_size_t text_size;
+
+   if (comp_type == PNG_COMPRESSION_TYPE_BASE)
+   {
+      int ret = Z_OK;
+      png_ptr->zstream.next_in = (png_bytep)(png_ptr->chunkdata + prefix_size);
+      png_ptr->zstream.avail_in = (uInt)(chunklength - prefix_size);
+      png_ptr->zstream.next_out = png_ptr->zbuf;
+      png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+
+      text_size = 0;
+      text = NULL;
+
+      while (png_ptr->zstream.avail_in)
+      {
+         ret = inflate(&png_ptr->zstream, Z_PARTIAL_FLUSH);
+         if (ret != Z_OK && ret != Z_STREAM_END)
+         {
+            if (png_ptr->zstream.msg != NULL)
+               png_warning(png_ptr, png_ptr->zstream.msg);
+            else
+               png_warning(png_ptr, msg);
+            inflateReset(&png_ptr->zstream);
+            png_ptr->zstream.avail_in = 0;
+
+            if (text ==  NULL)
+            {
+               text_size = prefix_size + png_sizeof(msg) + 1;
+               text = (png_charp)png_malloc_warn(png_ptr, text_size);
+               if (text ==  NULL)
+                 {
+                    png_free(png_ptr, png_ptr->chunkdata);
+                    png_ptr->chunkdata = NULL;
+                    png_error(png_ptr, "Not enough memory to decompress chunk");
+                 }
+               png_memcpy(text, png_ptr->chunkdata, prefix_size);
+            }
+
+            text[text_size - 1] = 0x00;
+
+            /* Copy what we can of the error message into the text chunk */
+            text_size = (png_size_t)(chunklength -
+              (text - png_ptr->chunkdata) - 1);
+            if (text_size > png_sizeof(msg))
+               text_size = png_sizeof(msg);
+            png_memcpy(text + prefix_size, msg, text_size);
+            break;
+         }
+         if (!png_ptr->zstream.avail_out || ret == Z_STREAM_END)
+         {
+            if (text == NULL)
+            {
+               text_size = prefix_size +
+                   png_ptr->zbuf_size - png_ptr->zstream.avail_out;
+               text = (png_charp)png_malloc_warn(png_ptr, text_size + 1);
+               if (text ==  NULL)
+               {
+                  png_free(png_ptr, png_ptr->chunkdata);
+                  png_ptr->chunkdata = NULL;
+                  png_error(png_ptr,
+                    "Not enough memory to decompress chunk.");
+               }
+               png_memcpy(text + prefix_size, png_ptr->zbuf,
+                    text_size - prefix_size);
+               png_memcpy(text, png_ptr->chunkdata, prefix_size);
+               *(text + text_size) = 0x00;
+            }
+            else
+            {
+               png_charp tmp;
+
+               tmp = text;
+               text = (png_charp)png_malloc_warn(png_ptr,
+                  (png_uint_32)(text_size +
+                  png_ptr->zbuf_size - png_ptr->zstream.avail_out + 1));
+               if (text == NULL)
+               {
+                  png_free(png_ptr, tmp);
+                  png_free(png_ptr, png_ptr->chunkdata);
+                  png_ptr->chunkdata = NULL;
+                  png_error(png_ptr,
+                    "Not enough memory to decompress chunk..");
+               }
+               png_memcpy(text, tmp, text_size);
+               png_free(png_ptr, tmp);
+               png_memcpy(text + text_size, png_ptr->zbuf,
+                  (png_ptr->zbuf_size - png_ptr->zstream.avail_out));
+               text_size += png_ptr->zbuf_size - png_ptr->zstream.avail_out;
+               *(text + text_size) = 0x00;
+            }
+            if (ret == Z_STREAM_END)
+               break;
+            else
+            {
+               png_ptr->zstream.next_out = png_ptr->zbuf;
+               png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+            }
+         }
+      }
+      if (ret != Z_STREAM_END)
+      {
+#if !defined(PNG_NO_STDIO) && !defined(_WIN32_WCE)
+         char umsg[52];
+
+         if (ret == Z_BUF_ERROR)
+            png_snprintf(umsg, 52,
+                "Buffer error in compressed datastream in %s chunk",
+                png_ptr->chunk_name);
+
+         else if (ret == Z_DATA_ERROR)
+            png_snprintf(umsg, 52,
+                "Data error in compressed datastream in %s chunk",
+                png_ptr->chunk_name);
+
+         else
+            png_snprintf(umsg, 52,
+                "Incomplete compressed datastream in %s chunk",
+                png_ptr->chunk_name);
+
+         png_warning(png_ptr, umsg);
+#else
+         png_warning(png_ptr,
+            "Incomplete compressed datastream in chunk other than IDAT");
+#endif
+         text_size = prefix_size;
+         if (text ==  NULL)
+         {
+            text = (png_charp)png_malloc_warn(png_ptr, text_size+1);
+            if (text == NULL)
+              {
+                png_free(png_ptr, png_ptr->chunkdata);
+                png_ptr->chunkdata = NULL;
+                png_error(png_ptr, "Not enough memory for text.");
+              }
+            png_memcpy(text, png_ptr->chunkdata, prefix_size);
+         }
+         *(text + text_size) = 0x00;
+      }
+
+      inflateReset(&png_ptr->zstream);
+      png_ptr->zstream.avail_in = 0;
+
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = text;
+      *newlength=text_size;
+   }
+   else /* if (comp_type != PNG_COMPRESSION_TYPE_BASE) */
+   {
+#if !defined(PNG_NO_STDIO) && !defined(_WIN32_WCE)
+      char umsg[50];
+
+      png_snprintf(umsg, 50, "Unknown zTXt compression type %d", comp_type);
+      png_warning(png_ptr, umsg);
+#else
+      png_warning(png_ptr, "Unknown zTXt compression type");
+#endif
+
+      *(png_ptr->chunkdata + prefix_size) = 0x00;
+      *newlength = prefix_size;
+   }
+}
+#endif
+
+/* Read and check the IDHR chunk */
+void /* PRIVATE */
+png_handle_IHDR(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_byte buf[13];
+   png_uint_32 width, height;
+   int bit_depth, color_type, compression_type, filter_type;
+   int interlace_type;
+
+   png_debug(1, "in png_handle_IHDR");
+
+   if (png_ptr->mode & PNG_HAVE_IHDR)
+      png_error(png_ptr, "Out of place IHDR");
+
+   /* Check the length */
+   if (length != 13)
+      png_error(png_ptr, "Invalid IHDR chunk");
+
+   png_ptr->mode |= PNG_HAVE_IHDR;
+
+   png_crc_read(png_ptr, buf, 13);
+   png_crc_finish(png_ptr, 0);
+
+   width = png_get_uint_31(png_ptr, buf);
+   height = png_get_uint_31(png_ptr, buf + 4);
+   bit_depth = buf[8];
+   color_type = buf[9];
+   compression_type = buf[10];
+   filter_type = buf[11];
+   interlace_type = buf[12];
+
+   /* Set internal variables */
+   png_ptr->width = width;
+   png_ptr->height = height;
+   png_ptr->bit_depth = (png_byte)bit_depth;
+   png_ptr->interlaced = (png_byte)interlace_type;
+   png_ptr->color_type = (png_byte)color_type;
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+   png_ptr->filter_type = (png_byte)filter_type;
+#endif
+   png_ptr->compression_type = (png_byte)compression_type;
+
+   /* Find number of channels */
+   switch (png_ptr->color_type)
+   {
+      case PNG_COLOR_TYPE_GRAY:
+      case PNG_COLOR_TYPE_PALETTE:
+         png_ptr->channels = 1;
+         break;
+
+      case PNG_COLOR_TYPE_RGB:
+         png_ptr->channels = 3;
+         break;
+
+      case PNG_COLOR_TYPE_GRAY_ALPHA:
+         png_ptr->channels = 2;
+         break;
+
+      case PNG_COLOR_TYPE_RGB_ALPHA:
+         png_ptr->channels = 4;
+         break;
+   }
+
+   /* Set up other useful info */
+   png_ptr->pixel_depth = (png_byte)(png_ptr->bit_depth *
+   png_ptr->channels);
+   png_ptr->rowbytes = PNG_ROWBYTES(png_ptr->pixel_depth, png_ptr->width);
+   png_debug1(3, "bit_depth = %d", png_ptr->bit_depth);
+   png_debug1(3, "channels = %d", png_ptr->channels);
+   png_debug1(3, "rowbytes = %lu", png_ptr->rowbytes);
+   png_set_IHDR(png_ptr, info_ptr, width, height, bit_depth,
+      color_type, interlace_type, compression_type, filter_type);
+}
+
+/* Read and check the palette */
+void /* PRIVATE */
+png_handle_PLTE(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_color palette[PNG_MAX_PALETTE_LENGTH];
+   int num, i;
+#ifndef PNG_NO_POINTER_INDEXING
+   png_colorp pal_ptr;
+#endif
+
+   png_debug(1, "in png_handle_PLTE");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before PLTE");
+
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid PLTE after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   else if (png_ptr->mode & PNG_HAVE_PLTE)
+      png_error(png_ptr, "Duplicate PLTE chunk");
+
+   png_ptr->mode |= PNG_HAVE_PLTE;
+
+   if (!(png_ptr->color_type&PNG_COLOR_MASK_COLOR))
+   {
+      png_warning(png_ptr,
+        "Ignoring PLTE chunk in grayscale PNG");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+#if !defined(PNG_READ_OPT_PLTE_SUPPORTED)
+   if (png_ptr->color_type != PNG_COLOR_TYPE_PALETTE)
+   {
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+#endif
+
+   if (length > 3*PNG_MAX_PALETTE_LENGTH || length % 3)
+   {
+      if (png_ptr->color_type != PNG_COLOR_TYPE_PALETTE)
+      {
+         png_warning(png_ptr, "Invalid palette chunk");
+         png_crc_finish(png_ptr, length);
+         return;
+      }
+
+      else
+      {
+         png_error(png_ptr, "Invalid palette chunk");
+      }
+   }
+
+   num = (int)length / 3;
+
+#ifndef PNG_NO_POINTER_INDEXING
+   for (i = 0, pal_ptr = palette; i < num; i++, pal_ptr++)
+   {
+      png_byte buf[3];
+
+      png_crc_read(png_ptr, buf, 3);
+      pal_ptr->red = buf[0];
+      pal_ptr->green = buf[1];
+      pal_ptr->blue = buf[2];
+   }
+#else
+   for (i = 0; i < num; i++)
+   {
+      png_byte buf[3];
+
+      png_crc_read(png_ptr, buf, 3);
+      /* Don't depend upon png_color being any order */
+      palette[i].red = buf[0];
+      palette[i].green = buf[1];
+      palette[i].blue = buf[2];
+   }
+#endif
+
+   /* If we actually NEED the PLTE chunk (ie for a paletted image), we do
+    * whatever the normal CRC configuration tells us.  However, if we
+    * have an RGB image, the PLTE can be considered ancillary, so
+    * we will act as though it is.
+    */
+#if !defined(PNG_READ_OPT_PLTE_SUPPORTED)
+   if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+#endif
+   {
+      png_crc_finish(png_ptr, 0);
+   }
+#if !defined(PNG_READ_OPT_PLTE_SUPPORTED)
+   else if (png_crc_error(png_ptr))  /* Only if we have a CRC error */
+   {
+      /* If we don't want to use the data from an ancillary chunk,
+         we have two options: an error abort, or a warning and we
+         ignore the data in this chunk (which should be OK, since
+         it's considered ancillary for a RGB or RGBA image). */
+      if (!(png_ptr->flags & PNG_FLAG_CRC_ANCILLARY_USE))
+      {
+         if (png_ptr->flags & PNG_FLAG_CRC_ANCILLARY_NOWARN)
+         {
+            png_chunk_error(png_ptr, "CRC error");
+         }
+         else
+         {
+            png_chunk_warning(png_ptr, "CRC error");
+            return;
+         }
+      }
+      /* Otherwise, we (optionally) emit a warning and use the chunk. */
+      else if (!(png_ptr->flags & PNG_FLAG_CRC_ANCILLARY_NOWARN))
+      {
+         png_chunk_warning(png_ptr, "CRC error");
+      }
+   }
+#endif
+
+   png_set_PLTE(png_ptr, info_ptr, palette, num);
+
+#if defined(PNG_READ_tRNS_SUPPORTED)
+   if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+   {
+      if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_tRNS))
+      {
+         if (png_ptr->num_trans > (png_uint_16)num)
+         {
+            png_warning(png_ptr, "Truncating incorrect tRNS chunk length");
+            png_ptr->num_trans = (png_uint_16)num;
+         }
+         if (info_ptr->num_trans > (png_uint_16)num)
+         {
+            png_warning(png_ptr, "Truncating incorrect info tRNS chunk length");
+            info_ptr->num_trans = (png_uint_16)num;
+         }
+      }
+   }
+#endif
+
+}
+
+void /* PRIVATE */
+png_handle_IEND(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_debug(1, "in png_handle_IEND");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR) || !(png_ptr->mode & PNG_HAVE_IDAT))
+   {
+      png_error(png_ptr, "No image in file");
+   }
+
+   png_ptr->mode |= (PNG_AFTER_IDAT | PNG_HAVE_IEND);
+
+   if (length != 0)
+   {
+      png_warning(png_ptr, "Incorrect IEND chunk length");
+   }
+   png_crc_finish(png_ptr, length);
+
+   info_ptr = info_ptr; /* Quiet compiler warnings about unused info_ptr */
+}
+
+#if defined(PNG_READ_gAMA_SUPPORTED)
+void /* PRIVATE */
+png_handle_gAMA(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_fixed_point igamma;
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   float file_gamma;
+#endif
+   png_byte buf[4];
+
+   png_debug(1, "in png_handle_gAMA");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before gAMA");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid gAMA after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (png_ptr->mode & PNG_HAVE_PLTE)
+      /* Should be an error, but we can cope with it */
+      png_warning(png_ptr, "Out of place gAMA chunk");
+
+   if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_gAMA)
+#if defined(PNG_READ_sRGB_SUPPORTED)
+      && !(info_ptr->valid & PNG_INFO_sRGB)
+#endif
+      )
+   {
+      png_warning(png_ptr, "Duplicate gAMA chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   if (length != 4)
+   {
+      png_warning(png_ptr, "Incorrect gAMA chunk length");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   png_crc_read(png_ptr, buf, 4);
+   if (png_crc_finish(png_ptr, 0))
+      return;
+
+   igamma = (png_fixed_point)png_get_uint_32(buf);
+   /* Check for zero gamma */
+   if (igamma == 0)
+      {
+         png_warning(png_ptr,
+           "Ignoring gAMA chunk with gamma=0");
+         return;
+      }
+
+#if defined(PNG_READ_sRGB_SUPPORTED)
+   if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_sRGB))
+      if (PNG_OUT_OF_RANGE(igamma, 45500L, 500))
+      {
+         png_warning(png_ptr,
+           "Ignoring incorrect gAMA value when sRGB is also present");
+#ifndef PNG_NO_CONSOLE_IO
+         fprintf(stderr, "gamma = (%d/100000)", (int)igamma);
+#endif
+         return;
+      }
+#endif /* PNG_READ_sRGB_SUPPORTED */
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   file_gamma = (float)igamma / (float)100000.0;
+#  ifdef PNG_READ_GAMMA_SUPPORTED
+     png_ptr->gamma = file_gamma;
+#  endif
+     png_set_gAMA(png_ptr, info_ptr, file_gamma);
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   png_set_gAMA_fixed(png_ptr, info_ptr, igamma);
+#endif
+}
+#endif
+
+#if defined(PNG_READ_sBIT_SUPPORTED)
+void /* PRIVATE */
+png_handle_sBIT(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_size_t truelen;
+   png_byte buf[4];
+
+   png_debug(1, "in png_handle_sBIT");
+
+   buf[0] = buf[1] = buf[2] = buf[3] = 0;
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before sBIT");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid sBIT after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (png_ptr->mode & PNG_HAVE_PLTE)
+   {
+      /* Should be an error, but we can cope with it */
+      png_warning(png_ptr, "Out of place sBIT chunk");
+   }
+   if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_sBIT))
+   {
+      png_warning(png_ptr, "Duplicate sBIT chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      truelen = 3;
+   else
+      truelen = (png_size_t)png_ptr->channels;
+
+   if (length != truelen || length > 4)
+   {
+      png_warning(png_ptr, "Incorrect sBIT chunk length");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   png_crc_read(png_ptr, buf, truelen);
+   if (png_crc_finish(png_ptr, 0))
+      return;
+
+   if (png_ptr->color_type & PNG_COLOR_MASK_COLOR)
+   {
+      png_ptr->sig_bit.red = buf[0];
+      png_ptr->sig_bit.green = buf[1];
+      png_ptr->sig_bit.blue = buf[2];
+      png_ptr->sig_bit.alpha = buf[3];
+   }
+   else
+   {
+      png_ptr->sig_bit.gray = buf[0];
+      png_ptr->sig_bit.red = buf[0];
+      png_ptr->sig_bit.green = buf[0];
+      png_ptr->sig_bit.blue = buf[0];
+      png_ptr->sig_bit.alpha = buf[1];
+   }
+   png_set_sBIT(png_ptr, info_ptr, &(png_ptr->sig_bit));
+}
+#endif
+
+#if defined(PNG_READ_cHRM_SUPPORTED)
+void /* PRIVATE */
+png_handle_cHRM(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_byte buf[32];
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   float white_x, white_y, red_x, red_y, green_x, green_y, blue_x, blue_y;
+#endif
+   png_fixed_point int_x_white, int_y_white, int_x_red, int_y_red, int_x_green,
+      int_y_green, int_x_blue, int_y_blue;
+
+   png_uint_32 uint_x, uint_y;
+
+   png_debug(1, "in png_handle_cHRM");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before cHRM");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid cHRM after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (png_ptr->mode & PNG_HAVE_PLTE)
+      /* Should be an error, but we can cope with it */
+      png_warning(png_ptr, "Missing PLTE before cHRM");
+
+   if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_cHRM)
+#if defined(PNG_READ_sRGB_SUPPORTED)
+      && !(info_ptr->valid & PNG_INFO_sRGB)
+#endif
+      )
+   {
+      png_warning(png_ptr, "Duplicate cHRM chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   if (length != 32)
+   {
+      png_warning(png_ptr, "Incorrect cHRM chunk length");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   png_crc_read(png_ptr, buf, 32);
+   if (png_crc_finish(png_ptr, 0))
+      return;
+
+   uint_x = png_get_uint_32(buf);
+   uint_y = png_get_uint_32(buf + 4);
+   int_x_white = (png_fixed_point)uint_x;
+   int_y_white = (png_fixed_point)uint_y;
+
+   uint_x = png_get_uint_32(buf + 8);
+   uint_y = png_get_uint_32(buf + 12);
+   int_x_red = (png_fixed_point)uint_x;
+   int_y_red = (png_fixed_point)uint_y;
+
+   uint_x = png_get_uint_32(buf + 16);
+   uint_y = png_get_uint_32(buf + 20);
+   int_x_green = (png_fixed_point)uint_x;
+   int_y_green = (png_fixed_point)uint_y;
+
+   uint_x = png_get_uint_32(buf + 24);
+   uint_y = png_get_uint_32(buf + 28);
+   int_x_blue = (png_fixed_point)uint_x;
+   int_y_blue = (png_fixed_point)uint_y;
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   white_x = (float)int_x_white / (float)100000.0;
+   white_y = (float)int_y_white / (float)100000.0;
+   red_x   = (float)int_x_red   / (float)100000.0;
+   red_y   = (float)int_y_red   / (float)100000.0;
+   green_x = (float)int_x_green / (float)100000.0;
+   green_y = (float)int_y_green / (float)100000.0;
+   blue_x  = (float)int_x_blue  / (float)100000.0;
+   blue_y  = (float)int_y_blue  / (float)100000.0;
+#endif
+
+#if defined(PNG_READ_sRGB_SUPPORTED)
+   if ((info_ptr != NULL) && (info_ptr->valid & PNG_INFO_sRGB))
+      {
+      if (PNG_OUT_OF_RANGE(int_x_white, 31270,  1000) ||
+          PNG_OUT_OF_RANGE(int_y_white, 32900,  1000) ||
+          PNG_OUT_OF_RANGE(int_x_red,   64000L, 1000) ||
+          PNG_OUT_OF_RANGE(int_y_red,   33000,  1000) ||
+          PNG_OUT_OF_RANGE(int_x_green, 30000,  1000) ||
+          PNG_OUT_OF_RANGE(int_y_green, 60000L, 1000) ||
+          PNG_OUT_OF_RANGE(int_x_blue,  15000,  1000) ||
+          PNG_OUT_OF_RANGE(int_y_blue,   6000,  1000))
+         {
+            png_warning(png_ptr,
+              "Ignoring incorrect cHRM value when sRGB is also present");
+#ifndef PNG_NO_CONSOLE_IO
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+            fprintf(stderr, "wx=%f, wy=%f, rx=%f, ry=%f\n",
+               white_x, white_y, red_x, red_y);
+            fprintf(stderr, "gx=%f, gy=%f, bx=%f, by=%f\n",
+               green_x, green_y, blue_x, blue_y);
+#else
+            fprintf(stderr, "wx=%ld, wy=%ld, rx=%ld, ry=%ld\n",
+               int_x_white, int_y_white, int_x_red, int_y_red);
+            fprintf(stderr, "gx=%ld, gy=%ld, bx=%ld, by=%ld\n",
+               int_x_green, int_y_green, int_x_blue, int_y_blue);
+#endif
+#endif /* PNG_NO_CONSOLE_IO */
+         }
+         return;
+      }
+#endif /* PNG_READ_sRGB_SUPPORTED */
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   png_set_cHRM(png_ptr, info_ptr,
+      white_x, white_y, red_x, red_y, green_x, green_y, blue_x, blue_y);
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   png_set_cHRM_fixed(png_ptr, info_ptr,
+      int_x_white, int_y_white, int_x_red, int_y_red, int_x_green,
+      int_y_green, int_x_blue, int_y_blue);
+#endif
+}
+#endif
+
+#if defined(PNG_READ_sRGB_SUPPORTED)
+void /* PRIVATE */
+png_handle_sRGB(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   int intent;
+   png_byte buf[1];
+
+   png_debug(1, "in png_handle_sRGB");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before sRGB");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid sRGB after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (png_ptr->mode & PNG_HAVE_PLTE)
+      /* Should be an error, but we can cope with it */
+      png_warning(png_ptr, "Out of place sRGB chunk");
+
+   if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_sRGB))
+   {
+      png_warning(png_ptr, "Duplicate sRGB chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   if (length != 1)
+   {
+      png_warning(png_ptr, "Incorrect sRGB chunk length");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   png_crc_read(png_ptr, buf, 1);
+   if (png_crc_finish(png_ptr, 0))
+      return;
+
+   intent = buf[0];
+   /* Check for bad intent */
+   if (intent >= PNG_sRGB_INTENT_LAST)
+   {
+      png_warning(png_ptr, "Unknown sRGB intent");
+      return;
+   }
+
+#if defined(PNG_READ_gAMA_SUPPORTED) && defined(PNG_READ_GAMMA_SUPPORTED)
+   if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_gAMA))
+   {
+   png_fixed_point igamma;
+#ifdef PNG_FIXED_POINT_SUPPORTED
+      igamma=info_ptr->int_gamma;
+#else
+#  ifdef PNG_FLOATING_POINT_SUPPORTED
+      igamma=(png_fixed_point)(info_ptr->gamma * 100000.);
+#  endif
+#endif
+      if (PNG_OUT_OF_RANGE(igamma, 45500L, 500))
+      {
+         png_warning(png_ptr,
+           "Ignoring incorrect gAMA value when sRGB is also present");
+#ifndef PNG_NO_CONSOLE_IO
+#  ifdef PNG_FIXED_POINT_SUPPORTED
+         fprintf(stderr, "incorrect gamma=(%d/100000)\n",
+            (int)png_ptr->int_gamma);
+#  else
+#    ifdef PNG_FLOATING_POINT_SUPPORTED
+         fprintf(stderr, "incorrect gamma=%f\n", png_ptr->gamma);
+#    endif
+#  endif
+#endif
+      }
+   }
+#endif /* PNG_READ_gAMA_SUPPORTED */
+
+#ifdef PNG_READ_cHRM_SUPPORTED
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_cHRM))
+      if (PNG_OUT_OF_RANGE(info_ptr->int_x_white, 31270,  1000) ||
+          PNG_OUT_OF_RANGE(info_ptr->int_y_white, 32900,  1000) ||
+          PNG_OUT_OF_RANGE(info_ptr->int_x_red,   64000L, 1000) ||
+          PNG_OUT_OF_RANGE(info_ptr->int_y_red,   33000,  1000) ||
+          PNG_OUT_OF_RANGE(info_ptr->int_x_green, 30000,  1000) ||
+          PNG_OUT_OF_RANGE(info_ptr->int_y_green, 60000L, 1000) ||
+          PNG_OUT_OF_RANGE(info_ptr->int_x_blue,  15000,  1000) ||
+          PNG_OUT_OF_RANGE(info_ptr->int_y_blue,   6000,  1000))
+         {
+            png_warning(png_ptr,
+              "Ignoring incorrect cHRM value when sRGB is also present");
+         }
+#endif /* PNG_FIXED_POINT_SUPPORTED */
+#endif /* PNG_READ_cHRM_SUPPORTED */
+
+   png_set_sRGB_gAMA_and_cHRM(png_ptr, info_ptr, intent);
+}
+#endif /* PNG_READ_sRGB_SUPPORTED */
+
+#if defined(PNG_READ_iCCP_SUPPORTED)
+void /* PRIVATE */
+png_handle_iCCP(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+/* Note: this does not properly handle chunks that are > 64K under DOS */
+{
+   png_byte compression_type;
+   png_bytep pC;
+   png_charp profile;
+   png_uint_32 skip = 0;
+   png_uint_32 profile_size, profile_length;
+   png_size_t slength, prefix_length, data_length;
+
+   png_debug(1, "in png_handle_iCCP");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before iCCP");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid iCCP after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (png_ptr->mode & PNG_HAVE_PLTE)
+      /* Should be an error, but we can cope with it */
+      png_warning(png_ptr, "Out of place iCCP chunk");
+
+   if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_iCCP))
+   {
+      png_warning(png_ptr, "Duplicate iCCP chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+#ifdef PNG_MAX_MALLOC_64K
+   if (length > (png_uint_32)65535L)
+   {
+      png_warning(png_ptr, "iCCP chunk too large to fit in memory");
+      skip = length - (png_uint_32)65535L;
+      length = (png_uint_32)65535L;
+   }
+#endif
+
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = (png_charp)png_malloc(png_ptr, length + 1);
+   slength = (png_size_t)length;
+   png_crc_read(png_ptr, (png_bytep)png_ptr->chunkdata, slength);
+
+   if (png_crc_finish(png_ptr, skip))
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+   png_ptr->chunkdata[slength] = 0x00;
+
+   for (profile = png_ptr->chunkdata; *profile; profile++)
+      /* Empty loop to find end of name */ ;
+
+   ++profile;
+
+   /* There should be at least one zero (the compression type byte)
+    * following the separator, and we should be on it
+    */
+   if ( profile >= png_ptr->chunkdata + slength - 1)
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      png_warning(png_ptr, "Malformed iCCP chunk");
+      return;
+   }
+
+   /* Compression_type should always be zero */
+   compression_type = *profile++;
+   if (compression_type)
+   {
+      png_warning(png_ptr, "Ignoring nonzero compression type in iCCP chunk");
+      compression_type = 0x00;  /* Reset it to zero (libpng-1.0.6 through 1.0.8
+                                 wrote nonzero) */
+   }
+
+   prefix_length = profile - png_ptr->chunkdata;
+   png_decompress_chunk(png_ptr, compression_type,
+     slength, prefix_length, &data_length);
+
+   profile_length = data_length - prefix_length;
+
+   if ( prefix_length > data_length || profile_length < 4)
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      png_warning(png_ptr, "Profile size field missing from iCCP chunk");
+      return;
+   }
+
+   /* Check the profile_size recorded in the first 32 bits of the ICC profile */
+   pC = (png_bytep)(png_ptr->chunkdata + prefix_length);
+   profile_size = ((*(pC    ))<<24) |
+                  ((*(pC + 1))<<16) |
+                  ((*(pC + 2))<< 8) |
+                  ((*(pC + 3))    );
+
+   if (profile_size < profile_length)
+      profile_length = profile_size;
+
+   if (profile_size > profile_length)
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      png_warning(png_ptr, "Ignoring truncated iCCP profile.");
+      return;
+   }
+
+   png_set_iCCP(png_ptr, info_ptr, png_ptr->chunkdata,
+     compression_type, png_ptr->chunkdata + prefix_length, profile_length);
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = NULL;
+}
+#endif /* PNG_READ_iCCP_SUPPORTED */
+
+#if defined(PNG_READ_sPLT_SUPPORTED)
+void /* PRIVATE */
+png_handle_sPLT(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+/* Note: this does not properly handle chunks that are > 64K under DOS */
+{
+   png_bytep entry_start;
+   png_sPLT_t new_palette;
+#ifdef PNG_NO_POINTER_INDEXING
+   png_sPLT_entryp pp;
+#endif
+   int data_length, entry_size, i;
+   png_uint_32 skip = 0;
+   png_size_t slength;
+
+   png_debug(1, "in png_handle_sPLT");
+
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before sPLT");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid sPLT after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+#ifdef PNG_MAX_MALLOC_64K
+   if (length > (png_uint_32)65535L)
+   {
+      png_warning(png_ptr, "sPLT chunk too large to fit in memory");
+      skip = length - (png_uint_32)65535L;
+      length = (png_uint_32)65535L;
+   }
+#endif
+
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = (png_charp)png_malloc(png_ptr, length + 1);
+   slength = (png_size_t)length;
+   png_crc_read(png_ptr, (png_bytep)png_ptr->chunkdata, slength);
+
+   if (png_crc_finish(png_ptr, skip))
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+   png_ptr->chunkdata[slength] = 0x00;
+
+   for (entry_start = (png_bytep)png_ptr->chunkdata; *entry_start; entry_start++)
+      /* Empty loop to find end of name */ ;
+   ++entry_start;
+
+   /* A sample depth should follow the separator, and we should be on it  */
+   if (entry_start > (png_bytep)png_ptr->chunkdata + slength - 2)
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      png_warning(png_ptr, "malformed sPLT chunk");
+      return;
+   }
+
+   new_palette.depth = *entry_start++;
+   entry_size = (new_palette.depth == 8 ? 6 : 10);
+   data_length = (slength - (entry_start - (png_bytep)png_ptr->chunkdata));
+
+   /* Integrity-check the data length */
+   if (data_length % entry_size)
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      png_warning(png_ptr, "sPLT chunk has bad length");
+      return;
+   }
+
+   new_palette.nentries = (png_int_32) ( data_length / entry_size);
+   if ((png_uint_32) new_palette.nentries >
+       (png_uint_32) (PNG_SIZE_MAX / png_sizeof(png_sPLT_entry)))
+   {
+       png_warning(png_ptr, "sPLT chunk too long");
+       return;
+   }
+   new_palette.entries = (png_sPLT_entryp)png_malloc_warn(
+       png_ptr, new_palette.nentries * png_sizeof(png_sPLT_entry));
+   if (new_palette.entries == NULL)
+   {
+       png_warning(png_ptr, "sPLT chunk requires too much memory");
+       return;
+   }
+
+#ifndef PNG_NO_POINTER_INDEXING
+   for (i = 0; i < new_palette.nentries; i++)
+   {
+      png_sPLT_entryp pp = new_palette.entries + i;
+
+      if (new_palette.depth == 8)
+      {
+          pp->red = *entry_start++;
+          pp->green = *entry_start++;
+          pp->blue = *entry_start++;
+          pp->alpha = *entry_start++;
+      }
+      else
+      {
+          pp->red   = png_get_uint_16(entry_start); entry_start += 2;
+          pp->green = png_get_uint_16(entry_start); entry_start += 2;
+          pp->blue  = png_get_uint_16(entry_start); entry_start += 2;
+          pp->alpha = png_get_uint_16(entry_start); entry_start += 2;
+      }
+      pp->frequency = png_get_uint_16(entry_start); entry_start += 2;
+   }
+#else
+   pp = new_palette.entries;
+   for (i = 0; i < new_palette.nentries; i++)
+   {
+
+      if (new_palette.depth == 8)
+      {
+          pp[i].red   = *entry_start++;
+          pp[i].green = *entry_start++;
+          pp[i].blue  = *entry_start++;
+          pp[i].alpha = *entry_start++;
+      }
+      else
+      {
+          pp[i].red   = png_get_uint_16(entry_start); entry_start += 2;
+          pp[i].green = png_get_uint_16(entry_start); entry_start += 2;
+          pp[i].blue  = png_get_uint_16(entry_start); entry_start += 2;
+          pp[i].alpha = png_get_uint_16(entry_start); entry_start += 2;
+      }
+      pp->frequency = png_get_uint_16(entry_start); entry_start += 2;
+   }
+#endif
+
+   /* Discard all chunk data except the name and stash that */
+   new_palette.name = png_ptr->chunkdata;
+
+   png_set_sPLT(png_ptr, info_ptr, &new_palette, 1);
+
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = NULL;
+   png_free(png_ptr, new_palette.entries);
+}
+#endif /* PNG_READ_sPLT_SUPPORTED */
+
+#if defined(PNG_READ_tRNS_SUPPORTED)
+void /* PRIVATE */
+png_handle_tRNS(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_byte readbuf[PNG_MAX_PALETTE_LENGTH];
+
+   png_debug(1, "in png_handle_tRNS");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before tRNS");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid tRNS after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_tRNS))
+   {
+      png_warning(png_ptr, "Duplicate tRNS chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   if (png_ptr->color_type == PNG_COLOR_TYPE_GRAY)
+   {
+      png_byte buf[2];
+
+      if (length != 2)
+      {
+         png_warning(png_ptr, "Incorrect tRNS chunk length");
+         png_crc_finish(png_ptr, length);
+         return;
+      }
+
+      png_crc_read(png_ptr, buf, 2);
+      png_ptr->num_trans = 1;
+      png_ptr->trans_values.gray = png_get_uint_16(buf);
+   }
+   else if (png_ptr->color_type == PNG_COLOR_TYPE_RGB)
+   {
+      png_byte buf[6];
+
+      if (length != 6)
+      {
+         png_warning(png_ptr, "Incorrect tRNS chunk length");
+         png_crc_finish(png_ptr, length);
+         return;
+      }
+      png_crc_read(png_ptr, buf, (png_size_t)length);
+      png_ptr->num_trans = 1;
+      png_ptr->trans_values.red = png_get_uint_16(buf);
+      png_ptr->trans_values.green = png_get_uint_16(buf + 2);
+      png_ptr->trans_values.blue = png_get_uint_16(buf + 4);
+   }
+   else if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+   {
+      if (!(png_ptr->mode & PNG_HAVE_PLTE))
+      {
+         /* Should be an error, but we can cope with it. */
+         png_warning(png_ptr, "Missing PLTE before tRNS");
+      }
+      if (length > (png_uint_32)png_ptr->num_palette ||
+          length > PNG_MAX_PALETTE_LENGTH)
+      {
+         png_warning(png_ptr, "Incorrect tRNS chunk length");
+         png_crc_finish(png_ptr, length);
+         return;
+      }
+      if (length == 0)
+      {
+         png_warning(png_ptr, "Zero length tRNS chunk");
+         png_crc_finish(png_ptr, length);
+         return;
+      }
+      png_crc_read(png_ptr, readbuf, (png_size_t)length);
+      png_ptr->num_trans = (png_uint_16)length;
+   }
+   else
+   {
+      png_warning(png_ptr, "tRNS chunk not allowed with alpha channel");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   if (png_crc_finish(png_ptr, 0))
+   {
+      png_ptr->num_trans = 0;
+      return;
+   }
+
+   png_set_tRNS(png_ptr, info_ptr, readbuf, png_ptr->num_trans,
+      &(png_ptr->trans_values));
+}
+#endif
+
+#if defined(PNG_READ_bKGD_SUPPORTED)
+void /* PRIVATE */
+png_handle_bKGD(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_size_t truelen;
+   png_byte buf[6];
+
+   png_debug(1, "in png_handle_bKGD");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before bKGD");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid bKGD after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE &&
+            !(png_ptr->mode & PNG_HAVE_PLTE))
+   {
+      png_warning(png_ptr, "Missing PLTE before bKGD");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_bKGD))
+   {
+      png_warning(png_ptr, "Duplicate bKGD chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      truelen = 1;
+   else if (png_ptr->color_type & PNG_COLOR_MASK_COLOR)
+      truelen = 6;
+   else
+      truelen = 2;
+
+   if (length != truelen)
+   {
+      png_warning(png_ptr, "Incorrect bKGD chunk length");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   png_crc_read(png_ptr, buf, truelen);
+   if (png_crc_finish(png_ptr, 0))
+      return;
+
+   /* We convert the index value into RGB components so that we can allow
+    * arbitrary RGB values for background when we have transparency, and
+    * so it is easy to determine the RGB values of the background color
+    * from the info_ptr struct. */
+   if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+   {
+      png_ptr->background.index = buf[0];
+      if (info_ptr && info_ptr->num_palette)
+      {
+          if (buf[0] >= info_ptr->num_palette)
+          {
+             png_warning(png_ptr, "Incorrect bKGD chunk index value");
+             return;
+          }
+          png_ptr->background.red =
+             (png_uint_16)png_ptr->palette[buf[0]].red;
+          png_ptr->background.green =
+             (png_uint_16)png_ptr->palette[buf[0]].green;
+          png_ptr->background.blue =
+             (png_uint_16)png_ptr->palette[buf[0]].blue;
+      }
+   }
+   else if (!(png_ptr->color_type & PNG_COLOR_MASK_COLOR)) /* GRAY */
+   {
+      png_ptr->background.red =
+      png_ptr->background.green =
+      png_ptr->background.blue =
+      png_ptr->background.gray = png_get_uint_16(buf);
+   }
+   else
+   {
+      png_ptr->background.red = png_get_uint_16(buf);
+      png_ptr->background.green = png_get_uint_16(buf + 2);
+      png_ptr->background.blue = png_get_uint_16(buf + 4);
+   }
+
+   png_set_bKGD(png_ptr, info_ptr, &(png_ptr->background));
+}
+#endif
+
+#if defined(PNG_READ_hIST_SUPPORTED)
+void /* PRIVATE */
+png_handle_hIST(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   unsigned int num, i;
+   png_uint_16 readbuf[PNG_MAX_PALETTE_LENGTH];
+
+   png_debug(1, "in png_handle_hIST");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before hIST");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid hIST after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (!(png_ptr->mode & PNG_HAVE_PLTE))
+   {
+      png_warning(png_ptr, "Missing PLTE before hIST");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_hIST))
+   {
+      png_warning(png_ptr, "Duplicate hIST chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   num = length / 2 ;
+   if (num != (unsigned int) png_ptr->num_palette || num >
+      (unsigned int) PNG_MAX_PALETTE_LENGTH)
+   {
+      png_warning(png_ptr, "Incorrect hIST chunk length");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   for (i = 0; i < num; i++)
+   {
+      png_byte buf[2];
+
+      png_crc_read(png_ptr, buf, 2);
+      readbuf[i] = png_get_uint_16(buf);
+   }
+
+   if (png_crc_finish(png_ptr, 0))
+      return;
+
+   png_set_hIST(png_ptr, info_ptr, readbuf);
+}
+#endif
+
+#if defined(PNG_READ_pHYs_SUPPORTED)
+void /* PRIVATE */
+png_handle_pHYs(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_byte buf[9];
+   png_uint_32 res_x, res_y;
+   int unit_type;
+
+   png_debug(1, "in png_handle_pHYs");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before pHYs");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid pHYs after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_pHYs))
+   {
+      png_warning(png_ptr, "Duplicate pHYs chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   if (length != 9)
+   {
+      png_warning(png_ptr, "Incorrect pHYs chunk length");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   png_crc_read(png_ptr, buf, 9);
+   if (png_crc_finish(png_ptr, 0))
+      return;
+
+   res_x = png_get_uint_32(buf);
+   res_y = png_get_uint_32(buf + 4);
+   unit_type = buf[8];
+   png_set_pHYs(png_ptr, info_ptr, res_x, res_y, unit_type);
+}
+#endif
+
+#if defined(PNG_READ_oFFs_SUPPORTED)
+void /* PRIVATE */
+png_handle_oFFs(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_byte buf[9];
+   png_int_32 offset_x, offset_y;
+   int unit_type;
+
+   png_debug(1, "in png_handle_oFFs");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before oFFs");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid oFFs after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_oFFs))
+   {
+      png_warning(png_ptr, "Duplicate oFFs chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   if (length != 9)
+   {
+      png_warning(png_ptr, "Incorrect oFFs chunk length");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   png_crc_read(png_ptr, buf, 9);
+   if (png_crc_finish(png_ptr, 0))
+      return;
+
+   offset_x = png_get_int_32(buf);
+   offset_y = png_get_int_32(buf + 4);
+   unit_type = buf[8];
+   png_set_oFFs(png_ptr, info_ptr, offset_x, offset_y, unit_type);
+}
+#endif
+
+#if defined(PNG_READ_pCAL_SUPPORTED)
+/* Read the pCAL chunk (described in the PNG Extensions document) */
+void /* PRIVATE */
+png_handle_pCAL(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_int_32 X0, X1;
+   png_byte type, nparams;
+   png_charp buf, units, endptr;
+   png_charpp params;
+   png_size_t slength;
+   int i;
+
+   png_debug(1, "in png_handle_pCAL");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before pCAL");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid pCAL after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_pCAL))
+   {
+      png_warning(png_ptr, "Duplicate pCAL chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   png_debug1(2, "Allocating and reading pCAL chunk data (%lu bytes)",
+      length + 1);
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = (png_charp)png_malloc_warn(png_ptr, length + 1);
+   if (png_ptr->chunkdata == NULL)
+     {
+       png_warning(png_ptr, "No memory for pCAL purpose.");
+       return;
+     }
+   slength = (png_size_t)length;
+   png_crc_read(png_ptr, (png_bytep)png_ptr->chunkdata, slength);
+
+   if (png_crc_finish(png_ptr, 0))
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+   png_ptr->chunkdata[slength] = 0x00; /* Null terminate the last string */
+
+   png_debug(3, "Finding end of pCAL purpose string");
+   for (buf = png_ptr->chunkdata; *buf; buf++)
+      /* Empty loop */ ;
+
+   endptr = png_ptr->chunkdata + slength;
+
+   /* We need to have at least 12 bytes after the purpose string
+      in order to get the parameter information. */
+   if (endptr <= buf + 12)
+   {
+      png_warning(png_ptr, "Invalid pCAL data");
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+   png_debug(3, "Reading pCAL X0, X1, type, nparams, and units");
+   X0 = png_get_int_32((png_bytep)buf+1);
+   X1 = png_get_int_32((png_bytep)buf+5);
+   type = buf[9];
+   nparams = buf[10];
+   units = buf + 11;
+
+   png_debug(3, "Checking pCAL equation type and number of parameters");
+   /* Check that we have the right number of parameters for known
+      equation types. */
+   if ((type == PNG_EQUATION_LINEAR && nparams != 2) ||
+       (type == PNG_EQUATION_BASE_E && nparams != 3) ||
+       (type == PNG_EQUATION_ARBITRARY && nparams != 3) ||
+       (type == PNG_EQUATION_HYPERBOLIC && nparams != 4))
+   {
+      png_warning(png_ptr, "Invalid pCAL parameters for equation type");
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+   else if (type >= PNG_EQUATION_LAST)
+   {
+      png_warning(png_ptr, "Unrecognized equation type for pCAL chunk");
+   }
+
+   for (buf = units; *buf; buf++)
+      /* Empty loop to move past the units string. */ ;
+
+   png_debug(3, "Allocating pCAL parameters array");
+   params = (png_charpp)png_malloc_warn(png_ptr,
+      (png_uint_32)(nparams * png_sizeof(png_charp))) ;
+   if (params == NULL)
+     {
+       png_free(png_ptr, png_ptr->chunkdata);
+       png_ptr->chunkdata = NULL;
+       png_warning(png_ptr, "No memory for pCAL params.");
+       return;
+     }
+
+   /* Get pointers to the start of each parameter string. */
+   for (i = 0; i < (int)nparams; i++)
+   {
+      buf++; /* Skip the null string terminator from previous parameter. */
+
+      png_debug1(3, "Reading pCAL parameter %d", i);
+      for (params[i] = buf; buf <= endptr && *buf != 0x00; buf++)
+         /* Empty loop to move past each parameter string */ ;
+
+      /* Make sure we haven't run out of data yet */
+      if (buf > endptr)
+      {
+         png_warning(png_ptr, "Invalid pCAL data");
+         png_free(png_ptr, png_ptr->chunkdata);
+         png_ptr->chunkdata = NULL;
+         png_free(png_ptr, params);
+         return;
+      }
+   }
+
+   png_set_pCAL(png_ptr, info_ptr, png_ptr->chunkdata, X0, X1, type, nparams,
+      units, params);
+
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = NULL;
+   png_free(png_ptr, params);
+}
+#endif
+
+#if defined(PNG_READ_sCAL_SUPPORTED)
+/* Read the sCAL chunk */
+void /* PRIVATE */
+png_handle_sCAL(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_charp ep;
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   double width, height;
+   png_charp vp;
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   png_charp swidth, sheight;
+#endif
+#endif
+   png_size_t slength;
+
+   png_debug(1, "in png_handle_sCAL");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before sCAL");
+   else if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+      png_warning(png_ptr, "Invalid sCAL after IDAT");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+   else if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_sCAL))
+   {
+      png_warning(png_ptr, "Duplicate sCAL chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   png_debug1(2, "Allocating and reading sCAL chunk data (%lu bytes)",
+      length + 1);
+   png_ptr->chunkdata = (png_charp)png_malloc_warn(png_ptr, length + 1);
+   if (png_ptr->chunkdata == NULL)
+   {
+      png_warning(png_ptr, "Out of memory while processing sCAL chunk");
+      return;
+   }
+   slength = (png_size_t)length;
+   png_crc_read(png_ptr, (png_bytep)png_ptr->chunkdata, slength);
+
+   if (png_crc_finish(png_ptr, 0))
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+   png_ptr->chunkdata[slength] = 0x00; /* Null terminate the last string */
+
+   ep = png_ptr->chunkdata + 1;        /* Skip unit byte */
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   width = png_strtod(png_ptr, ep, &vp);
+   if (*vp)
+   {
+      png_warning(png_ptr, "malformed width string in sCAL chunk");
+      return;
+   }
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   swidth = (png_charp)png_malloc_warn(png_ptr, png_strlen(ep) + 1);
+   if (swidth == NULL)
+   {
+      png_warning(png_ptr, "Out of memory while processing sCAL chunk width");
+      return;
+   }
+   png_memcpy(swidth, ep, (png_size_t)png_strlen(ep));
+#endif
+#endif
+
+   for (ep = png_ptr->chunkdata; *ep; ep++)
+      /* Empty loop */ ;
+   ep++;
+
+   if (png_ptr->chunkdata + slength < ep)
+   {
+      png_warning(png_ptr, "Truncated sCAL chunk");
+#if defined(PNG_FIXED_POINT_SUPPORTED) && \
+    !defined(PNG_FLOATING_POINT_SUPPORTED)
+      png_free(png_ptr, swidth);
+#endif
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   height = png_strtod(png_ptr, ep, &vp);
+   if (*vp)
+   {
+      png_warning(png_ptr, "malformed height string in sCAL chunk");
+      return;
+   }
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   sheight = (png_charp)png_malloc_warn(png_ptr, png_strlen(ep) + 1);
+   if (sheight == NULL)
+   {
+      png_warning(png_ptr, "Out of memory while processing sCAL chunk height");
+      return;
+   }
+   png_memcpy(sheight, ep, (png_size_t)png_strlen(ep));
+#endif
+#endif
+
+   if (png_ptr->chunkdata + slength < ep
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+      || width <= 0. || height <= 0.
+#endif
+      )
+   {
+      png_warning(png_ptr, "Invalid sCAL data");
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+#if defined(PNG_FIXED_POINT_SUPPORTED) && !defined(PNG_FLOATING_POINT_SUPPORTED)
+      png_free(png_ptr, swidth);
+      png_free(png_ptr, sheight);
+#endif
+      return;
+   }
+
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   png_set_sCAL(png_ptr, info_ptr, png_ptr->chunkdata[0], width, height);
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   png_set_sCAL_s(png_ptr, info_ptr, png_ptr->chunkdata[0], swidth, sheight);
+#endif
+#endif
+
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = NULL;
+#if defined(PNG_FIXED_POINT_SUPPORTED) && !defined(PNG_FLOATING_POINT_SUPPORTED)
+   png_free(png_ptr, swidth);
+   png_free(png_ptr, sheight);
+#endif
+}
+#endif
+
+#if defined(PNG_READ_tIME_SUPPORTED)
+void /* PRIVATE */
+png_handle_tIME(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_byte buf[7];
+   png_time mod_time;
+
+   png_debug(1, "in png_handle_tIME");
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Out of place tIME chunk");
+   else if (info_ptr != NULL && (info_ptr->valid & PNG_INFO_tIME))
+   {
+      png_warning(png_ptr, "Duplicate tIME chunk");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   if (png_ptr->mode & PNG_HAVE_IDAT)
+      png_ptr->mode |= PNG_AFTER_IDAT;
+
+   if (length != 7)
+   {
+      png_warning(png_ptr, "Incorrect tIME chunk length");
+      png_crc_finish(png_ptr, length);
+      return;
+   }
+
+   png_crc_read(png_ptr, buf, 7);
+   if (png_crc_finish(png_ptr, 0))
+      return;
+
+   mod_time.second = buf[6];
+   mod_time.minute = buf[5];
+   mod_time.hour = buf[4];
+   mod_time.day = buf[3];
+   mod_time.month = buf[2];
+   mod_time.year = png_get_uint_16(buf);
+
+   png_set_tIME(png_ptr, info_ptr, &mod_time);
+}
+#endif
+
+#if defined(PNG_READ_tEXt_SUPPORTED)
+/* Note: this does not properly handle chunks that are > 64K under DOS */
+void /* PRIVATE */
+png_handle_tEXt(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_textp text_ptr;
+   png_charp key;
+   png_charp text;
+   png_uint_32 skip = 0;
+   png_size_t slength;
+   int ret;
+
+   png_debug(1, "in png_handle_tEXt");
+
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before tEXt");
+
+   if (png_ptr->mode & PNG_HAVE_IDAT)
+      png_ptr->mode |= PNG_AFTER_IDAT;
+
+#ifdef PNG_MAX_MALLOC_64K
+   if (length > (png_uint_32)65535L)
+   {
+      png_warning(png_ptr, "tEXt chunk too large to fit in memory");
+      skip = length - (png_uint_32)65535L;
+      length = (png_uint_32)65535L;
+   }
+#endif
+
+   png_free(png_ptr, png_ptr->chunkdata);
+
+   png_ptr->chunkdata = (png_charp)png_malloc_warn(png_ptr, length + 1);
+   if (png_ptr->chunkdata == NULL)
+   {
+     png_warning(png_ptr, "No memory to process text chunk.");
+     return;
+   }
+   slength = (png_size_t)length;
+   png_crc_read(png_ptr, (png_bytep)png_ptr->chunkdata, slength);
+
+   if (png_crc_finish(png_ptr, skip))
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+   key = png_ptr->chunkdata;
+
+   key[slength] = 0x00;
+
+   for (text = key; *text; text++)
+      /* Empty loop to find end of key */ ;
+
+   if (text != key + slength)
+      text++;
+
+   text_ptr = (png_textp)png_malloc_warn(png_ptr,
+      (png_uint_32)png_sizeof(png_text));
+   if (text_ptr == NULL)
+   {
+     png_warning(png_ptr, "Not enough memory to process text chunk.");
+     png_free(png_ptr, png_ptr->chunkdata);
+     png_ptr->chunkdata = NULL;
+     return;
+   }
+   text_ptr->compression = PNG_TEXT_COMPRESSION_NONE;
+   text_ptr->key = key;
+#ifdef PNG_iTXt_SUPPORTED
+   text_ptr->lang = NULL;
+   text_ptr->lang_key = NULL;
+   text_ptr->itxt_length = 0;
+#endif
+   text_ptr->text = text;
+   text_ptr->text_length = png_strlen(text);
+
+   ret = png_set_text_2(png_ptr, info_ptr, text_ptr, 1);
+
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = NULL;
+   png_free(png_ptr, text_ptr);
+   if (ret)
+     png_warning(png_ptr, "Insufficient memory to process text chunk.");
+}
+#endif
+
+#if defined(PNG_READ_zTXt_SUPPORTED)
+/* Note: this does not correctly handle chunks that are > 64K under DOS */
+void /* PRIVATE */
+png_handle_zTXt(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_textp text_ptr;
+   png_charp text;
+   int comp_type;
+   int ret;
+   png_size_t slength, prefix_len, data_len;
+
+   png_debug(1, "in png_handle_zTXt");
+
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before zTXt");
+
+   if (png_ptr->mode & PNG_HAVE_IDAT)
+      png_ptr->mode |= PNG_AFTER_IDAT;
+
+#ifdef PNG_MAX_MALLOC_64K
+   /* We will no doubt have problems with chunks even half this size, but
+      there is no hard and fast rule to tell us where to stop. */
+   if (length > (png_uint_32)65535L)
+   {
+     png_warning(png_ptr, "zTXt chunk too large to fit in memory");
+     png_crc_finish(png_ptr, length);
+     return;
+   }
+#endif
+
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = (png_charp)png_malloc_warn(png_ptr, length + 1);
+   if (png_ptr->chunkdata == NULL)
+   {
+     png_warning(png_ptr, "Out of memory processing zTXt chunk.");
+     return;
+   }
+   slength = (png_size_t)length;
+   png_crc_read(png_ptr, (png_bytep)png_ptr->chunkdata, slength);
+   if (png_crc_finish(png_ptr, 0))
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+   png_ptr->chunkdata[slength] = 0x00;
+
+   for (text = png_ptr->chunkdata; *text; text++)
+      /* Empty loop */ ;
+
+   /* zTXt must have some text after the chunkdataword */
+   if (text >= png_ptr->chunkdata + slength - 2)
+   {
+      png_warning(png_ptr, "Truncated zTXt chunk");
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+   else
+   {
+       comp_type = *(++text);
+       if (comp_type != PNG_TEXT_COMPRESSION_zTXt)
+       {
+          png_warning(png_ptr, "Unknown compression type in zTXt chunk");
+          comp_type = PNG_TEXT_COMPRESSION_zTXt;
+       }
+       text++;        /* Skip the compression_method byte */
+   }
+   prefix_len = text - png_ptr->chunkdata;
+
+   png_decompress_chunk(png_ptr, comp_type,
+     (png_size_t)length, prefix_len, &data_len);
+
+   text_ptr = (png_textp)png_malloc_warn(png_ptr,
+      (png_uint_32)png_sizeof(png_text));
+   if (text_ptr == NULL)
+   {
+     png_warning(png_ptr, "Not enough memory to process zTXt chunk.");
+     png_free(png_ptr, png_ptr->chunkdata);
+     png_ptr->chunkdata = NULL;
+     return;
+   }
+   text_ptr->compression = comp_type;
+   text_ptr->key = png_ptr->chunkdata;
+#ifdef PNG_iTXt_SUPPORTED
+   text_ptr->lang = NULL;
+   text_ptr->lang_key = NULL;
+   text_ptr->itxt_length = 0;
+#endif
+   text_ptr->text = png_ptr->chunkdata + prefix_len;
+   text_ptr->text_length = data_len;
+
+   ret = png_set_text_2(png_ptr, info_ptr, text_ptr, 1);
+
+   png_free(png_ptr, text_ptr);
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = NULL;
+   if (ret)
+     png_error(png_ptr, "Insufficient memory to store zTXt chunk.");
+}
+#endif
+
+#if defined(PNG_READ_iTXt_SUPPORTED)
+/* Note: this does not correctly handle chunks that are > 64K under DOS */
+void /* PRIVATE */
+png_handle_iTXt(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_textp text_ptr;
+   png_charp key, lang, text, lang_key;
+   int comp_flag;
+   int comp_type = 0;
+   int ret;
+   png_size_t slength, prefix_len, data_len;
+
+   png_debug(1, "in png_handle_iTXt");
+
+
+   if (!(png_ptr->mode & PNG_HAVE_IHDR))
+      png_error(png_ptr, "Missing IHDR before iTXt");
+
+   if (png_ptr->mode & PNG_HAVE_IDAT)
+      png_ptr->mode |= PNG_AFTER_IDAT;
+
+#ifdef PNG_MAX_MALLOC_64K
+   /* We will no doubt have problems with chunks even half this size, but
+      there is no hard and fast rule to tell us where to stop. */
+   if (length > (png_uint_32)65535L)
+   {
+     png_warning(png_ptr, "iTXt chunk too large to fit in memory");
+     png_crc_finish(png_ptr, length);
+     return;
+   }
+#endif
+
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = (png_charp)png_malloc_warn(png_ptr, length + 1);
+   if (png_ptr->chunkdata == NULL)
+   {
+     png_warning(png_ptr, "No memory to process iTXt chunk.");
+     return;
+   }
+   slength = (png_size_t)length;
+   png_crc_read(png_ptr, (png_bytep)png_ptr->chunkdata, slength);
+   if (png_crc_finish(png_ptr, 0))
+   {
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+   png_ptr->chunkdata[slength] = 0x00;
+
+   for (lang = png_ptr->chunkdata; *lang; lang++)
+      /* Empty loop */ ;
+   lang++;        /* Skip NUL separator */
+
+   /* iTXt must have a language tag (possibly empty), two compression bytes,
+    * translated keyword (possibly empty), and possibly some text after the
+    * keyword
+    */
+
+   if (lang >= png_ptr->chunkdata + slength - 3)
+   {
+      png_warning(png_ptr, "Truncated iTXt chunk");
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+   else
+   {
+       comp_flag = *lang++;
+       comp_type = *lang++;
+   }
+
+   for (lang_key = lang; *lang_key; lang_key++)
+      /* Empty loop */ ;
+   lang_key++;        /* Skip NUL separator */
+
+   if (lang_key >= png_ptr->chunkdata + slength)
+   {
+      png_warning(png_ptr, "Truncated iTXt chunk");
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+   for (text = lang_key; *text; text++)
+      /* Empty loop */ ;
+   text++;        /* Skip NUL separator */
+   if (text >= png_ptr->chunkdata + slength)
+   {
+      png_warning(png_ptr, "Malformed iTXt chunk");
+      png_free(png_ptr, png_ptr->chunkdata);
+      png_ptr->chunkdata = NULL;
+      return;
+   }
+
+   prefix_len = text - png_ptr->chunkdata;
+
+   key=png_ptr->chunkdata;
+   if (comp_flag)
+       png_decompress_chunk(png_ptr, comp_type,
+         (size_t)length, prefix_len, &data_len);
+   else
+       data_len = png_strlen(png_ptr->chunkdata + prefix_len);
+   text_ptr = (png_textp)png_malloc_warn(png_ptr,
+      (png_uint_32)png_sizeof(png_text));
+   if (text_ptr == NULL)
+   {
+     png_warning(png_ptr, "Not enough memory to process iTXt chunk.");
+     png_free(png_ptr, png_ptr->chunkdata);
+     png_ptr->chunkdata = NULL;
+     return;
+   }
+   text_ptr->compression = (int)comp_flag + 1;
+   text_ptr->lang_key = png_ptr->chunkdata + (lang_key - key);
+   text_ptr->lang = png_ptr->chunkdata + (lang - key);
+   text_ptr->itxt_length = data_len;
+   text_ptr->text_length = 0;
+   text_ptr->key = png_ptr->chunkdata;
+   text_ptr->text = png_ptr->chunkdata + prefix_len;
+
+   ret = png_set_text_2(png_ptr, info_ptr, text_ptr, 1);
+
+   png_free(png_ptr, text_ptr);
+   png_free(png_ptr, png_ptr->chunkdata);
+   png_ptr->chunkdata = NULL;
+   if (ret)
+     png_error(png_ptr, "Insufficient memory to store iTXt chunk.");
+}
+#endif
+
+/* This function is called when we haven't found a handler for a
+   chunk.  If there isn't a problem with the chunk itself (ie bad
+   chunk name, CRC, or a critical chunk), the chunk is silently ignored
+   -- unless the PNG_FLAG_UNKNOWN_CHUNKS_SUPPORTED flag is on in which
+   case it will be saved away to be written out later. */
+void /* PRIVATE */
+png_handle_unknown(png_structp png_ptr, png_infop info_ptr, png_uint_32 length)
+{
+   png_uint_32 skip = 0;
+
+   png_debug(1, "in png_handle_unknown");
+
+
+   if (png_ptr->mode & PNG_HAVE_IDAT)
+   {
+#ifdef PNG_USE_LOCAL_ARRAYS
+      PNG_CONST PNG_IDAT;
+#endif
+      if (png_memcmp(png_ptr->chunk_name, png_IDAT, 4))  /* Not an IDAT */
+         png_ptr->mode |= PNG_AFTER_IDAT;
+   }
+
+   if (!(png_ptr->chunk_name[0] & 0x20))
+   {
+#if defined(PNG_READ_UNKNOWN_CHUNKS_SUPPORTED)
+      if (png_handle_as_unknown(png_ptr, png_ptr->chunk_name) !=
+           PNG_HANDLE_CHUNK_ALWAYS
+#if defined(PNG_READ_USER_CHUNKS_SUPPORTED)
+           && png_ptr->read_user_chunk_fn == NULL
+#endif
+        )
+#endif
+          png_chunk_error(png_ptr, "unknown critical chunk");
+   }
+
+#if defined(PNG_READ_UNKNOWN_CHUNKS_SUPPORTED)
+   if ((png_ptr->flags & PNG_FLAG_KEEP_UNKNOWN_CHUNKS) ||
+       (png_ptr->read_user_chunk_fn != NULL))
+   {
+#ifdef PNG_MAX_MALLOC_64K
+       if (length > (png_uint_32)65535L)
+       {
+           png_warning(png_ptr, "unknown chunk too large to fit in memory");
+           skip = length - (png_uint_32)65535L;
+           length = (png_uint_32)65535L;
+       }
+#endif
+       png_memcpy((png_charp)png_ptr->unknown_chunk.name,
+                  (png_charp)png_ptr->chunk_name, 
+                  png_sizeof(png_ptr->unknown_chunk.name));
+       png_ptr->unknown_chunk.name[png_sizeof(png_ptr->unknown_chunk.name)-1] = '\0';
+       png_ptr->unknown_chunk.size = (png_size_t)length;
+       if (length == 0)
+         png_ptr->unknown_chunk.data = NULL;
+       else
+       {
+         png_ptr->unknown_chunk.data = (png_bytep)png_malloc(png_ptr, length);
+         png_crc_read(png_ptr, (png_bytep)png_ptr->unknown_chunk.data, length);
+       }
+#if defined(PNG_READ_USER_CHUNKS_SUPPORTED)
+       if (png_ptr->read_user_chunk_fn != NULL)
+       {
+          /* Callback to user unknown chunk handler */
+          int ret;
+          ret = (*(png_ptr->read_user_chunk_fn))
+            (png_ptr, &png_ptr->unknown_chunk);
+          if (ret < 0)
+             png_chunk_error(png_ptr, "error in user chunk");
+          if (ret == 0)
+          {
+             if (!(png_ptr->chunk_name[0] & 0x20))
+                if (png_handle_as_unknown(png_ptr, png_ptr->chunk_name) !=
+                     PNG_HANDLE_CHUNK_ALWAYS)
+                   png_chunk_error(png_ptr, "unknown critical chunk");
+             png_set_unknown_chunks(png_ptr, info_ptr,
+               &png_ptr->unknown_chunk, 1);
+          }
+       }
+       else
+#endif
+       png_set_unknown_chunks(png_ptr, info_ptr, &png_ptr->unknown_chunk, 1);
+       png_free(png_ptr, png_ptr->unknown_chunk.data);
+       png_ptr->unknown_chunk.data = NULL;
+   }
+   else
+#endif
+      skip = length;
+
+   png_crc_finish(png_ptr, skip);
+
+#if !defined(PNG_READ_USER_CHUNKS_SUPPORTED)
+   info_ptr = info_ptr; /* Quiet compiler warnings about unused info_ptr */
+#endif
+}
+
+/* This function is called to verify that a chunk name is valid.
+   This function can't have the "critical chunk check" incorporated
+   into it, since in the future we will need to be able to call user
+   functions to handle unknown critical chunks after we check that
+   the chunk name itself is valid. */
+
+#define isnonalpha(c) ((c) < 65 || (c) > 122 || ((c) > 90 && (c) < 97))
+
+void /* PRIVATE */
+png_check_chunk_name(png_structp png_ptr, png_bytep chunk_name)
+{
+   png_debug(1, "in png_check_chunk_name");
+   if (isnonalpha(chunk_name[0]) || isnonalpha(chunk_name[1]) ||
+       isnonalpha(chunk_name[2]) || isnonalpha(chunk_name[3]))
+   {
+      png_chunk_error(png_ptr, "invalid chunk type");
+   }
+}
+
+/* Combines the row recently read in with the existing pixels in the
+   row.  This routine takes care of alpha and transparency if requested.
+   This routine also handles the two methods of progressive display
+   of interlaced images, depending on the mask value.
+   The mask value describes which pixels are to be combined with
+   the row.  The pattern always repeats every 8 pixels, so just 8
+   bits are needed.  A one indicates the pixel is to be combined,
+   a zero indicates the pixel is to be skipped.  This is in addition
+   to any alpha or transparency value associated with the pixel.  If
+   you want all pixels to be combined, pass 0xff (255) in mask.  */
+
+void /* PRIVATE */
+png_combine_row(png_structp png_ptr, png_bytep row, int mask)
+{
+   png_debug(1, "in png_combine_row");
+   if (mask == 0xff)
+   {
+      png_memcpy(row, png_ptr->row_buf + 1,
+         PNG_ROWBYTES(png_ptr->row_info.pixel_depth, png_ptr->width));
+   }
+   else
+   {
+      switch (png_ptr->row_info.pixel_depth)
+      {
+         case 1:
+         {
+            png_bytep sp = png_ptr->row_buf + 1;
+            png_bytep dp = row;
+            int s_inc, s_start, s_end;
+            int m = 0x80;
+            int shift;
+            png_uint_32 i;
+            png_uint_32 row_width = png_ptr->width;
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)
+            if (png_ptr->transformations & PNG_PACKSWAP)
+            {
+                s_start = 0;
+                s_end = 7;
+                s_inc = 1;
+            }
+            else
+#endif
+            {
+                s_start = 7;
+                s_end = 0;
+                s_inc = -1;
+            }
+
+            shift = s_start;
+
+            for (i = 0; i < row_width; i++)
+            {
+               if (m & mask)
+               {
+                  int value;
+
+                  value = (*sp >> shift) & 0x01;
+                  *dp &= (png_byte)((0x7f7f >> (7 - shift)) & 0xff);
+                  *dp |= (png_byte)(value << shift);
+               }
+
+               if (shift == s_end)
+               {
+                  shift = s_start;
+                  sp++;
+                  dp++;
+               }
+               else
+                  shift += s_inc;
+
+               if (m == 1)
+                  m = 0x80;
+               else
+                  m >>= 1;
+            }
+            break;
+         }
+         case 2:
+         {
+            png_bytep sp = png_ptr->row_buf + 1;
+            png_bytep dp = row;
+            int s_start, s_end, s_inc;
+            int m = 0x80;
+            int shift;
+            png_uint_32 i;
+            png_uint_32 row_width = png_ptr->width;
+            int value;
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)
+            if (png_ptr->transformations & PNG_PACKSWAP)
+            {
+               s_start = 0;
+               s_end = 6;
+               s_inc = 2;
+            }
+            else
+#endif
+            {
+               s_start = 6;
+               s_end = 0;
+               s_inc = -2;
+            }
+
+            shift = s_start;
+
+            for (i = 0; i < row_width; i++)
+            {
+               if (m & mask)
+               {
+                  value = (*sp >> shift) & 0x03;
+                  *dp &= (png_byte)((0x3f3f >> (6 - shift)) & 0xff);
+                  *dp |= (png_byte)(value << shift);
+               }
+
+               if (shift == s_end)
+               {
+                  shift = s_start;
+                  sp++;
+                  dp++;
+               }
+               else
+                  shift += s_inc;
+               if (m == 1)
+                  m = 0x80;
+               else
+                  m >>= 1;
+            }
+            break;
+         }
+         case 4:
+         {
+            png_bytep sp = png_ptr->row_buf + 1;
+            png_bytep dp = row;
+            int s_start, s_end, s_inc;
+            int m = 0x80;
+            int shift;
+            png_uint_32 i;
+            png_uint_32 row_width = png_ptr->width;
+            int value;
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)
+            if (png_ptr->transformations & PNG_PACKSWAP)
+            {
+               s_start = 0;
+               s_end = 4;
+               s_inc = 4;
+            }
+            else
+#endif
+            {
+               s_start = 4;
+               s_end = 0;
+               s_inc = -4;
+            }
+            shift = s_start;
+
+            for (i = 0; i < row_width; i++)
+            {
+               if (m & mask)
+               {
+                  value = (*sp >> shift) & 0xf;
+                  *dp &= (png_byte)((0xf0f >> (4 - shift)) & 0xff);
+                  *dp |= (png_byte)(value << shift);
+               }
+
+               if (shift == s_end)
+               {
+                  shift = s_start;
+                  sp++;
+                  dp++;
+               }
+               else
+                  shift += s_inc;
+               if (m == 1)
+                  m = 0x80;
+               else
+                  m >>= 1;
+            }
+            break;
+         }
+         default:
+         {
+            png_bytep sp = png_ptr->row_buf + 1;
+            png_bytep dp = row;
+            png_size_t pixel_bytes = (png_ptr->row_info.pixel_depth >> 3);
+            png_uint_32 i;
+            png_uint_32 row_width = png_ptr->width;
+            png_byte m = 0x80;
+
+
+            for (i = 0; i < row_width; i++)
+            {
+               if (m & mask)
+               {
+                  png_memcpy(dp, sp, pixel_bytes);
+               }
+
+               sp += pixel_bytes;
+               dp += pixel_bytes;
+
+               if (m == 1)
+                  m = 0x80;
+               else
+                  m >>= 1;
+            }
+            break;
+         }
+      }
+   }
+}
+
+#ifdef PNG_READ_INTERLACING_SUPPORTED
+/* OLD pre-1.0.9 interface:
+void png_do_read_interlace(png_row_infop row_info, png_bytep row, int pass,
+   png_uint_32 transformations)
+ */
+void /* PRIVATE */
+png_do_read_interlace(png_structp png_ptr)
+{
+   png_row_infop row_info = &(png_ptr->row_info);
+   png_bytep row = png_ptr->row_buf + 1;
+   int pass = png_ptr->pass;
+   png_uint_32 transformations = png_ptr->transformations;
+#ifdef PNG_USE_LOCAL_ARRAYS
+   /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
+   /* Offset to next interlace block */
+   PNG_CONST int png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+#endif
+
+   png_debug(1, "in png_do_read_interlace");
+   if (row != NULL && row_info != NULL)
+   {
+      png_uint_32 final_width;
+
+      final_width = row_info->width * png_pass_inc[pass];
+
+      switch (row_info->pixel_depth)
+      {
+         case 1:
+         {
+            png_bytep sp = row + (png_size_t)((row_info->width - 1) >> 3);
+            png_bytep dp = row + (png_size_t)((final_width - 1) >> 3);
+            int sshift, dshift;
+            int s_start, s_end, s_inc;
+            int jstop = png_pass_inc[pass];
+            png_byte v;
+            png_uint_32 i;
+            int j;
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)
+            if (transformations & PNG_PACKSWAP)
+            {
+                sshift = (int)((row_info->width + 7) & 0x07);
+                dshift = (int)((final_width + 7) & 0x07);
+                s_start = 7;
+                s_end = 0;
+                s_inc = -1;
+            }
+            else
+#endif
+            {
+                sshift = 7 - (int)((row_info->width + 7) & 0x07);
+                dshift = 7 - (int)((final_width + 7) & 0x07);
+                s_start = 0;
+                s_end = 7;
+                s_inc = 1;
+            }
+
+            for (i = 0; i < row_info->width; i++)
+            {
+               v = (png_byte)((*sp >> sshift) & 0x01);
+               for (j = 0; j < jstop; j++)
+               {
+                  *dp &= (png_byte)((0x7f7f >> (7 - dshift)) & 0xff);
+                  *dp |= (png_byte)(v << dshift);
+                  if (dshift == s_end)
+                  {
+                     dshift = s_start;
+                     dp--;
+                  }
+                  else
+                     dshift += s_inc;
+               }
+               if (sshift == s_end)
+               {
+                  sshift = s_start;
+                  sp--;
+               }
+               else
+                  sshift += s_inc;
+            }
+            break;
+         }
+         case 2:
+         {
+            png_bytep sp = row + (png_uint_32)((row_info->width - 1) >> 2);
+            png_bytep dp = row + (png_uint_32)((final_width - 1) >> 2);
+            int sshift, dshift;
+            int s_start, s_end, s_inc;
+            int jstop = png_pass_inc[pass];
+            png_uint_32 i;
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)
+            if (transformations & PNG_PACKSWAP)
+            {
+               sshift = (int)(((row_info->width + 3) & 0x03) << 1);
+               dshift = (int)(((final_width + 3) & 0x03) << 1);
+               s_start = 6;
+               s_end = 0;
+               s_inc = -2;
+            }
+            else
+#endif
+            {
+               sshift = (int)((3 - ((row_info->width + 3) & 0x03)) << 1);
+               dshift = (int)((3 - ((final_width + 3) & 0x03)) << 1);
+               s_start = 0;
+               s_end = 6;
+               s_inc = 2;
+            }
+
+            for (i = 0; i < row_info->width; i++)
+            {
+               png_byte v;
+               int j;
+
+               v = (png_byte)((*sp >> sshift) & 0x03);
+               for (j = 0; j < jstop; j++)
+               {
+                  *dp &= (png_byte)((0x3f3f >> (6 - dshift)) & 0xff);
+                  *dp |= (png_byte)(v << dshift);
+                  if (dshift == s_end)
+                  {
+                     dshift = s_start;
+                     dp--;
+                  }
+                  else
+                     dshift += s_inc;
+               }
+               if (sshift == s_end)
+               {
+                  sshift = s_start;
+                  sp--;
+               }
+               else
+                  sshift += s_inc;
+            }
+            break;
+         }
+         case 4:
+         {
+            png_bytep sp = row + (png_size_t)((row_info->width - 1) >> 1);
+            png_bytep dp = row + (png_size_t)((final_width - 1) >> 1);
+            int sshift, dshift;
+            int s_start, s_end, s_inc;
+            png_uint_32 i;
+            int jstop = png_pass_inc[pass];
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)
+            if (transformations & PNG_PACKSWAP)
+            {
+               sshift = (int)(((row_info->width + 1) & 0x01) << 2);
+               dshift = (int)(((final_width + 1) & 0x01) << 2);
+               s_start = 4;
+               s_end = 0;
+               s_inc = -4;
+            }
+            else
+#endif
+            {
+               sshift = (int)((1 - ((row_info->width + 1) & 0x01)) << 2);
+               dshift = (int)((1 - ((final_width + 1) & 0x01)) << 2);
+               s_start = 0;
+               s_end = 4;
+               s_inc = 4;
+            }
+
+            for (i = 0; i < row_info->width; i++)
+            {
+               png_byte v = (png_byte)((*sp >> sshift) & 0xf);
+               int j;
+
+               for (j = 0; j < jstop; j++)
+               {
+                  *dp &= (png_byte)((0xf0f >> (4 - dshift)) & 0xff);
+                  *dp |= (png_byte)(v << dshift);
+                  if (dshift == s_end)
+                  {
+                     dshift = s_start;
+                     dp--;
+                  }
+                  else
+                     dshift += s_inc;
+               }
+               if (sshift == s_end)
+               {
+                  sshift = s_start;
+                  sp--;
+               }
+               else
+                  sshift += s_inc;
+            }
+            break;
+         }
+         default:
+         {
+            png_size_t pixel_bytes = (row_info->pixel_depth >> 3);
+            png_bytep sp = row + (png_size_t)(row_info->width - 1) * pixel_bytes;
+            png_bytep dp = row + (png_size_t)(final_width - 1) * pixel_bytes;
+
+            int jstop = png_pass_inc[pass];
+            png_uint_32 i;
+
+            for (i = 0; i < row_info->width; i++)
+            {
+               png_byte v[8];
+               int j;
+
+               png_memcpy(v, sp, pixel_bytes);
+               for (j = 0; j < jstop; j++)
+               {
+                  png_memcpy(dp, v, pixel_bytes);
+                  dp -= pixel_bytes;
+               }
+               sp -= pixel_bytes;
+            }
+            break;
+         }
+      }
+      row_info->width = final_width;
+      row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth, final_width);
+   }
+#if !defined(PNG_READ_PACKSWAP_SUPPORTED)
+   transformations = transformations; /* Silence compiler warning */
+#endif
+}
+#endif /* PNG_READ_INTERLACING_SUPPORTED */
+
+void /* PRIVATE */
+png_read_filter_row(png_structp png_ptr, png_row_infop row_info, png_bytep row,
+   png_bytep prev_row, int filter)
+{
+   png_debug(1, "in png_read_filter_row");
+   png_debug2(2, "row = %lu, filter = %d", png_ptr->row_number, filter);
+   switch (filter)
+   {
+      case PNG_FILTER_VALUE_NONE:
+         break;
+      case PNG_FILTER_VALUE_SUB:
+      {
+         png_uint_32 i;
+         png_uint_32 istop = row_info->rowbytes;
+         png_uint_32 bpp = (row_info->pixel_depth + 7) >> 3;
+         png_bytep rp = row + bpp;
+         png_bytep lp = row;
+
+         for (i = bpp; i < istop; i++)
+         {
+            *rp = (png_byte)(((int)(*rp) + (int)(*lp++)) & 0xff);
+            rp++;
+         }
+         break;
+      }
+      case PNG_FILTER_VALUE_UP:
+      {
+         png_uint_32 i;
+         png_uint_32 istop = row_info->rowbytes;
+         png_bytep rp = row;
+         png_bytep pp = prev_row;
+
+         for (i = 0; i < istop; i++)
+         {
+            *rp = (png_byte)(((int)(*rp) + (int)(*pp++)) & 0xff);
+            rp++;
+         }
+         break;
+      }
+      case PNG_FILTER_VALUE_AVG:
+      {
+         png_uint_32 i;
+         png_bytep rp = row;
+         png_bytep pp = prev_row;
+         png_bytep lp = row;
+         png_uint_32 bpp = (row_info->pixel_depth + 7) >> 3;
+         png_uint_32 istop = row_info->rowbytes - bpp;
+
+         for (i = 0; i < bpp; i++)
+         {
+            *rp = (png_byte)(((int)(*rp) +
+               ((int)(*pp++) / 2 )) & 0xff);
+            rp++;
+         }
+
+         for (i = 0; i < istop; i++)
+         {
+            *rp = (png_byte)(((int)(*rp) +
+               (int)(*pp++ + *lp++) / 2 ) & 0xff);
+            rp++;
+         }
+         break;
+      }
+      case PNG_FILTER_VALUE_PAETH:
+      {
+         png_uint_32 i;
+         png_bytep rp = row;
+         png_bytep pp = prev_row;
+         png_bytep lp = row;
+         png_bytep cp = prev_row;
+         png_uint_32 bpp = (row_info->pixel_depth + 7) >> 3;
+         png_uint_32 istop=row_info->rowbytes - bpp;
+
+         for (i = 0; i < bpp; i++)
+         {
+            *rp = (png_byte)(((int)(*rp) + (int)(*pp++)) & 0xff);
+            rp++;
+         }
+
+         for (i = 0; i < istop; i++)   /* Use leftover rp,pp */
+         {
+            int a, b, c, pa, pb, pc, p;
+
+            a = *lp++;
+            b = *pp++;
+            c = *cp++;
+
+            p = b - c;
+            pc = a - c;
+
+#ifdef PNG_USE_ABS
+            pa = abs(p);
+            pb = abs(pc);
+            pc = abs(p + pc);
+#else
+            pa = p < 0 ? -p : p;
+            pb = pc < 0 ? -pc : pc;
+            pc = (p + pc) < 0 ? -(p + pc) : p + pc;
+#endif
+
+            /*
+               if (pa <= pb && pa <= pc)
+                  p = a;
+               else if (pb <= pc)
+                  p = b;
+               else
+                  p = c;
+             */
+
+            p = (pa <= pb && pa <= pc) ? a : (pb <= pc) ? b : c;
+
+            *rp = (png_byte)(((int)(*rp) + p) & 0xff);
+            rp++;
+         }
+         break;
+      }
+      default:
+         png_warning(png_ptr, "Ignoring bad adaptive filter type");
+         *row = 0;
+         break;
+   }
+}
+
+#ifndef PNG_NO_SEQUENTIAL_READ_SUPPORTED
+void /* PRIVATE */
+png_read_finish_row(png_structp png_ptr)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+#ifdef PNG_READ_INTERLACING_SUPPORTED
+   /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
+
+   /* Start of interlace block */
+   PNG_CONST int png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
+
+   /* Offset to next interlace block */
+   PNG_CONST int png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+
+   /* Start of interlace block in the y direction */
+   PNG_CONST int png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
+
+   /* Offset to next interlace block in the y direction */
+   PNG_CONST int png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
+#endif /* PNG_READ_INTERLACING_SUPPORTED */
+#endif
+
+   png_debug(1, "in png_read_finish_row");
+   png_ptr->row_number++;
+   if (png_ptr->row_number < png_ptr->num_rows)
+      return;
+
+#ifdef PNG_READ_INTERLACING_SUPPORTED
+   if (png_ptr->interlaced)
+   {
+      png_ptr->row_number = 0;
+      png_memset_check(png_ptr, png_ptr->prev_row, 0,
+         png_ptr->rowbytes + 1);
+      do
+      {
+         png_ptr->pass++;
+         if (png_ptr->pass >= 7)
+            break;
+         png_ptr->iwidth = (png_ptr->width +
+            png_pass_inc[png_ptr->pass] - 1 -
+            png_pass_start[png_ptr->pass]) /
+            png_pass_inc[png_ptr->pass];
+
+         png_ptr->irowbytes = PNG_ROWBYTES(png_ptr->pixel_depth,
+            png_ptr->iwidth) + 1;
+
+         if (!(png_ptr->transformations & PNG_INTERLACE))
+         {
+            png_ptr->num_rows = (png_ptr->height +
+               png_pass_yinc[png_ptr->pass] - 1 -
+               png_pass_ystart[png_ptr->pass]) /
+               png_pass_yinc[png_ptr->pass];
+            if (!(png_ptr->num_rows))
+               continue;
+         }
+         else  /* if (png_ptr->transformations & PNG_INTERLACE) */
+            break;
+      } while (png_ptr->iwidth == 0);
+
+      if (png_ptr->pass < 7)
+         return;
+   }
+#endif /* PNG_READ_INTERLACING_SUPPORTED */
+
+   if (!(png_ptr->flags & PNG_FLAG_ZLIB_FINISHED))
+   {
+#ifdef PNG_USE_LOCAL_ARRAYS
+      PNG_CONST PNG_IDAT;
+#endif
+      char extra;
+      int ret;
+
+      png_ptr->zstream.next_out = (Byte *)&extra;
+      png_ptr->zstream.avail_out = (uInt)1;
+      for (;;)
+      {
+         if (!(png_ptr->zstream.avail_in))
+         {
+            while (!png_ptr->idat_size)
+            {
+               png_byte chunk_length[4];
+
+               png_crc_finish(png_ptr, 0);
+
+               png_read_data(png_ptr, chunk_length, 4);
+               png_ptr->idat_size = png_get_uint_31(png_ptr, chunk_length);
+               png_reset_crc(png_ptr);
+               png_crc_read(png_ptr, png_ptr->chunk_name, 4);
+               if (png_memcmp(png_ptr->chunk_name, png_IDAT, 4))
+                  png_error(png_ptr, "Not enough image data");
+
+            }
+            png_ptr->zstream.avail_in = (uInt)png_ptr->zbuf_size;
+            png_ptr->zstream.next_in = png_ptr->zbuf;
+            if (png_ptr->zbuf_size > png_ptr->idat_size)
+               png_ptr->zstream.avail_in = (uInt)png_ptr->idat_size;
+            png_crc_read(png_ptr, png_ptr->zbuf, png_ptr->zstream.avail_in);
+            png_ptr->idat_size -= png_ptr->zstream.avail_in;
+         }
+         ret = inflate(&png_ptr->zstream, Z_PARTIAL_FLUSH);
+         if (ret == Z_STREAM_END)
+         {
+            if (!(png_ptr->zstream.avail_out) || png_ptr->zstream.avail_in ||
+               png_ptr->idat_size)
+               png_warning(png_ptr, "Extra compressed data");
+            png_ptr->mode |= PNG_AFTER_IDAT;
+            png_ptr->flags |= PNG_FLAG_ZLIB_FINISHED;
+            break;
+         }
+         if (ret != Z_OK)
+            png_error(png_ptr, png_ptr->zstream.msg ? png_ptr->zstream.msg :
+                      "Decompression Error");
+
+         if (!(png_ptr->zstream.avail_out))
+         {
+            png_warning(png_ptr, "Extra compressed data.");
+            png_ptr->mode |= PNG_AFTER_IDAT;
+            png_ptr->flags |= PNG_FLAG_ZLIB_FINISHED;
+            break;
+         }
+
+      }
+      png_ptr->zstream.avail_out = 0;
+   }
+
+   if (png_ptr->idat_size || png_ptr->zstream.avail_in)
+      png_warning(png_ptr, "Extra compression data");
+
+   inflateReset(&png_ptr->zstream);
+
+   png_ptr->mode |= PNG_AFTER_IDAT;
+}
+#endif /* PNG_NO_SEQUENTIAL_READ_SUPPORTED */
+
+void /* PRIVATE */
+png_read_start_row(png_structp png_ptr)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+#ifdef PNG_READ_INTERLACING_SUPPORTED
+   /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
+
+   /* Start of interlace block */
+   PNG_CONST int png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
+
+   /* Offset to next interlace block */
+   PNG_CONST int png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+
+   /* Start of interlace block in the y direction */
+   PNG_CONST int png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
+
+   /* Offset to next interlace block in the y direction */
+   PNG_CONST int png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
+#endif
+#endif
+
+   int max_pixel_depth;
+   png_size_t row_bytes;
+
+   png_debug(1, "in png_read_start_row");
+   png_ptr->zstream.avail_in = 0;
+   png_init_read_transformations(png_ptr);
+#ifdef PNG_READ_INTERLACING_SUPPORTED
+   if (png_ptr->interlaced)
+   {
+      if (!(png_ptr->transformations & PNG_INTERLACE))
+         png_ptr->num_rows = (png_ptr->height + png_pass_yinc[0] - 1 -
+            png_pass_ystart[0]) / png_pass_yinc[0];
+      else
+         png_ptr->num_rows = png_ptr->height;
+
+      png_ptr->iwidth = (png_ptr->width +
+         png_pass_inc[png_ptr->pass] - 1 -
+         png_pass_start[png_ptr->pass]) /
+         png_pass_inc[png_ptr->pass];
+
+         png_ptr->irowbytes =
+            PNG_ROWBYTES(png_ptr->pixel_depth, png_ptr->iwidth) + 1;
+   }
+   else
+#endif /* PNG_READ_INTERLACING_SUPPORTED */
+   {
+      png_ptr->num_rows = png_ptr->height;
+      png_ptr->iwidth = png_ptr->width;
+      png_ptr->irowbytes = png_ptr->rowbytes + 1;
+   }
+   max_pixel_depth = png_ptr->pixel_depth;
+
+#if defined(PNG_READ_PACK_SUPPORTED)
+   if ((png_ptr->transformations & PNG_PACK) && png_ptr->bit_depth < 8)
+      max_pixel_depth = 8;
+#endif
+
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+   if (png_ptr->transformations & PNG_EXPAND)
+   {
+      if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      {
+         if (png_ptr->num_trans)
+            max_pixel_depth = 32;
+         else
+            max_pixel_depth = 24;
+      }
+      else if (png_ptr->color_type == PNG_COLOR_TYPE_GRAY)
+      {
+         if (max_pixel_depth < 8)
+            max_pixel_depth = 8;
+         if (png_ptr->num_trans)
+            max_pixel_depth *= 2;
+      }
+      else if (png_ptr->color_type == PNG_COLOR_TYPE_RGB)
+      {
+         if (png_ptr->num_trans)
+         {
+            max_pixel_depth *= 4;
+            max_pixel_depth /= 3;
+         }
+      }
+   }
+#endif
+
+#if defined(PNG_READ_FILLER_SUPPORTED)
+   if (png_ptr->transformations & (PNG_FILLER))
+   {
+      if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+         max_pixel_depth = 32;
+      else if (png_ptr->color_type == PNG_COLOR_TYPE_GRAY)
+      {
+         if (max_pixel_depth <= 8)
+            max_pixel_depth = 16;
+         else
+            max_pixel_depth = 32;
+      }
+      else if (png_ptr->color_type == PNG_COLOR_TYPE_RGB)
+      {
+         if (max_pixel_depth <= 32)
+            max_pixel_depth = 32;
+         else
+            max_pixel_depth = 64;
+      }
+   }
+#endif
+
+#if defined(PNG_READ_GRAY_TO_RGB_SUPPORTED)
+   if (png_ptr->transformations & PNG_GRAY_TO_RGB)
+   {
+      if (
+#if defined(PNG_READ_EXPAND_SUPPORTED)
+        (png_ptr->num_trans && (png_ptr->transformations & PNG_EXPAND)) ||
+#endif
+#if defined(PNG_READ_FILLER_SUPPORTED)
+        (png_ptr->transformations & (PNG_FILLER)) ||
+#endif
+        png_ptr->color_type == PNG_COLOR_TYPE_GRAY_ALPHA)
+      {
+         if (max_pixel_depth <= 16)
+            max_pixel_depth = 32;
+         else
+            max_pixel_depth = 64;
+      }
+      else
+      {
+         if (max_pixel_depth <= 8)
+           {
+             if (png_ptr->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+               max_pixel_depth = 32;
+             else
+               max_pixel_depth = 24;
+           }
+         else if (png_ptr->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+            max_pixel_depth = 64;
+         else
+            max_pixel_depth = 48;
+      }
+   }
+#endif
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED) && \
+defined(PNG_USER_TRANSFORM_PTR_SUPPORTED)
+   if (png_ptr->transformations & PNG_USER_TRANSFORM)
+     {
+       int user_pixel_depth = png_ptr->user_transform_depth*
+         png_ptr->user_transform_channels;
+       if (user_pixel_depth > max_pixel_depth)
+         max_pixel_depth=user_pixel_depth;
+     }
+#endif
+
+   /* Align the width on the next larger 8 pixels.  Mainly used
+    * for interlacing
+    */
+   row_bytes = ((png_ptr->width + 7) & ~((png_uint_32)7));
+   /* Calculate the maximum bytes needed, adding a byte and a pixel
+    * for safety's sake
+    */
+   row_bytes = PNG_ROWBYTES(max_pixel_depth, row_bytes) +
+      1 + ((max_pixel_depth + 7) >> 3);
+#ifdef PNG_MAX_MALLOC_64K
+   if (row_bytes > (png_uint_32)65536L)
+      png_error(png_ptr, "This image requires a row greater than 64KB");
+#endif
+
+   if (row_bytes + 64 > png_ptr->old_big_row_buf_size)
+   {
+     png_free(png_ptr, png_ptr->big_row_buf);
+     png_ptr->big_row_buf = (png_bytep)png_malloc(png_ptr, row_bytes + 64);
+     if (png_ptr->interlaced)
+       png_memset(png_ptr->big_row_buf, 0, row_bytes + 64);
+     png_ptr->row_buf = png_ptr->big_row_buf + 32;
+     png_ptr->old_big_row_buf_size = row_bytes + 64;
+   }
+
+#ifdef PNG_MAX_MALLOC_64K
+   if ((png_uint_32)row_bytes + 1 > (png_uint_32)65536L)
+      png_error(png_ptr, "This image requires a row greater than 64KB");
+#endif
+   if ((png_uint_32)row_bytes > (png_uint_32)(PNG_SIZE_MAX - 1))
+      png_error(png_ptr, "Row has too many bytes to allocate in memory.");
+
+   if (row_bytes + 1 > png_ptr->old_prev_row_size)
+   {
+      png_free(png_ptr, png_ptr->prev_row);
+      png_ptr->prev_row = (png_bytep)png_malloc(png_ptr, (png_uint_32)(
+        row_bytes + 1));
+      png_memset_check(png_ptr, png_ptr->prev_row, 0, row_bytes + 1);
+      png_ptr->old_prev_row_size = row_bytes + 1;
+   }
+
+   png_ptr->rowbytes = row_bytes;
+
+   png_debug1(3, "width = %lu,", png_ptr->width);
+   png_debug1(3, "height = %lu,", png_ptr->height);
+   png_debug1(3, "iwidth = %lu,", png_ptr->iwidth);
+   png_debug1(3, "num_rows = %lu,", png_ptr->num_rows);
+   png_debug1(3, "rowbytes = %lu,", png_ptr->rowbytes);
+   png_debug1(3, "irowbytes = %lu", png_ptr->irowbytes);
+
+   png_ptr->flags |= PNG_FLAG_ROW_INIT;
+}
+#endif /* PNG_READ_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngset.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngset.c
new file mode 100755
index 0000000..198ded8
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngset.c
@@ -0,0 +1,1255 @@
+
+/* pngset.c - storage of image information into info struct
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * The functions here are used during reads to store data from the file
+ * into the info struct, and during writes to store application data
+ * into the info struct for writing into the file.  This abstracts the
+ * info struct and allows us to change the structure in the future.
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+
+#if defined(PNG_bKGD_SUPPORTED)
+void PNGAPI
+png_set_bKGD(png_structp png_ptr, png_infop info_ptr, png_color_16p background)
+{
+   png_debug1(1, "in %s storage function", "bKGD");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   png_memcpy(&(info_ptr->background), background, png_sizeof(png_color_16));
+   info_ptr->valid |= PNG_INFO_bKGD;
+}
+#endif
+
+#if defined(PNG_cHRM_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+void PNGAPI
+png_set_cHRM(png_structp png_ptr, png_infop info_ptr,
+   double white_x, double white_y, double red_x, double red_y,
+   double green_x, double green_y, double blue_x, double blue_y)
+{
+   png_debug1(1, "in %s storage function", "cHRM");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   info_ptr->x_white = (float)white_x;
+   info_ptr->y_white = (float)white_y;
+   info_ptr->x_red   = (float)red_x;
+   info_ptr->y_red   = (float)red_y;
+   info_ptr->x_green = (float)green_x;
+   info_ptr->y_green = (float)green_y;
+   info_ptr->x_blue  = (float)blue_x;
+   info_ptr->y_blue  = (float)blue_y;
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   info_ptr->int_x_white = (png_fixed_point)(white_x*100000.+0.5);
+   info_ptr->int_y_white = (png_fixed_point)(white_y*100000.+0.5);
+   info_ptr->int_x_red   = (png_fixed_point)(  red_x*100000.+0.5);
+   info_ptr->int_y_red   = (png_fixed_point)(  red_y*100000.+0.5);
+   info_ptr->int_x_green = (png_fixed_point)(green_x*100000.+0.5);
+   info_ptr->int_y_green = (png_fixed_point)(green_y*100000.+0.5);
+   info_ptr->int_x_blue  = (png_fixed_point)( blue_x*100000.+0.5);
+   info_ptr->int_y_blue  = (png_fixed_point)( blue_y*100000.+0.5);
+#endif
+   info_ptr->valid |= PNG_INFO_cHRM;
+}
+#endif /* PNG_FLOATING_POINT_SUPPORTED */
+
+#ifdef PNG_FIXED_POINT_SUPPORTED
+void PNGAPI
+png_set_cHRM_fixed(png_structp png_ptr, png_infop info_ptr,
+   png_fixed_point white_x, png_fixed_point white_y, png_fixed_point red_x,
+   png_fixed_point red_y, png_fixed_point green_x, png_fixed_point green_y,
+   png_fixed_point blue_x, png_fixed_point blue_y)
+{
+   png_debug1(1, "in %s storage function", "cHRM fixed");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+#if !defined(PNG_NO_CHECK_cHRM)
+   if (png_check_cHRM_fixed(png_ptr,
+      white_x, white_y, red_x, red_y, green_x, green_y, blue_x, blue_y))
+#endif
+   {
+      info_ptr->int_x_white = white_x;
+      info_ptr->int_y_white = white_y;
+      info_ptr->int_x_red   = red_x;
+      info_ptr->int_y_red   = red_y;
+      info_ptr->int_x_green = green_x;
+      info_ptr->int_y_green = green_y;
+      info_ptr->int_x_blue  = blue_x;
+      info_ptr->int_y_blue  = blue_y;
+#ifdef  PNG_FLOATING_POINT_SUPPORTED
+      info_ptr->x_white = (float)(white_x/100000.);
+      info_ptr->y_white = (float)(white_y/100000.);
+      info_ptr->x_red   = (float)(  red_x/100000.);
+      info_ptr->y_red   = (float)(  red_y/100000.);
+      info_ptr->x_green = (float)(green_x/100000.);
+      info_ptr->y_green = (float)(green_y/100000.);
+      info_ptr->x_blue  = (float)( blue_x/100000.);
+      info_ptr->y_blue  = (float)( blue_y/100000.);
+#endif
+      info_ptr->valid |= PNG_INFO_cHRM;
+   }
+}
+#endif /* PNG_FIXED_POINT_SUPPORTED */
+#endif /* PNG_cHRM_SUPPORTED */
+
+#if defined(PNG_gAMA_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+void PNGAPI
+png_set_gAMA(png_structp png_ptr, png_infop info_ptr, double file_gamma)
+{
+   double png_gamma;
+   png_debug1(1, "in %s storage function", "gAMA");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   /* Check for overflow */
+   if (file_gamma > 21474.83)
+   {
+      png_warning(png_ptr, "Limiting gamma to 21474.83");
+      png_gamma=21474.83;
+   }
+   else
+      png_gamma = file_gamma;
+   info_ptr->gamma = (float)png_gamma;
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   info_ptr->int_gamma = (int)(png_gamma*100000.+.5);
+#endif
+   info_ptr->valid |= PNG_INFO_gAMA;
+   if (png_gamma == 0.0)
+      png_warning(png_ptr, "Setting gamma=0");
+}
+#endif
+void PNGAPI
+png_set_gAMA_fixed(png_structp png_ptr, png_infop info_ptr, png_fixed_point
+   int_gamma)
+{
+   png_fixed_point png_gamma;
+
+   png_debug1(1, "in %s storage function", "gAMA");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   if (int_gamma > (png_fixed_point)PNG_UINT_31_MAX)
+   {
+      png_warning(png_ptr, "Limiting gamma to 21474.83");
+      png_gamma=PNG_UINT_31_MAX;
+   }
+   else
+   {
+      if (int_gamma < 0)
+      {
+         png_warning(png_ptr, "Setting negative gamma to zero");
+         png_gamma = 0;
+      }
+      else
+         png_gamma = int_gamma;
+   }
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   info_ptr->gamma = (float)(png_gamma/100000.);
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   info_ptr->int_gamma = png_gamma;
+#endif
+   info_ptr->valid |= PNG_INFO_gAMA;
+   if (png_gamma == 0)
+      png_warning(png_ptr, "Setting gamma=0");
+}
+#endif
+
+#if defined(PNG_hIST_SUPPORTED)
+void PNGAPI
+png_set_hIST(png_structp png_ptr, png_infop info_ptr, png_uint_16p hist)
+{
+   int i;
+
+   png_debug1(1, "in %s storage function", "hIST");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+   if (info_ptr->num_palette == 0 || info_ptr->num_palette
+       > PNG_MAX_PALETTE_LENGTH)
+   {
+      png_warning(png_ptr,
+         "Invalid palette size, hIST allocation skipped.");
+      return;
+   }
+
+#ifdef PNG_FREE_ME_SUPPORTED
+   png_free_data(png_ptr, info_ptr, PNG_FREE_HIST, 0);
+#endif
+   /* Changed from info->num_palette to PNG_MAX_PALETTE_LENGTH in
+    * version 1.2.1
+    */
+   png_ptr->hist = (png_uint_16p)png_malloc_warn(png_ptr,
+      (png_uint_32)(PNG_MAX_PALETTE_LENGTH * png_sizeof(png_uint_16)));
+   if (png_ptr->hist == NULL)
+   {
+      png_warning(png_ptr, "Insufficient memory for hIST chunk data.");
+      return;
+   }
+
+   for (i = 0; i < info_ptr->num_palette; i++)
+      png_ptr->hist[i] = hist[i];
+   info_ptr->hist = png_ptr->hist;
+   info_ptr->valid |= PNG_INFO_hIST;
+
+#ifdef PNG_FREE_ME_SUPPORTED
+   info_ptr->free_me |= PNG_FREE_HIST;
+#else
+   png_ptr->flags |= PNG_FLAG_FREE_HIST;
+#endif
+}
+#endif
+
+void PNGAPI
+png_set_IHDR(png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 width, png_uint_32 height, int bit_depth,
+   int color_type, int interlace_type, int compression_type,
+   int filter_type)
+{
+   png_debug1(1, "in %s storage function", "IHDR");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   /* Check for width and height valid values */
+   if (width == 0 || height == 0)
+      png_error(png_ptr, "Image width or height is zero in IHDR");
+#ifdef PNG_SET_USER_LIMITS_SUPPORTED
+   if (width > png_ptr->user_width_max || height > png_ptr->user_height_max)
+      png_error(png_ptr, "image size exceeds user limits in IHDR");
+#else
+   if (width > PNG_USER_WIDTH_MAX || height > PNG_USER_HEIGHT_MAX)
+      png_error(png_ptr, "image size exceeds user limits in IHDR");
+#endif
+   if (width > PNG_UINT_31_MAX || height > PNG_UINT_31_MAX)
+      png_error(png_ptr, "Invalid image size in IHDR");
+   if ( width > (PNG_UINT_32_MAX
+                 >> 3)      /* 8-byte RGBA pixels */
+                 - 64       /* bigrowbuf hack */
+                 - 1        /* filter byte */
+                 - 7*8      /* rounding of width to multiple of 8 pixels */
+                 - 8)       /* extra max_pixel_depth pad */
+      png_warning(png_ptr, "Width is too large for libpng to process pixels");
+
+   /* Check other values */
+   if (bit_depth != 1 && bit_depth != 2 && bit_depth != 4 &&
+      bit_depth != 8 && bit_depth != 16)
+      png_error(png_ptr, "Invalid bit depth in IHDR");
+
+   if (color_type < 0 || color_type == 1 ||
+       color_type == 5 || color_type > 6)
+      png_error(png_ptr, "Invalid color type in IHDR");
+
+   if (((color_type == PNG_COLOR_TYPE_PALETTE) && bit_depth > 8) ||
+       ((color_type == PNG_COLOR_TYPE_RGB ||
+         color_type == PNG_COLOR_TYPE_GRAY_ALPHA ||
+         color_type == PNG_COLOR_TYPE_RGB_ALPHA) && bit_depth < 8))
+      png_error(png_ptr, "Invalid color type/bit depth combination in IHDR");
+
+   if (interlace_type >= PNG_INTERLACE_LAST)
+      png_error(png_ptr, "Unknown interlace method in IHDR");
+
+   if (compression_type != PNG_COMPRESSION_TYPE_BASE)
+      png_error(png_ptr, "Unknown compression method in IHDR");
+
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+   /* Accept filter_method 64 (intrapixel differencing) only if
+    * 1. Libpng was compiled with PNG_MNG_FEATURES_SUPPORTED and
+    * 2. Libpng did not read a PNG signature (this filter_method is only
+    *    used in PNG datastreams that are embedded in MNG datastreams) and
+    * 3. The application called png_permit_mng_features with a mask that
+    *    included PNG_FLAG_MNG_FILTER_64 and
+    * 4. The filter_method is 64 and
+    * 5. The color_type is RGB or RGBA
+    */
+   if ((png_ptr->mode&PNG_HAVE_PNG_SIGNATURE)&&png_ptr->mng_features_permitted)
+      png_warning(png_ptr, "MNG features are not allowed in a PNG datastream");
+   if (filter_type != PNG_FILTER_TYPE_BASE)
+   {
+     if (!((png_ptr->mng_features_permitted & PNG_FLAG_MNG_FILTER_64) &&
+         (filter_type == PNG_INTRAPIXEL_DIFFERENCING) &&
+         ((png_ptr->mode&PNG_HAVE_PNG_SIGNATURE) == 0) &&
+         (color_type == PNG_COLOR_TYPE_RGB ||
+         color_type == PNG_COLOR_TYPE_RGB_ALPHA)))
+        png_error(png_ptr, "Unknown filter method in IHDR");
+     if (png_ptr->mode&PNG_HAVE_PNG_SIGNATURE)
+        png_warning(png_ptr, "Invalid filter method in IHDR");
+   }
+#else
+   if (filter_type != PNG_FILTER_TYPE_BASE)
+      png_error(png_ptr, "Unknown filter method in IHDR");
+#endif
+
+   info_ptr->width = width;
+   info_ptr->height = height;
+   info_ptr->bit_depth = (png_byte)bit_depth;
+   info_ptr->color_type =(png_byte) color_type;
+   info_ptr->compression_type = (png_byte)compression_type;
+   info_ptr->filter_type = (png_byte)filter_type;
+   info_ptr->interlace_type = (png_byte)interlace_type;
+   if (info_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      info_ptr->channels = 1;
+   else if (info_ptr->color_type & PNG_COLOR_MASK_COLOR)
+      info_ptr->channels = 3;
+   else
+      info_ptr->channels = 1;
+   if (info_ptr->color_type & PNG_COLOR_MASK_ALPHA)
+      info_ptr->channels++;
+   info_ptr->pixel_depth = (png_byte)(info_ptr->channels * info_ptr->bit_depth);
+
+   /* Check for potential overflow */
+   if (width > (PNG_UINT_32_MAX
+                 >> 3)      /* 8-byte RGBA pixels */
+                 - 64       /* bigrowbuf hack */
+                 - 1        /* filter byte */
+                 - 7*8      /* rounding of width to multiple of 8 pixels */
+                 - 8)       /* extra max_pixel_depth pad */
+      info_ptr->rowbytes = (png_size_t)0;
+   else
+      info_ptr->rowbytes = PNG_ROWBYTES(info_ptr->pixel_depth, width);
+}
+
+#if defined(PNG_oFFs_SUPPORTED)
+void PNGAPI
+png_set_oFFs(png_structp png_ptr, png_infop info_ptr,
+   png_int_32 offset_x, png_int_32 offset_y, int unit_type)
+{
+   png_debug1(1, "in %s storage function", "oFFs");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   info_ptr->x_offset = offset_x;
+   info_ptr->y_offset = offset_y;
+   info_ptr->offset_unit_type = (png_byte)unit_type;
+   info_ptr->valid |= PNG_INFO_oFFs;
+}
+#endif
+
+#if defined(PNG_pCAL_SUPPORTED)
+void PNGAPI
+png_set_pCAL(png_structp png_ptr, png_infop info_ptr,
+   png_charp purpose, png_int_32 X0, png_int_32 X1, int type, int nparams,
+   png_charp units, png_charpp params)
+{
+   png_uint_32 length;
+   int i;
+
+   png_debug1(1, "in %s storage function", "pCAL");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   length = png_strlen(purpose) + 1;
+   png_debug1(3, "allocating purpose for info (%lu bytes)",
+     (unsigned long)length);
+   info_ptr->pcal_purpose = (png_charp)png_malloc_warn(png_ptr, length);
+   if (info_ptr->pcal_purpose == NULL)
+   {
+       png_warning(png_ptr, "Insufficient memory for pCAL purpose.");
+      return;
+   }
+   png_memcpy(info_ptr->pcal_purpose, purpose, (png_size_t)length);
+
+   png_debug(3, "storing X0, X1, type, and nparams in info");
+   info_ptr->pcal_X0 = X0;
+   info_ptr->pcal_X1 = X1;
+   info_ptr->pcal_type = (png_byte)type;
+   info_ptr->pcal_nparams = (png_byte)nparams;
+
+   length = png_strlen(units) + 1;
+   png_debug1(3, "allocating units for info (%lu bytes)",
+     (unsigned long)length);
+   info_ptr->pcal_units = (png_charp)png_malloc_warn(png_ptr, length);
+   if (info_ptr->pcal_units == NULL)
+   {
+       png_warning(png_ptr, "Insufficient memory for pCAL units.");
+      return;
+   }
+   png_memcpy(info_ptr->pcal_units, units, (png_size_t)length);
+
+   info_ptr->pcal_params = (png_charpp)png_malloc_warn(png_ptr,
+      (png_uint_32)((nparams + 1) * png_sizeof(png_charp)));
+   if (info_ptr->pcal_params == NULL)
+   {
+       png_warning(png_ptr, "Insufficient memory for pCAL params.");
+      return;
+   }
+
+   png_memset(info_ptr->pcal_params, 0, (nparams + 1) * png_sizeof(png_charp));
+
+   for (i = 0; i < nparams; i++)
+   {
+      length = png_strlen(params[i]) + 1;
+      png_debug2(3, "allocating parameter %d for info (%lu bytes)", i,
+        (unsigned long)length);
+      info_ptr->pcal_params[i] = (png_charp)png_malloc_warn(png_ptr, length);
+      if (info_ptr->pcal_params[i] == NULL)
+      {
+          png_warning(png_ptr, "Insufficient memory for pCAL parameter.");
+          return;
+      }
+      png_memcpy(info_ptr->pcal_params[i], params[i], (png_size_t)length);
+   }
+
+   info_ptr->valid |= PNG_INFO_pCAL;
+#ifdef PNG_FREE_ME_SUPPORTED
+   info_ptr->free_me |= PNG_FREE_PCAL;
+#endif
+}
+#endif
+
+#if defined(PNG_READ_sCAL_SUPPORTED) || defined(PNG_WRITE_sCAL_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+void PNGAPI
+png_set_sCAL(png_structp png_ptr, png_infop info_ptr,
+             int unit, double width, double height)
+{
+   png_debug1(1, "in %s storage function", "sCAL");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   info_ptr->scal_unit = (png_byte)unit;
+   info_ptr->scal_pixel_width = width;
+   info_ptr->scal_pixel_height = height;
+
+   info_ptr->valid |= PNG_INFO_sCAL;
+}
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+void PNGAPI
+png_set_sCAL_s(png_structp png_ptr, png_infop info_ptr,
+             int unit, png_charp swidth, png_charp sheight)
+{
+   png_uint_32 length;
+
+   png_debug1(1, "in %s storage function", "sCAL");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   info_ptr->scal_unit = (png_byte)unit;
+
+   length = png_strlen(swidth) + 1;
+   png_debug1(3, "allocating unit for info (%u bytes)",
+      (unsigned int)length);
+   info_ptr->scal_s_width = (png_charp)png_malloc_warn(png_ptr, length);
+   if (info_ptr->scal_s_width == NULL)
+   {
+      png_warning(png_ptr,
+       "Memory allocation failed while processing sCAL.");
+      return;
+   }
+   png_memcpy(info_ptr->scal_s_width, swidth, (png_size_t)length);
+
+   length = png_strlen(sheight) + 1;
+   png_debug1(3, "allocating unit for info (%u bytes)",
+      (unsigned int)length);
+   info_ptr->scal_s_height = (png_charp)png_malloc_warn(png_ptr, length);
+   if (info_ptr->scal_s_height == NULL)
+   {
+      png_free (png_ptr, info_ptr->scal_s_width);
+      info_ptr->scal_s_width = NULL;
+      png_warning(png_ptr,
+       "Memory allocation failed while processing sCAL.");
+      return;
+   }
+   png_memcpy(info_ptr->scal_s_height, sheight, (png_size_t)length);
+   info_ptr->valid |= PNG_INFO_sCAL;
+#ifdef PNG_FREE_ME_SUPPORTED
+   info_ptr->free_me |= PNG_FREE_SCAL;
+#endif
+}
+#endif
+#endif
+#endif
+
+#if defined(PNG_pHYs_SUPPORTED)
+void PNGAPI
+png_set_pHYs(png_structp png_ptr, png_infop info_ptr,
+   png_uint_32 res_x, png_uint_32 res_y, int unit_type)
+{
+   png_debug1(1, "in %s storage function", "pHYs");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   info_ptr->x_pixels_per_unit = res_x;
+   info_ptr->y_pixels_per_unit = res_y;
+   info_ptr->phys_unit_type = (png_byte)unit_type;
+   info_ptr->valid |= PNG_INFO_pHYs;
+}
+#endif
+
+void PNGAPI
+png_set_PLTE(png_structp png_ptr, png_infop info_ptr,
+   png_colorp palette, int num_palette)
+{
+
+   png_debug1(1, "in %s storage function", "PLTE");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   if (num_palette < 0 || num_palette > PNG_MAX_PALETTE_LENGTH)
+   {
+      if (info_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+         png_error(png_ptr, "Invalid palette length");
+      else
+      {
+         png_warning(png_ptr, "Invalid palette length");
+         return;
+      }
+   }
+
+   /*
+    * It may not actually be necessary to set png_ptr->palette here;
+    * we do it for backward compatibility with the way the png_handle_tRNS
+    * function used to do the allocation.
+    */
+#ifdef PNG_FREE_ME_SUPPORTED
+   png_free_data(png_ptr, info_ptr, PNG_FREE_PLTE, 0);
+#endif
+
+   /* Changed in libpng-1.2.1 to allocate PNG_MAX_PALETTE_LENGTH instead
+    * of num_palette entries, in case of an invalid PNG file that has
+    * too-large sample values.
+    */
+   png_ptr->palette = (png_colorp)png_malloc(png_ptr,
+      PNG_MAX_PALETTE_LENGTH * png_sizeof(png_color));
+   png_memset(png_ptr->palette, 0, PNG_MAX_PALETTE_LENGTH *
+      png_sizeof(png_color));
+   png_memcpy(png_ptr->palette, palette, num_palette * png_sizeof(png_color));
+   info_ptr->palette = png_ptr->palette;
+   info_ptr->num_palette = png_ptr->num_palette = (png_uint_16)num_palette;
+
+#ifdef PNG_FREE_ME_SUPPORTED
+   info_ptr->free_me |= PNG_FREE_PLTE;
+#else
+   png_ptr->flags |= PNG_FLAG_FREE_PLTE;
+#endif
+
+   info_ptr->valid |= PNG_INFO_PLTE;
+}
+
+#if defined(PNG_sBIT_SUPPORTED)
+void PNGAPI
+png_set_sBIT(png_structp png_ptr, png_infop info_ptr,
+   png_color_8p sig_bit)
+{
+   png_debug1(1, "in %s storage function", "sBIT");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   png_memcpy(&(info_ptr->sig_bit), sig_bit, png_sizeof(png_color_8));
+   info_ptr->valid |= PNG_INFO_sBIT;
+}
+#endif
+
+#if defined(PNG_sRGB_SUPPORTED)
+void PNGAPI
+png_set_sRGB(png_structp png_ptr, png_infop info_ptr, int intent)
+{
+   png_debug1(1, "in %s storage function", "sRGB");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   info_ptr->srgb_intent = (png_byte)intent;
+   info_ptr->valid |= PNG_INFO_sRGB;
+}
+
+void PNGAPI
+png_set_sRGB_gAMA_and_cHRM(png_structp png_ptr, png_infop info_ptr,
+   int intent)
+{
+#if defined(PNG_gAMA_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   float file_gamma;
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   png_fixed_point int_file_gamma;
+#endif
+#endif
+#if defined(PNG_cHRM_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   float white_x, white_y, red_x, red_y, green_x, green_y, blue_x, blue_y;
+#endif
+   png_fixed_point int_white_x, int_white_y, int_red_x, int_red_y, int_green_x,
+      int_green_y, int_blue_x, int_blue_y;
+#endif
+   png_debug1(1, "in %s storage function", "sRGB_gAMA_and_cHRM");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   png_set_sRGB(png_ptr, info_ptr, intent);
+
+#if defined(PNG_gAMA_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   file_gamma = (float).45455;
+   png_set_gAMA(png_ptr, info_ptr, file_gamma);
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   int_file_gamma = 45455L;
+   png_set_gAMA_fixed(png_ptr, info_ptr, int_file_gamma);
+#endif
+#endif
+
+#if defined(PNG_cHRM_SUPPORTED)
+   int_white_x = 31270L;
+   int_white_y = 32900L;
+   int_red_x   = 64000L;
+   int_red_y   = 33000L;
+   int_green_x = 30000L;
+   int_green_y = 60000L;
+   int_blue_x  = 15000L;
+   int_blue_y  =  6000L;
+
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   white_x = (float).3127;
+   white_y = (float).3290;
+   red_x   = (float).64;
+   red_y   = (float).33;
+   green_x = (float).30;
+   green_y = (float).60;
+   blue_x  = (float).15;
+   blue_y  = (float).06;
+#endif
+
+#if !defined(PNG_NO_CHECK_cHRM)
+   if (png_check_cHRM_fixed(png_ptr,
+       int_white_x, int_white_y, int_red_x, int_red_y, int_green_x,
+       int_green_y, int_blue_x, int_blue_y))
+#endif
+   {
+#ifdef PNG_FIXED_POINT_SUPPORTED
+      png_set_cHRM_fixed(png_ptr, info_ptr,
+          int_white_x, int_white_y, int_red_x, int_red_y, int_green_x,
+          int_green_y, int_blue_x, int_blue_y);
+#endif
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+      png_set_cHRM(png_ptr, info_ptr,
+          white_x, white_y, red_x, red_y, green_x, green_y, blue_x, blue_y);
+#endif
+   }
+#endif /* cHRM */
+}
+#endif /* sRGB */
+
+
+#if defined(PNG_iCCP_SUPPORTED)
+void PNGAPI
+png_set_iCCP(png_structp png_ptr, png_infop info_ptr,
+             png_charp name, int compression_type,
+             png_charp profile, png_uint_32 proflen)
+{
+   png_charp new_iccp_name;
+   png_charp new_iccp_profile;
+   png_uint_32 length;
+
+   png_debug1(1, "in %s storage function", "iCCP");
+   if (png_ptr == NULL || info_ptr == NULL || name == NULL || profile == NULL)
+      return;
+
+   length = png_strlen(name)+1;
+   new_iccp_name = (png_charp)png_malloc_warn(png_ptr, length);
+   if (new_iccp_name == NULL)
+   {
+      png_warning(png_ptr, "Insufficient memory to process iCCP chunk.");
+      return;
+   }
+   png_memcpy(new_iccp_name, name, length);
+   new_iccp_profile = (png_charp)png_malloc_warn(png_ptr, proflen);
+   if (new_iccp_profile == NULL)
+   {
+      png_free (png_ptr, new_iccp_name);
+      png_warning(png_ptr,
+      "Insufficient memory to process iCCP profile.");
+      return;
+   }
+   png_memcpy(new_iccp_profile, profile, (png_size_t)proflen);
+
+   png_free_data(png_ptr, info_ptr, PNG_FREE_ICCP, 0);
+
+   info_ptr->iccp_proflen = proflen;
+   info_ptr->iccp_name = new_iccp_name;
+   info_ptr->iccp_profile = new_iccp_profile;
+   /* Compression is always zero but is here so the API and info structure
+    * does not have to change if we introduce multiple compression types */
+   info_ptr->iccp_compression = (png_byte)compression_type;
+#ifdef PNG_FREE_ME_SUPPORTED
+   info_ptr->free_me |= PNG_FREE_ICCP;
+#endif
+   info_ptr->valid |= PNG_INFO_iCCP;
+}
+#endif
+
+#if defined(PNG_TEXT_SUPPORTED)
+void PNGAPI
+png_set_text(png_structp png_ptr, png_infop info_ptr, png_textp text_ptr,
+             int num_text)
+{
+   int ret;
+   ret = png_set_text_2(png_ptr, info_ptr, text_ptr, num_text);
+   if (ret)
+      png_error(png_ptr, "Insufficient memory to store text");
+}
+
+int /* PRIVATE */
+png_set_text_2(png_structp png_ptr, png_infop info_ptr, png_textp text_ptr,
+               int num_text)
+{
+   int i;
+
+   png_debug1(1, "in %s storage function", (png_ptr->chunk_name[0] == '\0' ?
+      "text" : (png_const_charp)png_ptr->chunk_name));
+
+   if (png_ptr == NULL || info_ptr == NULL || num_text == 0)
+      return(0);
+
+   /* Make sure we have enough space in the "text" array in info_struct
+    * to hold all of the incoming text_ptr objects.
+    */
+   if (info_ptr->num_text + num_text > info_ptr->max_text)
+   {
+      if (info_ptr->text != NULL)
+      {
+         png_textp old_text;
+         int old_max;
+
+         old_max = info_ptr->max_text;
+         info_ptr->max_text = info_ptr->num_text + num_text + 8;
+         old_text = info_ptr->text;
+         info_ptr->text = (png_textp)png_malloc_warn(png_ptr,
+            (png_uint_32)(info_ptr->max_text * png_sizeof(png_text)));
+         if (info_ptr->text == NULL)
+         {
+            png_free(png_ptr, old_text);
+            return(1);
+         }
+         png_memcpy(info_ptr->text, old_text, (png_size_t)(old_max *
+            png_sizeof(png_text)));
+         png_free(png_ptr, old_text);
+      }
+      else
+      {
+         info_ptr->max_text = num_text + 8;
+         info_ptr->num_text = 0;
+         info_ptr->text = (png_textp)png_malloc_warn(png_ptr,
+            (png_uint_32)(info_ptr->max_text * png_sizeof(png_text)));
+         if (info_ptr->text == NULL)
+            return(1);
+#ifdef PNG_FREE_ME_SUPPORTED
+         info_ptr->free_me |= PNG_FREE_TEXT;
+#endif
+      }
+      png_debug1(3, "allocated %d entries for info_ptr->text",
+         info_ptr->max_text);
+   }
+   for (i = 0; i < num_text; i++)
+   {
+      png_size_t text_length, key_len;
+      png_size_t lang_len, lang_key_len;
+      png_textp textp = &(info_ptr->text[info_ptr->num_text]);
+
+      if (text_ptr[i].key == NULL)
+          continue;
+
+      key_len = png_strlen(text_ptr[i].key);
+
+      if (text_ptr[i].compression <= 0)
+      {
+         lang_len = 0;
+         lang_key_len = 0;
+      }
+      else
+#ifdef PNG_iTXt_SUPPORTED
+      {
+         /* Set iTXt data */
+         if (text_ptr[i].lang != NULL)
+            lang_len = png_strlen(text_ptr[i].lang);
+         else
+            lang_len = 0;
+         if (text_ptr[i].lang_key != NULL)
+            lang_key_len = png_strlen(text_ptr[i].lang_key);
+         else
+            lang_key_len = 0;
+      }
+#else
+      {
+         png_warning(png_ptr, "iTXt chunk not supported.");
+         continue;
+      }
+#endif
+
+      if (text_ptr[i].text == NULL || text_ptr[i].text[0] == '\0')
+      {
+         text_length = 0;
+#ifdef PNG_iTXt_SUPPORTED
+         if (text_ptr[i].compression > 0)
+            textp->compression = PNG_ITXT_COMPRESSION_NONE;
+         else
+#endif
+            textp->compression = PNG_TEXT_COMPRESSION_NONE;
+      }
+      else
+      {
+         text_length = png_strlen(text_ptr[i].text);
+         textp->compression = text_ptr[i].compression;
+      }
+
+      textp->key = (png_charp)png_malloc_warn(png_ptr,
+         (png_uint_32)
+         (key_len + text_length + lang_len + lang_key_len + 4));
+      if (textp->key == NULL)
+         return(1);
+      png_debug2(2, "Allocated %lu bytes at %x in png_set_text",
+                 (png_uint_32)
+                 (key_len + lang_len + lang_key_len + text_length + 4),
+                 (int)textp->key);
+
+      png_memcpy(textp->key, text_ptr[i].key,(png_size_t)(key_len));
+      *(textp->key + key_len) = '\0';
+#ifdef PNG_iTXt_SUPPORTED
+      if (text_ptr[i].compression > 0)
+      {
+         textp->lang = textp->key + key_len + 1;
+         png_memcpy(textp->lang, text_ptr[i].lang, lang_len);
+         *(textp->lang + lang_len) = '\0';
+         textp->lang_key = textp->lang + lang_len + 1;
+         png_memcpy(textp->lang_key, text_ptr[i].lang_key, lang_key_len);
+         *(textp->lang_key + lang_key_len) = '\0';
+         textp->text = textp->lang_key + lang_key_len + 1;
+      }
+      else
+#endif
+      {
+#ifdef PNG_iTXt_SUPPORTED
+         textp->lang=NULL;
+         textp->lang_key=NULL;
+#endif
+         textp->text = textp->key + key_len + 1;
+      }
+      if (text_length)
+         png_memcpy(textp->text, text_ptr[i].text,
+            (png_size_t)(text_length));
+      *(textp->text + text_length) = '\0';
+
+#ifdef PNG_iTXt_SUPPORTED
+      if (textp->compression > 0)
+      {
+         textp->text_length = 0;
+         textp->itxt_length = text_length;
+      }
+      else
+#endif
+      {
+         textp->text_length = text_length;
+#ifdef PNG_iTXt_SUPPORTED
+         textp->itxt_length = 0;
+#endif
+      }
+      info_ptr->num_text++;
+      png_debug1(3, "transferred text chunk %d", info_ptr->num_text);
+   }
+   return(0);
+}
+#endif
+
+#if defined(PNG_tIME_SUPPORTED)
+void PNGAPI
+png_set_tIME(png_structp png_ptr, png_infop info_ptr, png_timep mod_time)
+{
+   png_debug1(1, "in %s storage function", "tIME");
+   if (png_ptr == NULL || info_ptr == NULL ||
+       (png_ptr->mode & PNG_WROTE_tIME))
+      return;
+
+   png_memcpy(&(info_ptr->mod_time), mod_time, png_sizeof(png_time));
+   info_ptr->valid |= PNG_INFO_tIME;
+}
+#endif
+
+#if defined(PNG_tRNS_SUPPORTED)
+void PNGAPI
+png_set_tRNS(png_structp png_ptr, png_infop info_ptr,
+   png_bytep trans, int num_trans, png_color_16p trans_values)
+{
+   png_debug1(1, "in %s storage function", "tRNS");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   if (trans != NULL)
+   {
+       /*
+        * It may not actually be necessary to set png_ptr->trans here;
+        * we do it for backward compatibility with the way the png_handle_tRNS
+        * function used to do the allocation.
+        */
+
+#ifdef PNG_FREE_ME_SUPPORTED
+       png_free_data(png_ptr, info_ptr, PNG_FREE_TRNS, 0);
+#endif
+
+       /* Changed from num_trans to PNG_MAX_PALETTE_LENGTH in version 1.2.1 */
+       png_ptr->trans = info_ptr->trans = (png_bytep)png_malloc(png_ptr,
+           (png_uint_32)PNG_MAX_PALETTE_LENGTH);
+       if (num_trans > 0 && num_trans <= PNG_MAX_PALETTE_LENGTH)
+          png_memcpy(info_ptr->trans, trans, (png_size_t)num_trans);
+   }
+
+   if (trans_values != NULL)
+   {
+      int sample_max = (1 << info_ptr->bit_depth);
+      if ((info_ptr->color_type == PNG_COLOR_TYPE_GRAY &&
+          (int)trans_values->gray > sample_max) ||
+          (info_ptr->color_type == PNG_COLOR_TYPE_RGB &&
+          ((int)trans_values->red > sample_max ||
+          (int)trans_values->green > sample_max ||
+          (int)trans_values->blue > sample_max)))
+         png_warning(png_ptr,
+            "tRNS chunk has out-of-range samples for bit_depth");
+      png_memcpy(&(info_ptr->trans_values), trans_values,
+         png_sizeof(png_color_16));
+      if (num_trans == 0)
+         num_trans = 1;
+   }
+
+   info_ptr->num_trans = (png_uint_16)num_trans;
+   if (num_trans != 0)
+   {
+      info_ptr->valid |= PNG_INFO_tRNS;
+#ifdef PNG_FREE_ME_SUPPORTED
+      info_ptr->free_me |= PNG_FREE_TRNS;
+#else
+      png_ptr->flags |= PNG_FLAG_FREE_TRNS;
+#endif
+   }
+}
+#endif
+
+#if defined(PNG_sPLT_SUPPORTED)
+void PNGAPI
+png_set_sPLT(png_structp png_ptr,
+             png_infop info_ptr, png_sPLT_tp entries, int nentries)
+/*
+ *  entries        - array of png_sPLT_t structures
+ *                   to be added to the list of palettes
+ *                   in the info structure.
+ *  nentries       - number of palette structures to be
+ *                   added.
+ */
+{
+   png_sPLT_tp np;
+   int i;
+
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   np = (png_sPLT_tp)png_malloc_warn(png_ptr,
+       (info_ptr->splt_palettes_num + nentries) *
+        (png_uint_32)png_sizeof(png_sPLT_t));
+   if (np == NULL)
+   {
+      png_warning(png_ptr, "No memory for sPLT palettes.");
+     return;
+   }
+
+   png_memcpy(np, info_ptr->splt_palettes,
+          info_ptr->splt_palettes_num * png_sizeof(png_sPLT_t));
+   png_free(png_ptr, info_ptr->splt_palettes);
+   info_ptr->splt_palettes=NULL;
+
+   for (i = 0; i < nentries; i++)
+   {
+      png_sPLT_tp to = np + info_ptr->splt_palettes_num + i;
+      png_sPLT_tp from = entries + i;
+      png_uint_32 length;
+
+      length = png_strlen(from->name) + 1;
+        to->name = (png_charp)png_malloc_warn(png_ptr, length);
+      if (to->name == NULL)
+      {
+         png_warning(png_ptr,
+           "Out of memory while processing sPLT chunk");
+         continue;
+      }
+      png_memcpy(to->name, from->name, length);
+      to->entries = (png_sPLT_entryp)png_malloc_warn(png_ptr,
+            (png_uint_32)(from->nentries * png_sizeof(png_sPLT_entry)));
+      if (to->entries == NULL)
+      {
+         png_warning(png_ptr,
+           "Out of memory while processing sPLT chunk");
+         png_free(png_ptr, to->name);
+         to->name = NULL;
+         continue;
+      }
+      png_memcpy(to->entries, from->entries,
+          from->nentries * png_sizeof(png_sPLT_entry));
+      to->nentries = from->nentries;
+      to->depth = from->depth;
+   }
+
+   info_ptr->splt_palettes = np;
+   info_ptr->splt_palettes_num += nentries;
+   info_ptr->valid |= PNG_INFO_sPLT;
+#ifdef PNG_FREE_ME_SUPPORTED
+   info_ptr->free_me |= PNG_FREE_SPLT;
+#endif
+}
+#endif /* PNG_sPLT_SUPPORTED */
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+void PNGAPI
+png_set_unknown_chunks(png_structp png_ptr,
+   png_infop info_ptr, png_unknown_chunkp unknowns, int num_unknowns)
+{
+   png_unknown_chunkp np;
+   int i;
+
+   if (png_ptr == NULL || info_ptr == NULL || num_unknowns == 0)
+       return;
+
+   np = (png_unknown_chunkp)png_malloc_warn(png_ptr,
+       (png_uint_32)((info_ptr->unknown_chunks_num + num_unknowns) *
+       png_sizeof(png_unknown_chunk)));
+   if (np == NULL)
+   {
+      png_warning(png_ptr,
+         "Out of memory while processing unknown chunk.");
+      return;
+   }
+
+   png_memcpy(np, info_ptr->unknown_chunks,
+          info_ptr->unknown_chunks_num * png_sizeof(png_unknown_chunk));
+   png_free(png_ptr, info_ptr->unknown_chunks);
+   info_ptr->unknown_chunks=NULL;
+
+   for (i = 0; i < num_unknowns; i++)
+   {
+      png_unknown_chunkp to = np + info_ptr->unknown_chunks_num + i;
+      png_unknown_chunkp from = unknowns + i;
+
+      png_memcpy((png_charp)to->name, 
+                 (png_charp)from->name, 
+                 png_sizeof(from->name));
+      to->name[png_sizeof(to->name)-1] = '\0';
+      to->size = from->size;
+      /* Note our location in the read or write sequence */
+      to->location = (png_byte)(png_ptr->mode & 0xff);
+
+      if (from->size == 0)
+         to->data=NULL;
+      else
+      {
+         to->data = (png_bytep)png_malloc_warn(png_ptr,
+           (png_uint_32)from->size);
+         if (to->data == NULL)
+         {
+            png_warning(png_ptr,
+             "Out of memory while processing unknown chunk.");
+            to->size = 0;
+         }
+         else
+            png_memcpy(to->data, from->data, from->size);
+      }
+   }
+
+   info_ptr->unknown_chunks = np;
+   info_ptr->unknown_chunks_num += num_unknowns;
+#ifdef PNG_FREE_ME_SUPPORTED
+   info_ptr->free_me |= PNG_FREE_UNKN;
+#endif
+}
+void PNGAPI
+png_set_unknown_chunk_location(png_structp png_ptr, png_infop info_ptr,
+   int chunk, int location)
+{
+   if (png_ptr != NULL && info_ptr != NULL && chunk >= 0 && chunk <
+         (int)info_ptr->unknown_chunks_num)
+      info_ptr->unknown_chunks[chunk].location = (png_byte)location;
+}
+#endif
+
+#if defined(PNG_1_0_X) || defined(PNG_1_2_X)
+#if defined(PNG_READ_EMPTY_PLTE_SUPPORTED) || \
+    defined(PNG_WRITE_EMPTY_PLTE_SUPPORTED)
+void PNGAPI
+png_permit_empty_plte (png_structp png_ptr, int empty_plte_permitted)
+{
+   /* This function is deprecated in favor of png_permit_mng_features()
+      and will be removed from libpng-1.3.0 */
+   png_debug(1, "in png_permit_empty_plte, DEPRECATED.");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->mng_features_permitted = (png_byte)
+     ((png_ptr->mng_features_permitted & (~PNG_FLAG_MNG_EMPTY_PLTE)) |
+     ((empty_plte_permitted & PNG_FLAG_MNG_EMPTY_PLTE)));
+}
+#endif
+#endif
+
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+png_uint_32 PNGAPI
+png_permit_mng_features (png_structp png_ptr, png_uint_32 mng_features)
+{
+   png_debug(1, "in png_permit_mng_features");
+   if (png_ptr == NULL)
+      return (png_uint_32)0;
+   png_ptr->mng_features_permitted =
+     (png_byte)(mng_features & PNG_ALL_MNG_FEATURES);
+   return (png_uint_32)png_ptr->mng_features_permitted;
+}
+#endif
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+void PNGAPI
+png_set_keep_unknown_chunks(png_structp png_ptr, int keep, png_bytep
+   chunk_list, int num_chunks)
+{
+   png_bytep new_list, p;
+   int i, old_num_chunks;
+   if (png_ptr == NULL)
+      return;
+   if (num_chunks == 0)
+   {
+      if (keep == PNG_HANDLE_CHUNK_ALWAYS || keep == PNG_HANDLE_CHUNK_IF_SAFE)
+         png_ptr->flags |= PNG_FLAG_KEEP_UNKNOWN_CHUNKS;
+      else
+         png_ptr->flags &= ~PNG_FLAG_KEEP_UNKNOWN_CHUNKS;
+
+      if (keep == PNG_HANDLE_CHUNK_ALWAYS)
+         png_ptr->flags |= PNG_FLAG_KEEP_UNSAFE_CHUNKS;
+      else
+         png_ptr->flags &= ~PNG_FLAG_KEEP_UNSAFE_CHUNKS;
+      return;
+   }
+   if (chunk_list == NULL)
+      return;
+   old_num_chunks = png_ptr->num_chunk_list;
+   new_list=(png_bytep)png_malloc(png_ptr,
+      (png_uint_32)
+      (5*(num_chunks + old_num_chunks)));
+   if (png_ptr->chunk_list != NULL)
+   {
+      png_memcpy(new_list, png_ptr->chunk_list,
+         (png_size_t)(5*old_num_chunks));
+      png_free(png_ptr, png_ptr->chunk_list);
+      png_ptr->chunk_list=NULL;
+   }
+   png_memcpy(new_list + 5*old_num_chunks, chunk_list,
+      (png_size_t)(5*num_chunks));
+   for (p = new_list + 5*old_num_chunks + 4, i = 0; i<num_chunks; i++, p += 5)
+      *p=(png_byte)keep;
+   png_ptr->num_chunk_list = old_num_chunks + num_chunks;
+   png_ptr->chunk_list = new_list;
+#ifdef PNG_FREE_ME_SUPPORTED
+   png_ptr->free_me |= PNG_FREE_LIST;
+#endif
+}
+#endif
+
+#if defined(PNG_READ_USER_CHUNKS_SUPPORTED)
+void PNGAPI
+png_set_read_user_chunk_fn(png_structp png_ptr, png_voidp user_chunk_ptr,
+   png_user_chunk_ptr read_user_chunk_fn)
+{
+   png_debug(1, "in png_set_read_user_chunk_fn");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->read_user_chunk_fn = read_user_chunk_fn;
+   png_ptr->user_chunk_ptr = user_chunk_ptr;
+}
+#endif
+
+#if defined(PNG_INFO_IMAGE_SUPPORTED)
+void PNGAPI
+png_set_rows(png_structp png_ptr, png_infop info_ptr, png_bytepp row_pointers)
+{
+   png_debug1(1, "in %s storage function", "rows");
+
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   if (info_ptr->row_pointers && (info_ptr->row_pointers != row_pointers))
+      png_free_data(png_ptr, info_ptr, PNG_FREE_ROWS, 0);
+   info_ptr->row_pointers = row_pointers;
+   if (row_pointers)
+      info_ptr->valid |= PNG_INFO_IDAT;
+}
+#endif
+
+#ifdef PNG_WRITE_SUPPORTED
+void PNGAPI
+png_set_compression_buffer_size(png_structp png_ptr,
+    png_uint_32 size)
+{
+    if (png_ptr == NULL)
+       return;
+    png_free(png_ptr, png_ptr->zbuf);
+    png_ptr->zbuf_size = (png_size_t)size;
+    png_ptr->zbuf = (png_bytep)png_malloc(png_ptr, size);
+    png_ptr->zstream.next_out = png_ptr->zbuf;
+    png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+}
+#endif
+
+void PNGAPI
+png_set_invalid(png_structp png_ptr, png_infop info_ptr, int mask)
+{
+   if (png_ptr && info_ptr)
+      info_ptr->valid &= ~mask;
+}
+
+
+#ifndef PNG_1_0_X
+#ifdef PNG_ASSEMBLER_CODE_SUPPORTED
+/* Function was added to libpng 1.2.0 and should always exist by default */
+void PNGAPI
+png_set_asm_flags (png_structp png_ptr, png_uint_32 asm_flags)
+{
+/* Obsolete as of libpng-1.2.20 and will be removed from libpng-1.4.0 */
+    if (png_ptr != NULL)
+    png_ptr->asm_flags = 0;
+    asm_flags = asm_flags; /* Quiet the compiler */
+}
+
+/* This function was added to libpng 1.2.0 */
+void PNGAPI
+png_set_mmx_thresholds (png_structp png_ptr,
+                        png_byte mmx_bitdepth_threshold,
+                        png_uint_32 mmx_rowbytes_threshold)
+{
+/* Obsolete as of libpng-1.2.20 and will be removed from libpng-1.4.0 */
+    if (png_ptr == NULL)
+       return;
+    /* Quiet the compiler */
+    mmx_bitdepth_threshold = mmx_bitdepth_threshold;
+    mmx_rowbytes_threshold = mmx_rowbytes_threshold;
+}
+#endif /* ?PNG_ASSEMBLER_CODE_SUPPORTED */
+
+#ifdef PNG_SET_USER_LIMITS_SUPPORTED
+/* This function was added to libpng 1.2.6 */
+void PNGAPI
+png_set_user_limits (png_structp png_ptr, png_uint_32 user_width_max,
+    png_uint_32 user_height_max)
+{
+   /* Images with dimensions larger than these limits will be
+    * rejected by png_set_IHDR().  To accept any PNG datastream
+    * regardless of dimensions, set both limits to 0x7ffffffL.
+    */
+   if (png_ptr == NULL)
+      return;
+   png_ptr->user_width_max = user_width_max;
+   png_ptr->user_height_max = user_height_max;
+}
+#endif /* ?PNG_SET_USER_LIMITS_SUPPORTED */
+
+#endif /* ?PNG_1_0_X */
+#endif /* PNG_READ_SUPPORTED || PNG_WRITE_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngtest.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngtest.c
new file mode 100755
index 0000000..39e881d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngtest.c
@@ -0,0 +1,1689 @@
+
+/* pngtest.c - a simple test program to test libpng
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This program reads in a PNG image, writes it out again, and then
+ * compares the two files.  If the files are identical, this shows that
+ * the basic chunk handling, filtering, and (de)compression code is working
+ * properly.  It does not currently test all of the transforms, although
+ * it probably should.
+ *
+ * The program will report "FAIL" in certain legitimate cases:
+ * 1) when the compression level or filter selection method is changed.
+ * 2) when the maximum IDAT size (PNG_ZBUF_SIZE in pngconf.h) is not 8192.
+ * 3) unknown unsafe-to-copy ancillary chunks or unknown critical chunks
+ *    exist in the input file.
+ * 4) others not listed here...
+ * In these cases, it is best to check with another tool such as "pngcheck"
+ * to see what the differences between the two files are.
+ *
+ * If a filename is given on the command-line, then this file is used
+ * for the input, rather than the default "pngtest.png".  This allows
+ * testing a wide variety of files easily.  You can also test a number
+ * of files at once by typing "pngtest -m file1.png file2.png ..."
+ */
+
+#include "png.h"
+
+#if defined(_WIN32_WCE)
+#  if _WIN32_WCE < 211
+     __error__ (f|w)printf functions are not supported on old WindowsCE.;
+#  endif
+#  include <windows.h>
+#  include <stdlib.h>
+#  define READFILE(file, data, length, check) \
+     if (ReadFile(file, data, length, &check, NULL)) check = 0
+#  define WRITEFILE(file, data, length, check)) \
+     if (WriteFile(file, data, length, &check, NULL)) check = 0
+#  define FCLOSE(file) CloseHandle(file)
+#else
+#  include <stdio.h>
+#  include <stdlib.h>
+#  define READFILE(file, data, length, check) \
+     check=(png_size_t)fread(data, (png_size_t)1, length, file)
+#  define WRITEFILE(file, data, length, check) \
+     check=(png_size_t)fwrite(data, (png_size_t)1, length, file)
+#  define FCLOSE(file) fclose(file)
+#endif
+
+#if defined(PNG_NO_STDIO)
+#  if defined(_WIN32_WCE)
+     typedef HANDLE                png_FILE_p;
+#  else
+     typedef FILE                * png_FILE_p;
+#  endif
+#endif
+
+/* Makes pngtest verbose so we can find problems (needs to be before png.h) */
+#ifndef PNG_DEBUG
+#  define PNG_DEBUG 0
+#endif
+
+#if !PNG_DEBUG
+#  define SINGLE_ROWBUF_ALLOC  /* Makes buffer overruns easier to nail */
+#endif
+
+/* Turn on CPU timing
+#define PNGTEST_TIMING
+*/
+
+#ifdef PNG_NO_FLOATING_POINT_SUPPORTED
+#undef PNGTEST_TIMING
+#endif
+
+#ifdef PNGTEST_TIMING
+static float t_start, t_stop, t_decode, t_encode, t_misc;
+#include <time.h>
+#endif
+
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+#define PNG_tIME_STRING_LENGTH 29
+static int tIME_chunk_present = 0;
+static char tIME_string[PNG_tIME_STRING_LENGTH] = "tIME chunk is not present";
+#endif
+
+static int verbose = 0;
+
+int test_one_file PNGARG((PNG_CONST char *inname, PNG_CONST char *outname));
+
+#ifdef __TURBOC__
+#include <mem.h>
+#endif
+
+/* Defined so I can write to a file on gui/windowing platforms */
+/*  #define STDERR stderr  */
+#define STDERR stdout   /* For DOS */
+
+/* In case a system header (e.g., on AIX) defined jmpbuf */
+#ifdef jmpbuf
+#  undef jmpbuf
+#endif
+
+/* Define png_jmpbuf() in case we are using a pre-1.0.6 version of libpng */
+#ifndef png_jmpbuf
+#  define png_jmpbuf(png_ptr) png_ptr->jmpbuf
+#endif
+
+/* Example of using row callbacks to make a simple progress meter */
+static int status_pass = 1;
+static int status_dots_requested = 0;
+static int status_dots = 1;
+
+void
+#ifdef PNG_1_0_X
+PNGAPI
+#endif
+read_row_callback(png_structp png_ptr, png_uint_32 row_number, int pass);
+void
+#ifdef PNG_1_0_X
+PNGAPI
+#endif
+read_row_callback(png_structp png_ptr, png_uint_32 row_number, int pass)
+{
+   if (png_ptr == NULL || row_number > PNG_UINT_31_MAX)
+      return;
+   if (status_pass != pass)
+   {
+      fprintf(stdout, "\n Pass %d: ", pass);
+      status_pass = pass;
+      status_dots = 31;
+   }
+   status_dots--;
+   if (status_dots == 0)
+   {
+      fprintf(stdout, "\n         ");
+      status_dots=30;
+   }
+   fprintf(stdout, "r");
+}
+
+void
+#ifdef PNG_1_0_X
+PNGAPI
+#endif
+write_row_callback(png_structp png_ptr, png_uint_32 row_number, int pass);
+void
+#ifdef PNG_1_0_X
+PNGAPI
+#endif
+write_row_callback(png_structp png_ptr, png_uint_32 row_number, int pass)
+{
+   if (png_ptr == NULL || row_number > PNG_UINT_31_MAX || pass > 7)
+      return;
+   fprintf(stdout, "w");
+}
+
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED)
+/* Example of using user transform callback (we don't transform anything,
+ * but merely examine the row filters.  We set this to 256 rather than
+ * 5 in case illegal filter values are present.)
+ */
+static png_uint_32 filters_used[256];
+void
+#ifdef PNG_1_0_X
+PNGAPI
+#endif
+count_filters(png_structp png_ptr, png_row_infop row_info, png_bytep data);
+void
+#ifdef PNG_1_0_X
+PNGAPI
+#endif
+count_filters(png_structp png_ptr, png_row_infop row_info, png_bytep data)
+{
+   if (png_ptr != NULL && row_info != NULL)
+      ++filters_used[*(data - 1)];
+}
+#endif
+
+#if defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED)
+/* Example of using user transform callback (we don't transform anything,
+ * but merely count the zero samples)
+ */
+
+static png_uint_32 zero_samples;
+
+void
+#ifdef PNG_1_0_X
+PNGAPI
+#endif
+count_zero_samples(png_structp png_ptr, png_row_infop row_info, png_bytep data);
+void
+#ifdef PNG_1_0_X
+PNGAPI
+#endif
+count_zero_samples(png_structp png_ptr, png_row_infop row_info, png_bytep data)
+{
+   png_bytep dp = data;
+   if (png_ptr == NULL)return;
+
+   /* Contents of row_info:
+    *  png_uint_32 width      width of row
+    *  png_uint_32 rowbytes   number of bytes in row
+    *  png_byte color_type    color type of pixels
+    *  png_byte bit_depth     bit depth of samples
+    *  png_byte channels      number of channels (1-4)
+    *  png_byte pixel_depth   bits per pixel (depth*channels)
+    */
+
+    /* Counts the number of zero samples (or zero pixels if color_type is 3 */
+
+    if (row_info->color_type == 0 || row_info->color_type == 3)
+    {
+       int pos = 0;
+       png_uint_32 n, nstop;
+       for (n = 0, nstop=row_info->width; n<nstop; n++)
+       {
+          if (row_info->bit_depth == 1)
+          {
+             if (((*dp << pos++ ) & 0x80) == 0)
+                zero_samples++;
+             if (pos == 8)
+             {
+                pos = 0;
+                dp++;
+             }
+          }
+          if (row_info->bit_depth == 2)
+          {
+             if (((*dp << (pos+=2)) & 0xc0) == 0)
+                zero_samples++;
+             if (pos == 8)
+             {
+                pos = 0;
+                dp++;
+             }
+          }
+          if (row_info->bit_depth == 4)
+          {
+             if (((*dp << (pos+=4)) & 0xf0) == 0)
+                zero_samples++;
+             if (pos == 8)
+             {
+                pos = 0;
+                dp++;
+             }
+          }
+          if (row_info->bit_depth == 8)
+             if (*dp++ == 0)
+                zero_samples++;
+          if (row_info->bit_depth == 16)
+          {
+             if ((*dp | *(dp+1)) == 0)
+                zero_samples++;
+             dp+=2;
+          }
+       }
+    }
+    else /* Other color types */
+    {
+       png_uint_32 n, nstop;
+       int channel;
+       int color_channels = row_info->channels;
+       if (row_info->color_type > 3)color_channels--;
+
+       for (n = 0, nstop=row_info->width; n<nstop; n++)
+       {
+          for (channel = 0; channel < color_channels; channel++)
+          {
+             if (row_info->bit_depth == 8)
+                if (*dp++ == 0)
+                   zero_samples++;
+             if (row_info->bit_depth == 16)
+             {
+                if ((*dp | *(dp+1)) == 0)
+                   zero_samples++;
+                dp+=2;
+             }
+          }
+          if (row_info->color_type > 3)
+          {
+             dp++;
+             if (row_info->bit_depth == 16)
+                dp++;
+          }
+       }
+    }
+}
+#endif /* PNG_WRITE_USER_TRANSFORM_SUPPORTED */
+
+static int wrote_question = 0;
+
+#if defined(PNG_NO_STDIO)
+/* START of code to validate stdio-free compilation */
+/* These copies of the default read/write functions come from pngrio.c and
+ * pngwio.c.  They allow "don't include stdio" testing of the library.
+ * This is the function that does the actual reading of data.  If you are
+ * not reading from a standard C stream, you should create a replacement
+ * read_data function and use it at run time with png_set_read_fn(), rather
+ * than changing the library.
+ */
+
+#ifndef USE_FAR_KEYWORD
+static void
+pngtest_read_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_size_t check;
+
+   /* fread() returns 0 on error, so it is OK to store this in a png_size_t
+    * instead of an int, which is what fread() actually returns.
+    */
+   READFILE((png_FILE_p)png_ptr->io_ptr, data, length, check);
+
+   if (check != length)
+   {
+      png_error(png_ptr, "Read Error!");
+   }
+}
+#else
+/* This is the model-independent version. Since the standard I/O library
+   can't handle far buffers in the medium and small models, we have to copy
+   the data.
+*/
+
+#define NEAR_BUF_SIZE 1024
+#define MIN(a,b) (a <= b ? a : b)
+
+static void
+pngtest_read_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   int check;
+   png_byte *n_data;
+   png_FILE_p io_ptr;
+
+   /* Check if data really is near. If so, use usual code. */
+   n_data = (png_byte *)CVT_PTR_NOCHECK(data);
+   io_ptr = (png_FILE_p)CVT_PTR(png_ptr->io_ptr);
+   if ((png_bytep)n_data == data)
+   {
+      READFILE(io_ptr, n_data, length, check);
+   }
+   else
+   {
+      png_byte buf[NEAR_BUF_SIZE];
+      png_size_t read, remaining, err;
+      check = 0;
+      remaining = length;
+      do
+      {
+         read = MIN(NEAR_BUF_SIZE, remaining);
+         READFILE(io_ptr, buf, 1, err);
+         png_memcpy(data, buf, read); /* Copy far buffer to near buffer */
+         if (err != read)
+            break;
+         else
+            check += err;
+         data += read;
+         remaining -= read;
+      }
+      while (remaining != 0);
+   }
+   if (check != length)
+      png_error(png_ptr, "read Error");
+}
+#endif /* USE_FAR_KEYWORD */
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+static void
+pngtest_flush(png_structp png_ptr)
+{
+   /* Do nothing; fflush() is said to be just a waste of energy. */
+   png_ptr = png_ptr;  /* Stifle compiler warning */
+}
+#endif
+
+/* This is the function that does the actual writing of data.  If you are
+ * not writing to a standard C stream, you should create a replacement
+ * write_data function and use it at run time with png_set_write_fn(), rather
+ * than changing the library.
+ */
+#ifndef USE_FAR_KEYWORD
+static void
+pngtest_write_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_uint_32 check;
+
+   WRITEFILE((png_FILE_p)png_ptr->io_ptr,  data, length, check);
+   if (check != length)
+   {
+      png_error(png_ptr, "Write Error");
+   }
+}
+#else
+/* This is the model-independent version. Since the standard I/O library
+   can't handle far buffers in the medium and small models, we have to copy
+   the data.
+*/
+
+#define NEAR_BUF_SIZE 1024
+#define MIN(a,b) (a <= b ? a : b)
+
+static void
+pngtest_write_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_uint_32 check;
+   png_byte *near_data;  /* Needs to be "png_byte *" instead of "png_bytep" */
+   png_FILE_p io_ptr;
+
+   /* Check if data really is near. If so, use usual code. */
+   near_data = (png_byte *)CVT_PTR_NOCHECK(data);
+   io_ptr = (png_FILE_p)CVT_PTR(png_ptr->io_ptr);
+   if ((png_bytep)near_data == data)
+   {
+      WRITEFILE(io_ptr, near_data, length, check);
+   }
+   else
+   {
+      png_byte buf[NEAR_BUF_SIZE];
+      png_size_t written, remaining, err;
+      check = 0;
+      remaining = length;
+      do
+      {
+         written = MIN(NEAR_BUF_SIZE, remaining);
+         png_memcpy(buf, data, written); /* Copy far buffer to near buffer */
+         WRITEFILE(io_ptr, buf, written, err);
+         if (err != written)
+            break;
+         else
+            check += err;
+         data += written;
+         remaining -= written;
+      }
+      while (remaining != 0);
+   }
+   if (check != length)
+   {
+      png_error(png_ptr, "Write Error");
+   }
+}
+#endif /* USE_FAR_KEYWORD */
+
+/* This function is called when there is a warning, but the library thinks
+ * it can continue anyway.  Replacement functions don't have to do anything
+ * here if you don't want to.  In the default configuration, png_ptr is
+ * not used, but it is passed in case it may be useful.
+ */
+static void
+pngtest_warning(png_structp png_ptr, png_const_charp message)
+{
+   PNG_CONST char *name = "UNKNOWN (ERROR!)";
+   if (png_ptr != NULL && png_ptr->error_ptr != NULL)
+      name = png_ptr->error_ptr;
+   fprintf(STDERR, "%s: libpng warning: %s\n", name, message);
+}
+
+/* This is the default error handling function.  Note that replacements for
+ * this function MUST NOT RETURN, or the program will likely crash.  This
+ * function is used by default, or if the program supplies NULL for the
+ * error function pointer in png_set_error_fn().
+ */
+static void
+pngtest_error(png_structp png_ptr, png_const_charp message)
+{
+   pngtest_warning(png_ptr, message);
+   /* We can return because png_error calls the default handler, which is
+    * actually OK in this case.
+    */
+}
+#endif /* PNG_NO_STDIO */
+/* END of code to validate stdio-free compilation */
+
+/* START of code to validate memory allocation and deallocation */
+#if defined(PNG_USER_MEM_SUPPORTED) && PNG_DEBUG
+
+/* Allocate memory.  For reasonable files, size should never exceed
+ * 64K.  However, zlib may allocate more then 64K if you don't tell
+ * it not to.  See zconf.h and png.h for more information.  zlib does
+ * need to allocate exactly 64K, so whatever you call here must
+ * have the ability to do that.
+ *
+ * This piece of code can be compiled to validate max 64K allocations
+ * by setting MAXSEG_64K in zlib zconf.h *or* PNG_MAX_MALLOC_64K.
+ */
+typedef struct memory_information
+{
+   png_uint_32               size;
+   png_voidp                 pointer;
+   struct memory_information FAR *next;
+} memory_information;
+typedef memory_information FAR *memory_infop;
+
+static memory_infop pinformation = NULL;
+static int current_allocation = 0;
+static int maximum_allocation = 0;
+static int total_allocation = 0;
+static int num_allocations = 0;
+
+png_voidp png_debug_malloc PNGARG((png_structp png_ptr, png_uint_32 size));
+void png_debug_free PNGARG((png_structp png_ptr, png_voidp ptr));
+
+png_voidp
+png_debug_malloc(png_structp png_ptr, png_uint_32 size)
+{
+
+   /* png_malloc has already tested for NULL; png_create_struct calls
+    * png_debug_malloc directly, with png_ptr == NULL which is OK
+    */
+
+   if (size == 0)
+      return (NULL);
+
+   /* This calls the library allocator twice, once to get the requested
+      buffer and once to get a new free list entry. */
+   {
+      /* Disable malloc_fn and free_fn */
+      memory_infop pinfo;
+      png_set_mem_fn(png_ptr, NULL, NULL, NULL);
+      pinfo = (memory_infop)png_malloc(png_ptr,
+         (png_uint_32)png_sizeof(*pinfo));
+      pinfo->size = size;
+      current_allocation += size;
+      total_allocation += size;
+      num_allocations ++;
+      if (current_allocation > maximum_allocation)
+         maximum_allocation = current_allocation;
+      pinfo->pointer = (png_voidp)png_malloc(png_ptr, size);
+      /* Restore malloc_fn and free_fn */
+      png_set_mem_fn(png_ptr,
+          png_voidp_NULL, (png_malloc_ptr)png_debug_malloc,
+          (png_free_ptr)png_debug_free);
+      if (size != 0 && pinfo->pointer == NULL)
+      {
+         current_allocation -= size;
+         total_allocation -= size;
+         png_error(png_ptr,
+           "out of memory in pngtest->png_debug_malloc.");
+      }
+      pinfo->next = pinformation;
+      pinformation = pinfo;
+      /* Make sure the caller isn't assuming zeroed memory. */
+      png_memset(pinfo->pointer, 0xdd, pinfo->size);
+      if (verbose)
+         printf("png_malloc %lu bytes at %x\n", (unsigned long)size,
+            pinfo->pointer);
+      return (png_voidp)(pinfo->pointer);
+   }
+}
+
+/* Free a pointer.  It is removed from the list at the same time. */
+void
+png_debug_free(png_structp png_ptr, png_voidp ptr)
+{
+   if (png_ptr == NULL)
+      fprintf(STDERR, "NULL pointer to png_debug_free.\n");
+   if (ptr == 0)
+   {
+#if 0 /* This happens all the time. */
+      fprintf(STDERR, "WARNING: freeing NULL pointer\n");
+#endif
+      return;
+   }
+
+   /* Unlink the element from the list. */
+   {
+      memory_infop FAR *ppinfo = &pinformation;
+      for (;;)
+      {
+         memory_infop pinfo = *ppinfo;
+         if (pinfo->pointer == ptr)
+         {
+            *ppinfo = pinfo->next;
+            current_allocation -= pinfo->size;
+            if (current_allocation < 0)
+               fprintf(STDERR, "Duplicate free of memory\n");
+            /* We must free the list element too, but first kill
+               the memory that is to be freed. */
+            png_memset(ptr, 0x55, pinfo->size);
+            png_free_default(png_ptr, pinfo);
+            pinfo = NULL;
+            break;
+         }
+         if (pinfo->next == NULL)
+         {
+            fprintf(STDERR, "Pointer %x not found\n", (unsigned int)ptr);
+            break;
+         }
+         ppinfo = &pinfo->next;
+      }
+   }
+
+   /* Finally free the data. */
+   if (verbose)
+      printf("Freeing %x\n", ptr);
+   png_free_default(png_ptr, ptr);
+   ptr = NULL;
+}
+#endif /* PNG_USER_MEM_SUPPORTED && PNG_DEBUG */
+/* END of code to test memory allocation/deallocation */
+
+
+/* Demonstration of user chunk support of the sTER and vpAg chunks */
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+
+/* (sTER is a public chunk not yet known by libpng.  vpAg is a private
+chunk used in ImageMagick to store "virtual page" size).  */
+
+static png_uint_32 user_chunk_data[4];
+
+    /* 0: sTER mode + 1
+     * 1: vpAg width
+     * 2: vpAg height
+     * 3: vpAg units
+     */
+
+static int read_user_chunk_callback(png_struct *png_ptr,
+   png_unknown_chunkp chunk)
+{
+   png_uint_32
+     *my_user_chunk_data;
+
+   /* Return one of the following:
+    *    return (-n);  chunk had an error
+    *    return (0);  did not recognize
+    *    return (n);  success
+    *
+    * The unknown chunk structure contains the chunk data:
+    * png_byte name[5];
+    * png_byte *data;
+    * png_size_t size;
+    *
+    * Note that libpng has already taken care of the CRC handling.
+    */
+
+   if (chunk->name[0] == 115 && chunk->name[1] ==  84 &&     /* s  T */
+       chunk->name[2] ==  69 && chunk->name[3] ==  82)       /* E  R */
+      {
+         /* Found sTER chunk */
+         if (chunk->size != 1)
+            return (-1); /* Error return */
+         if (chunk->data[0] != 0 && chunk->data[0] != 1)
+            return (-1);  /* Invalid mode */
+         my_user_chunk_data=(png_uint_32 *) png_get_user_chunk_ptr(png_ptr);
+         my_user_chunk_data[0]=chunk->data[0]+1;
+         return (1);
+      }
+
+   if (chunk->name[0] != 118 || chunk->name[1] != 112 ||    /* v  p */
+       chunk->name[2] !=  65 || chunk->name[3] != 103)      /* A  g */
+      return (0); /* Did not recognize */
+
+   /* Found ImageMagick vpAg chunk */
+
+   if (chunk->size != 9)
+      return (-1); /* Error return */
+
+   my_user_chunk_data=(png_uint_32 *) png_get_user_chunk_ptr(png_ptr);
+
+   my_user_chunk_data[1]=png_get_uint_31(png_ptr, chunk->data);
+   my_user_chunk_data[2]=png_get_uint_31(png_ptr, chunk->data + 4);
+   my_user_chunk_data[3]=(png_uint_32)chunk->data[8];
+
+   return (1);
+
+}
+#endif
+/* END of code to demonstrate user chunk support */
+
+/* Test one file */
+int
+test_one_file(PNG_CONST char *inname, PNG_CONST char *outname)
+{
+   static png_FILE_p fpin;
+   static png_FILE_p fpout;  /* "static" prevents setjmp corruption */
+   png_structp read_ptr;
+   png_infop read_info_ptr, end_info_ptr;
+#ifdef PNG_WRITE_SUPPORTED
+   png_structp write_ptr;
+   png_infop write_info_ptr;
+   png_infop write_end_info_ptr;
+#else
+   png_structp write_ptr = NULL;
+   png_infop write_info_ptr = NULL;
+   png_infop write_end_info_ptr = NULL;
+#endif
+   png_bytep row_buf;
+   png_uint_32 y;
+   png_uint_32 width, height;
+   int num_pass, pass;
+   int bit_depth, color_type;
+#ifdef PNG_SETJMP_SUPPORTED
+#ifdef USE_FAR_KEYWORD
+   jmp_buf jmpbuf;
+#endif
+#endif
+
+#if defined(_WIN32_WCE)
+   TCHAR path[MAX_PATH];
+#endif
+   char inbuf[256], outbuf[256];
+
+   row_buf = NULL;
+
+#if defined(_WIN32_WCE)
+   MultiByteToWideChar(CP_ACP, 0, inname, -1, path, MAX_PATH);
+   if ((fpin = CreateFile(path, GENERIC_READ, 0, NULL, OPEN_EXISTING, 0, NULL)) == INVALID_HANDLE_VALUE)
+#else
+   if ((fpin = fopen(inname, "rb")) == NULL)
+#endif
+   {
+      fprintf(STDERR, "Could not find input file %s\n", inname);
+      return (1);
+   }
+
+#if defined(_WIN32_WCE)
+   MultiByteToWideChar(CP_ACP, 0, outname, -1, path, MAX_PATH);
+   if ((fpout = CreateFile(path, GENERIC_WRITE, 0, NULL, CREATE_ALWAYS, 0, NULL)) == INVALID_HANDLE_VALUE)
+#else
+   if ((fpout = fopen(outname, "wb")) == NULL)
+#endif
+   {
+      fprintf(STDERR, "Could not open output file %s\n", outname);
+      FCLOSE(fpin);
+      return (1);
+   }
+
+   png_debug(0, "Allocating read and write structures");
+#if defined(PNG_USER_MEM_SUPPORTED) && PNG_DEBUG
+   read_ptr =
+      png_create_read_struct_2(PNG_LIBPNG_VER_STRING, png_voidp_NULL,
+      png_error_ptr_NULL, png_error_ptr_NULL, png_voidp_NULL,
+      (png_malloc_ptr)png_debug_malloc, (png_free_ptr)png_debug_free);
+#else
+   read_ptr =
+      png_create_read_struct(PNG_LIBPNG_VER_STRING, png_voidp_NULL,
+      png_error_ptr_NULL, png_error_ptr_NULL);
+#endif
+#if defined(PNG_NO_STDIO)
+   png_set_error_fn(read_ptr, (png_voidp)inname, pngtest_error,
+       pngtest_warning);
+#endif
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+   user_chunk_data[0] = 0;
+   user_chunk_data[1] = 0;
+   user_chunk_data[2] = 0;
+   user_chunk_data[3] = 0;
+   png_set_read_user_chunk_fn(read_ptr, user_chunk_data,
+     read_user_chunk_callback);
+
+#endif
+#ifdef PNG_WRITE_SUPPORTED
+#if defined(PNG_USER_MEM_SUPPORTED) && PNG_DEBUG
+   write_ptr =
+      png_create_write_struct_2(PNG_LIBPNG_VER_STRING, png_voidp_NULL,
+      png_error_ptr_NULL, png_error_ptr_NULL, png_voidp_NULL,
+      (png_malloc_ptr)png_debug_malloc, (png_free_ptr)png_debug_free);
+#else
+   write_ptr =
+      png_create_write_struct(PNG_LIBPNG_VER_STRING, png_voidp_NULL,
+      png_error_ptr_NULL, png_error_ptr_NULL);
+#endif
+#if defined(PNG_NO_STDIO)
+   png_set_error_fn(write_ptr, (png_voidp)inname, pngtest_error,
+       pngtest_warning);
+#endif
+#endif
+   png_debug(0, "Allocating read_info, write_info and end_info structures");
+   read_info_ptr = png_create_info_struct(read_ptr);
+   end_info_ptr = png_create_info_struct(read_ptr);
+#ifdef PNG_WRITE_SUPPORTED
+   write_info_ptr = png_create_info_struct(write_ptr);
+   write_end_info_ptr = png_create_info_struct(write_ptr);
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+   png_debug(0, "Setting jmpbuf for read struct");
+#ifdef USE_FAR_KEYWORD
+   if (setjmp(jmpbuf))
+#else
+   if (setjmp(png_jmpbuf(read_ptr)))
+#endif
+   {
+      fprintf(STDERR, "%s -> %s: libpng read error\n", inname, outname);
+      png_free(read_ptr, row_buf);
+      row_buf = NULL;
+      png_destroy_read_struct(&read_ptr, &read_info_ptr, &end_info_ptr);
+#ifdef PNG_WRITE_SUPPORTED
+      png_destroy_info_struct(write_ptr, &write_end_info_ptr);
+      png_destroy_write_struct(&write_ptr, &write_info_ptr);
+#endif
+      FCLOSE(fpin);
+      FCLOSE(fpout);
+      return (1);
+   }
+#ifdef USE_FAR_KEYWORD
+   png_memcpy(png_jmpbuf(read_ptr), jmpbuf, png_sizeof(jmp_buf));
+#endif
+
+#ifdef PNG_WRITE_SUPPORTED
+   png_debug(0, "Setting jmpbuf for write struct");
+#ifdef USE_FAR_KEYWORD
+   if (setjmp(jmpbuf))
+#else
+   if (setjmp(png_jmpbuf(write_ptr)))
+#endif
+   {
+      fprintf(STDERR, "%s -> %s: libpng write error\n", inname, outname);
+      png_destroy_read_struct(&read_ptr, &read_info_ptr, &end_info_ptr);
+      png_destroy_info_struct(write_ptr, &write_end_info_ptr);
+#ifdef PNG_WRITE_SUPPORTED
+      png_destroy_write_struct(&write_ptr, &write_info_ptr);
+#endif
+      FCLOSE(fpin);
+      FCLOSE(fpout);
+      return (1);
+   }
+#ifdef USE_FAR_KEYWORD
+   png_memcpy(png_jmpbuf(write_ptr), jmpbuf, png_sizeof(jmp_buf));
+#endif
+#endif
+#endif
+
+   png_debug(0, "Initializing input and output streams");
+#if !defined(PNG_NO_STDIO)
+   png_init_io(read_ptr, fpin);
+#  ifdef PNG_WRITE_SUPPORTED
+   png_init_io(write_ptr, fpout);
+#  endif
+#else
+   png_set_read_fn(read_ptr, (png_voidp)fpin, pngtest_read_data);
+#  ifdef PNG_WRITE_SUPPORTED
+   png_set_write_fn(write_ptr, (png_voidp)fpout,  pngtest_write_data,
+#    if defined(PNG_WRITE_FLUSH_SUPPORTED)
+      pngtest_flush);
+#    else
+      NULL);
+#    endif
+#  endif
+#endif
+   if (status_dots_requested == 1)
+   {
+#ifdef PNG_WRITE_SUPPORTED
+      png_set_write_status_fn(write_ptr, write_row_callback);
+#endif
+      png_set_read_status_fn(read_ptr, read_row_callback);
+   }
+   else
+   {
+#ifdef PNG_WRITE_SUPPORTED
+      png_set_write_status_fn(write_ptr, png_write_status_ptr_NULL);
+#endif
+      png_set_read_status_fn(read_ptr, png_read_status_ptr_NULL);
+   }
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED)
+   {
+      int i;
+      for (i = 0; i<256; i++)
+         filters_used[i] = 0;
+      png_set_read_user_transform_fn(read_ptr, count_filters);
+   }
+#endif
+#if defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED)
+   zero_samples = 0;
+   png_set_write_user_transform_fn(write_ptr, count_zero_samples);
+#endif
+
+#if defined(PNG_READ_UNKNOWN_CHUNKS_SUPPORTED)
+#  ifndef PNG_HANDLE_CHUNK_ALWAYS
+#    define PNG_HANDLE_CHUNK_ALWAYS       3
+#  endif
+   png_set_keep_unknown_chunks(read_ptr, PNG_HANDLE_CHUNK_ALWAYS,
+      png_bytep_NULL, 0);
+#endif
+#if defined(PNG_WRITE_UNKNOWN_CHUNKS_SUPPORTED)
+#  ifndef PNG_HANDLE_CHUNK_IF_SAFE
+#    define PNG_HANDLE_CHUNK_IF_SAFE      2
+#  endif
+   png_set_keep_unknown_chunks(write_ptr, PNG_HANDLE_CHUNK_IF_SAFE,
+      png_bytep_NULL, 0);
+#endif
+
+   png_debug(0, "Reading info struct");
+   png_read_info(read_ptr, read_info_ptr);
+
+   png_debug(0, "Transferring info struct");
+   {
+      int interlace_type, compression_type, filter_type;
+
+      if (png_get_IHDR(read_ptr, read_info_ptr, &width, &height, &bit_depth,
+          &color_type, &interlace_type, &compression_type, &filter_type))
+      {
+         png_set_IHDR(write_ptr, write_info_ptr, width, height, bit_depth,
+#if defined(PNG_WRITE_INTERLACING_SUPPORTED)
+            color_type, interlace_type, compression_type, filter_type);
+#else
+            color_type, PNG_INTERLACE_NONE, compression_type, filter_type);
+#endif
+      }
+   }
+#if defined(PNG_FIXED_POINT_SUPPORTED)
+#if defined(PNG_cHRM_SUPPORTED)
+   {
+      png_fixed_point white_x, white_y, red_x, red_y, green_x, green_y, blue_x,
+         blue_y;
+      if (png_get_cHRM_fixed(read_ptr, read_info_ptr, &white_x, &white_y, &red_x,
+         &red_y, &green_x, &green_y, &blue_x, &blue_y))
+      {
+         png_set_cHRM_fixed(write_ptr, write_info_ptr, white_x, white_y, red_x,
+            red_y, green_x, green_y, blue_x, blue_y);
+      }
+   }
+#endif
+#if defined(PNG_gAMA_SUPPORTED)
+   {
+      png_fixed_point gamma;
+
+      if (png_get_gAMA_fixed(read_ptr, read_info_ptr, &gamma))
+         png_set_gAMA_fixed(write_ptr, write_info_ptr, gamma);
+   }
+#endif
+#else /* Use floating point versions */
+#if defined(PNG_FLOATING_POINT_SUPPORTED)
+#if defined(PNG_cHRM_SUPPORTED)
+   {
+      double white_x, white_y, red_x, red_y, green_x, green_y, blue_x,
+         blue_y;
+      if (png_get_cHRM(read_ptr, read_info_ptr, &white_x, &white_y, &red_x,
+         &red_y, &green_x, &green_y, &blue_x, &blue_y))
+      {
+         png_set_cHRM(write_ptr, write_info_ptr, white_x, white_y, red_x,
+            red_y, green_x, green_y, blue_x, blue_y);
+      }
+   }
+#endif
+#if defined(PNG_gAMA_SUPPORTED)
+   {
+      double gamma;
+
+      if (png_get_gAMA(read_ptr, read_info_ptr, &gamma))
+         png_set_gAMA(write_ptr, write_info_ptr, gamma);
+   }
+#endif
+#endif /* Floating point */
+#endif /* Fixed point */
+#if defined(PNG_iCCP_SUPPORTED)
+   {
+      png_charp name;
+      png_charp profile;
+      png_uint_32 proflen;
+      int compression_type;
+
+      if (png_get_iCCP(read_ptr, read_info_ptr, &name, &compression_type,
+                      &profile, &proflen))
+      {
+         png_set_iCCP(write_ptr, write_info_ptr, name, compression_type,
+                      profile, proflen);
+      }
+   }
+#endif
+#if defined(PNG_sRGB_SUPPORTED)
+   {
+      int intent;
+
+      if (png_get_sRGB(read_ptr, read_info_ptr, &intent))
+         png_set_sRGB(write_ptr, write_info_ptr, intent);
+   }
+#endif
+   {
+      png_colorp palette;
+      int num_palette;
+
+      if (png_get_PLTE(read_ptr, read_info_ptr, &palette, &num_palette))
+         png_set_PLTE(write_ptr, write_info_ptr, palette, num_palette);
+   }
+#if defined(PNG_bKGD_SUPPORTED)
+   {
+      png_color_16p background;
+
+      if (png_get_bKGD(read_ptr, read_info_ptr, &background))
+      {
+         png_set_bKGD(write_ptr, write_info_ptr, background);
+      }
+   }
+#endif
+#if defined(PNG_hIST_SUPPORTED)
+   {
+      png_uint_16p hist;
+
+      if (png_get_hIST(read_ptr, read_info_ptr, &hist))
+         png_set_hIST(write_ptr, write_info_ptr, hist);
+   }
+#endif
+#if defined(PNG_oFFs_SUPPORTED)
+   {
+      png_int_32 offset_x, offset_y;
+      int unit_type;
+
+      if (png_get_oFFs(read_ptr, read_info_ptr, &offset_x, &offset_y,
+          &unit_type))
+      {
+         png_set_oFFs(write_ptr, write_info_ptr, offset_x, offset_y, unit_type);
+      }
+   }
+#endif
+#if defined(PNG_pCAL_SUPPORTED)
+   {
+      png_charp purpose, units;
+      png_charpp params;
+      png_int_32 X0, X1;
+      int type, nparams;
+
+      if (png_get_pCAL(read_ptr, read_info_ptr, &purpose, &X0, &X1, &type,
+         &nparams, &units, &params))
+      {
+         png_set_pCAL(write_ptr, write_info_ptr, purpose, X0, X1, type,
+            nparams, units, params);
+      }
+   }
+#endif
+#if defined(PNG_pHYs_SUPPORTED)
+   {
+      png_uint_32 res_x, res_y;
+      int unit_type;
+
+      if (png_get_pHYs(read_ptr, read_info_ptr, &res_x, &res_y, &unit_type))
+         png_set_pHYs(write_ptr, write_info_ptr, res_x, res_y, unit_type);
+   }
+#endif
+#if defined(PNG_sBIT_SUPPORTED)
+   {
+      png_color_8p sig_bit;
+
+      if (png_get_sBIT(read_ptr, read_info_ptr, &sig_bit))
+         png_set_sBIT(write_ptr, write_info_ptr, sig_bit);
+   }
+#endif
+#if defined(PNG_sCAL_SUPPORTED)
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+   {
+      int unit;
+      double scal_width, scal_height;
+
+      if (png_get_sCAL(read_ptr, read_info_ptr, &unit, &scal_width,
+         &scal_height))
+      {
+         png_set_sCAL(write_ptr, write_info_ptr, unit, scal_width, scal_height);
+      }
+   }
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+   {
+      int unit;
+      png_charp scal_width, scal_height;
+
+      if (png_get_sCAL_s(read_ptr, read_info_ptr, &unit, &scal_width,
+          &scal_height))
+      {
+         png_set_sCAL_s(write_ptr, write_info_ptr, unit, scal_width, scal_height);
+      }
+   }
+#endif
+#endif
+#endif
+#if defined(PNG_TEXT_SUPPORTED)
+   {
+      png_textp text_ptr;
+      int num_text;
+
+      if (png_get_text(read_ptr, read_info_ptr, &text_ptr, &num_text) > 0)
+      {
+         png_debug1(0, "Handling %d iTXt/tEXt/zTXt chunks", num_text);
+         png_set_text(write_ptr, write_info_ptr, text_ptr, num_text);
+      }
+   }
+#endif
+#if defined(PNG_tIME_SUPPORTED)
+   {
+      png_timep mod_time;
+
+      if (png_get_tIME(read_ptr, read_info_ptr, &mod_time))
+      {
+         png_set_tIME(write_ptr, write_info_ptr, mod_time);
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+         /* We have to use png_memcpy instead of "=" because the string
+          * pointed to by png_convert_to_rfc1123() gets free'ed before
+          * we use it.
+          */
+         png_memcpy(tIME_string,
+                    png_convert_to_rfc1123(read_ptr, mod_time),
+                    png_sizeof(tIME_string));
+         tIME_string[png_sizeof(tIME_string) - 1] = '\0';
+         tIME_chunk_present++;
+#endif /* PNG_TIME_RFC1123_SUPPORTED */
+      }
+   }
+#endif
+#if defined(PNG_tRNS_SUPPORTED)
+   {
+      png_bytep trans;
+      int num_trans;
+      png_color_16p trans_values;
+
+      if (png_get_tRNS(read_ptr, read_info_ptr, &trans, &num_trans,
+         &trans_values))
+      {
+         int sample_max = (1 << read_info_ptr->bit_depth);
+         /* libpng doesn't reject a tRNS chunk with out-of-range samples */
+         if (!((read_info_ptr->color_type == PNG_COLOR_TYPE_GRAY &&
+             (int)trans_values->gray > sample_max) ||
+             (read_info_ptr->color_type == PNG_COLOR_TYPE_RGB &&
+             ((int)trans_values->red > sample_max ||
+             (int)trans_values->green > sample_max ||
+             (int)trans_values->blue > sample_max))))
+            png_set_tRNS(write_ptr, write_info_ptr, trans, num_trans,
+               trans_values);
+      }
+   }
+#endif
+#if defined(PNG_WRITE_UNKNOWN_CHUNKS_SUPPORTED)
+   {
+      png_unknown_chunkp unknowns;
+      int num_unknowns = (int)png_get_unknown_chunks(read_ptr, read_info_ptr,
+         &unknowns);
+      if (num_unknowns)
+      {
+         png_size_t i;
+         png_set_unknown_chunks(write_ptr, write_info_ptr, unknowns,
+           num_unknowns);
+         /* Copy the locations from the read_info_ptr.  The automatically
+          * generated locations in write_info_ptr are wrong because we
+          * haven't written anything yet.
+          */
+         for (i = 0; i < (png_size_t)num_unknowns; i++)
+           png_set_unknown_chunk_location(write_ptr, write_info_ptr, i,
+             unknowns[i].location);
+      }
+   }
+#endif
+
+#ifdef PNG_WRITE_SUPPORTED
+   png_debug(0, "Writing info struct");
+
+/* If we wanted, we could write info in two steps:
+ * png_write_info_before_PLTE(write_ptr, write_info_ptr);
+ */
+   png_write_info(write_ptr, write_info_ptr);
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+   if (user_chunk_data[0] != 0)
+   {
+      png_byte png_sTER[5] = {115,  84,  69,  82, '\0'};
+
+      unsigned char
+        ster_chunk_data[1];
+
+      if (verbose)
+         fprintf(STDERR, "\n stereo mode = %lu\n",
+           (unsigned long)(user_chunk_data[0] - 1));
+      ster_chunk_data[0]=(unsigned char)(user_chunk_data[0] - 1);
+      png_write_chunk(write_ptr, png_sTER, ster_chunk_data, 1);
+   }
+   if (user_chunk_data[1] != 0 || user_chunk_data[2] != 0)
+   {
+      png_byte png_vpAg[5] = {118, 112,  65, 103, '\0'};
+
+      unsigned char
+        vpag_chunk_data[9];
+
+      if (verbose)
+         fprintf(STDERR, " vpAg = %lu x %lu, units = %lu\n",
+           (unsigned long)user_chunk_data[1],
+           (unsigned long)user_chunk_data[2],
+           (unsigned long)user_chunk_data[3]);
+      png_save_uint_32(vpag_chunk_data, user_chunk_data[1]);
+      png_save_uint_32(vpag_chunk_data + 4, user_chunk_data[2]);
+      vpag_chunk_data[8] = (unsigned char)(user_chunk_data[3] & 0xff);
+      png_write_chunk(write_ptr, png_vpAg, vpag_chunk_data, 9);
+   }
+
+#endif
+#endif
+
+#ifdef SINGLE_ROWBUF_ALLOC
+   png_debug(0, "Allocating row buffer...");
+   row_buf = (png_bytep)png_malloc(read_ptr,
+      png_get_rowbytes(read_ptr, read_info_ptr));
+   png_debug1(0, "0x%08lx", (unsigned long)row_buf);
+#endif /* SINGLE_ROWBUF_ALLOC */
+   png_debug(0, "Writing row data");
+
+#if defined(PNG_READ_INTERLACING_SUPPORTED) || \
+  defined(PNG_WRITE_INTERLACING_SUPPORTED)
+   num_pass = png_set_interlace_handling(read_ptr);
+#  ifdef PNG_WRITE_SUPPORTED
+   png_set_interlace_handling(write_ptr);
+#  endif
+#else
+   num_pass = 1;
+#endif
+
+#ifdef PNGTEST_TIMING
+   t_stop = (float)clock();
+   t_misc += (t_stop - t_start);
+   t_start = t_stop;
+#endif
+   for (pass = 0; pass < num_pass; pass++)
+   {
+      png_debug1(0, "Writing row data for pass %d", pass);
+      for (y = 0; y < height; y++)
+      {
+#ifndef SINGLE_ROWBUF_ALLOC
+         png_debug2(0, "Allocating row buffer (pass %d, y = %ld)...", pass, y);
+         row_buf = (png_bytep)png_malloc(read_ptr,
+            png_get_rowbytes(read_ptr, read_info_ptr));
+         png_debug2(0, "0x%08lx (%ld bytes)", (unsigned long)row_buf,
+            png_get_rowbytes(read_ptr, read_info_ptr));
+#endif /* !SINGLE_ROWBUF_ALLOC */
+         png_read_rows(read_ptr, (png_bytepp)&row_buf, png_bytepp_NULL, 1);
+
+#ifdef PNG_WRITE_SUPPORTED
+#ifdef PNGTEST_TIMING
+         t_stop = (float)clock();
+         t_decode += (t_stop - t_start);
+         t_start = t_stop;
+#endif
+         png_write_rows(write_ptr, (png_bytepp)&row_buf, 1);
+#ifdef PNGTEST_TIMING
+         t_stop = (float)clock();
+         t_encode += (t_stop - t_start);
+         t_start = t_stop;
+#endif
+#endif /* PNG_WRITE_SUPPORTED */
+
+#ifndef SINGLE_ROWBUF_ALLOC
+         png_debug2(0, "Freeing row buffer (pass %d, y = %ld)", pass, y);
+         png_free(read_ptr, row_buf);
+         row_buf = NULL;
+#endif /* !SINGLE_ROWBUF_ALLOC */
+      }
+   }
+
+#if defined(PNG_READ_UNKNOWN_CHUNKS_SUPPORTED)
+   png_free_data(read_ptr, read_info_ptr, PNG_FREE_UNKN, -1);
+#endif
+#if defined(PNG_WRITE_UNKNOWN_CHUNKS_SUPPORTED)
+   png_free_data(write_ptr, write_info_ptr, PNG_FREE_UNKN, -1);
+#endif
+
+   png_debug(0, "Reading and writing end_info data");
+
+   png_read_end(read_ptr, end_info_ptr);
+#if defined(PNG_TEXT_SUPPORTED)
+   {
+      png_textp text_ptr;
+      int num_text;
+
+      if (png_get_text(read_ptr, end_info_ptr, &text_ptr, &num_text) > 0)
+      {
+         png_debug1(0, "Handling %d iTXt/tEXt/zTXt chunks", num_text);
+         png_set_text(write_ptr, write_end_info_ptr, text_ptr, num_text);
+      }
+   }
+#endif
+#if defined(PNG_tIME_SUPPORTED)
+   {
+      png_timep mod_time;
+
+      if (png_get_tIME(read_ptr, end_info_ptr, &mod_time))
+      {
+         png_set_tIME(write_ptr, write_end_info_ptr, mod_time);
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+         /* We have to use png_memcpy instead of "=" because the string
+            pointed to by png_convert_to_rfc1123() gets free'ed before
+            we use it */
+         png_memcpy(tIME_string,
+                    png_convert_to_rfc1123(read_ptr, mod_time),
+                    png_sizeof(tIME_string));
+         tIME_string[png_sizeof(tIME_string) - 1] = '\0';
+         tIME_chunk_present++;
+#endif /* PNG_TIME_RFC1123_SUPPORTED */
+      }
+   }
+#endif
+#if defined(PNG_WRITE_UNKNOWN_CHUNKS_SUPPORTED)
+   {
+      png_unknown_chunkp unknowns;
+      int num_unknowns;
+      num_unknowns = (int)png_get_unknown_chunks(read_ptr, end_info_ptr,
+         &unknowns);
+      if (num_unknowns)
+      {
+         png_size_t i;
+         png_set_unknown_chunks(write_ptr, write_end_info_ptr, unknowns,
+           num_unknowns);
+         /* Copy the locations from the read_info_ptr.  The automatically
+          * generated locations in write_end_info_ptr are wrong because we
+          * haven't written the end_info yet.
+          */
+         for (i = 0; i < (png_size_t)num_unknowns; i++)
+           png_set_unknown_chunk_location(write_ptr, write_end_info_ptr, i,
+             unknowns[i].location);
+      }
+   }
+#endif
+#ifdef PNG_WRITE_SUPPORTED
+   png_write_end(write_ptr, write_end_info_ptr);
+#endif
+
+#ifdef PNG_EASY_ACCESS_SUPPORTED
+   if (verbose)
+   {
+      png_uint_32 iwidth, iheight;
+      iwidth = png_get_image_width(write_ptr, write_info_ptr);
+      iheight = png_get_image_height(write_ptr, write_info_ptr);
+      fprintf(STDERR, "\n Image width = %lu, height = %lu\n",
+         (unsigned long)iwidth, (unsigned long)iheight);
+   }
+#endif
+
+   png_debug(0, "Destroying data structs");
+#ifdef SINGLE_ROWBUF_ALLOC
+   png_debug(1, "destroying row_buf for read_ptr");
+   png_free(read_ptr, row_buf);
+   row_buf = NULL;
+#endif /* SINGLE_ROWBUF_ALLOC */
+   png_debug(1, "destroying read_ptr, read_info_ptr, end_info_ptr");
+   png_destroy_read_struct(&read_ptr, &read_info_ptr, &end_info_ptr);
+#ifdef PNG_WRITE_SUPPORTED
+   png_debug(1, "destroying write_end_info_ptr");
+   png_destroy_info_struct(write_ptr, &write_end_info_ptr);
+   png_debug(1, "destroying write_ptr, write_info_ptr");
+   png_destroy_write_struct(&write_ptr, &write_info_ptr);
+#endif
+   png_debug(0, "Destruction complete.");
+
+   FCLOSE(fpin);
+   FCLOSE(fpout);
+
+   png_debug(0, "Opening files for comparison");
+#if defined(_WIN32_WCE)
+   MultiByteToWideChar(CP_ACP, 0, inname, -1, path, MAX_PATH);
+   if ((fpin = CreateFile(path, GENERIC_READ, 0, NULL, OPEN_EXISTING, 0, NULL)) == INVALID_HANDLE_VALUE)
+#else
+   if ((fpin = fopen(inname, "rb")) == NULL)
+#endif
+   {
+      fprintf(STDERR, "Could not find file %s\n", inname);
+      return (1);
+   }
+
+#if defined(_WIN32_WCE)
+   MultiByteToWideChar(CP_ACP, 0, outname, -1, path, MAX_PATH);
+   if ((fpout = CreateFile(path, GENERIC_READ, 0, NULL, OPEN_EXISTING, 0, NULL)) == INVALID_HANDLE_VALUE)
+#else
+   if ((fpout = fopen(outname, "rb")) == NULL)
+#endif
+   {
+      fprintf(STDERR, "Could not find file %s\n", outname);
+      FCLOSE(fpin);
+      return (1);
+   }
+
+   for (;;)
+   {
+      png_size_t num_in, num_out;
+
+         READFILE(fpin, inbuf, 1, num_in);
+         READFILE(fpout, outbuf, 1, num_out);
+
+      if (num_in != num_out)
+      {
+         fprintf(STDERR, "\nFiles %s and %s are of a different size\n",
+                 inname, outname);
+         if (wrote_question == 0)
+         {
+            fprintf(STDERR,
+         "   Was %s written with the same maximum IDAT chunk size (%d bytes),",
+              inname, PNG_ZBUF_SIZE);
+            fprintf(STDERR,
+              "\n   filtering heuristic (libpng default), compression");
+            fprintf(STDERR,
+              " level (zlib default),\n   and zlib version (%s)?\n\n",
+              ZLIB_VERSION);
+            wrote_question = 1;
+         }
+         FCLOSE(fpin);
+         FCLOSE(fpout);
+         return (0);
+      }
+
+      if (!num_in)
+         break;
+
+      if (png_memcmp(inbuf, outbuf, num_in))
+      {
+         fprintf(STDERR, "\nFiles %s and %s are different\n", inname, outname);
+         if (wrote_question == 0)
+         {
+            fprintf(STDERR,
+         "   Was %s written with the same maximum IDAT chunk size (%d bytes),",
+                 inname, PNG_ZBUF_SIZE);
+            fprintf(STDERR,
+              "\n   filtering heuristic (libpng default), compression");
+            fprintf(STDERR,
+              " level (zlib default),\n   and zlib version (%s)?\n\n",
+              ZLIB_VERSION);
+            wrote_question = 1;
+         }
+         FCLOSE(fpin);
+         FCLOSE(fpout);
+         return (0);
+      }
+   }
+
+   FCLOSE(fpin);
+   FCLOSE(fpout);
+
+   return (0);
+}
+
+/* Input and output filenames */
+#ifdef RISCOS
+static PNG_CONST char *inname = "pngtest/png";
+static PNG_CONST char *outname = "pngout/png";
+#else
+static PNG_CONST char *inname = "pngtest.png";
+static PNG_CONST char *outname = "pngout.png";
+#endif
+
+int
+main(int argc, char *argv[])
+{
+   int multiple = 0;
+   int ierror = 0;
+
+   fprintf(STDERR, "\n Testing libpng version %s\n", PNG_LIBPNG_VER_STRING);
+   fprintf(STDERR, "   with zlib   version %s\n", ZLIB_VERSION);
+   fprintf(STDERR, "%s", png_get_copyright(NULL));
+   /* Show the version of libpng used in building the library */
+   fprintf(STDERR, " library (%lu):%s",
+      (unsigned long)png_access_version_number(),
+      png_get_header_version(NULL));
+   /* Show the version of libpng used in building the application */
+   fprintf(STDERR, " pngtest (%lu):%s", (unsigned long)PNG_LIBPNG_VER,
+      PNG_HEADER_VERSION_STRING);
+   fprintf(STDERR, " sizeof(png_struct)=%ld, sizeof(png_info)=%ld\n",
+                    (long)png_sizeof(png_struct), (long)png_sizeof(png_info));
+
+   /* Do some consistency checking on the memory allocation settings, I'm
+    * not sure this matters, but it is nice to know, the first of these
+    * tests should be impossible because of the way the macros are set
+    * in pngconf.h
+    */
+#if defined(MAXSEG_64K) && !defined(PNG_MAX_MALLOC_64K)
+      fprintf(STDERR, " NOTE: Zlib compiled for max 64k, libpng not\n");
+#endif
+   /* I think the following can happen. */
+#if !defined(MAXSEG_64K) && defined(PNG_MAX_MALLOC_64K)
+      fprintf(STDERR, " NOTE: libpng compiled for max 64k, zlib not\n");
+#endif
+
+   if (strcmp(png_libpng_ver, PNG_LIBPNG_VER_STRING))
+   {
+      fprintf(STDERR,
+         "Warning: versions are different between png.h and png.c\n");
+      fprintf(STDERR, "  png.h version: %s\n", PNG_LIBPNG_VER_STRING);
+      fprintf(STDERR, "  png.c version: %s\n\n", png_libpng_ver);
+      ++ierror;
+   }
+
+   if (argc > 1)
+   {
+      if (strcmp(argv[1], "-m") == 0)
+      {
+         multiple = 1;
+         status_dots_requested = 0;
+      }
+      else if (strcmp(argv[1], "-mv") == 0 ||
+               strcmp(argv[1], "-vm") == 0 )
+      {
+         multiple = 1;
+         verbose = 1;
+         status_dots_requested = 1;
+      }
+      else if (strcmp(argv[1], "-v") == 0)
+      {
+         verbose = 1;
+         status_dots_requested = 1;
+         inname = argv[2];
+      }
+      else
+      {
+         inname = argv[1];
+         status_dots_requested = 0;
+      }
+   }
+
+   if (!multiple && argc == 3 + verbose)
+     outname = argv[2 + verbose];
+
+   if ((!multiple && argc > 3 + verbose) || (multiple && argc < 2))
+   {
+     fprintf(STDERR,
+       "usage: %s [infile.png] [outfile.png]\n\t%s -m {infile.png}\n",
+        argv[0], argv[0]);
+     fprintf(STDERR,
+       "  reads/writes one PNG file (without -m) or multiple files (-m)\n");
+     fprintf(STDERR,
+       "  with -m %s is used as a temporary file\n", outname);
+     exit(1);
+   }
+
+   if (multiple)
+   {
+      int i;
+#if defined(PNG_USER_MEM_SUPPORTED) && PNG_DEBUG
+      int allocation_now = current_allocation;
+#endif
+      for (i=2; i<argc; ++i)
+      {
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED)
+         int k;
+#endif
+         int kerror;
+         fprintf(STDERR, "\n Testing %s:", argv[i]);
+         kerror = test_one_file(argv[i], outname);
+         if (kerror == 0)
+         {
+#if defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED)
+            fprintf(STDERR, "\n PASS (%lu zero samples)\n",
+               (unsigned long)zero_samples);
+#else
+            fprintf(STDERR, " PASS\n");
+#endif
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED)
+            for (k = 0; k<256; k++)
+               if (filters_used[k])
+                  fprintf(STDERR, " Filter %d was used %lu times\n",
+                     k, (unsigned long)filters_used[k]);
+#endif
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+         if (tIME_chunk_present != 0)
+            fprintf(STDERR, " tIME = %s\n", tIME_string);
+         tIME_chunk_present = 0;
+#endif /* PNG_TIME_RFC1123_SUPPORTED */
+         }
+         else
+         {
+            fprintf(STDERR, " FAIL\n");
+            ierror += kerror;
+         }
+#if defined(PNG_USER_MEM_SUPPORTED) && PNG_DEBUG
+         if (allocation_now != current_allocation)
+            fprintf(STDERR, "MEMORY ERROR: %d bytes lost\n",
+               current_allocation - allocation_now);
+         if (current_allocation != 0)
+         {
+            memory_infop pinfo = pinformation;
+
+            fprintf(STDERR, "MEMORY ERROR: %d bytes still allocated\n",
+               current_allocation);
+            while (pinfo != NULL)
+            {
+               fprintf(STDERR, " %lu bytes at %x\n",
+                 (unsigned long)pinfo->size,
+                 (unsigned int) pinfo->pointer);
+               pinfo = pinfo->next;
+            }
+         }
+#endif
+      }
+#if defined(PNG_USER_MEM_SUPPORTED) && PNG_DEBUG
+         fprintf(STDERR, " Current memory allocation: %10d bytes\n",
+            current_allocation);
+         fprintf(STDERR, " Maximum memory allocation: %10d bytes\n",
+            maximum_allocation);
+         fprintf(STDERR, " Total   memory allocation: %10d bytes\n",
+            total_allocation);
+         fprintf(STDERR, "     Number of allocations: %10d\n",
+            num_allocations);
+#endif
+   }
+   else
+   {
+      int i;
+      for (i = 0; i<3; ++i)
+      {
+         int kerror;
+#if defined(PNG_USER_MEM_SUPPORTED) && PNG_DEBUG
+         int allocation_now = current_allocation;
+#endif
+         if (i == 1) status_dots_requested = 1;
+         else if (verbose == 0)status_dots_requested = 0;
+         if (i == 0 || verbose == 1 || ierror != 0)
+            fprintf(STDERR, "\n Testing %s:", inname);
+         kerror = test_one_file(inname, outname);
+         if (kerror == 0)
+         {
+            if (verbose == 1 || i == 2)
+            {
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED)
+                int k;
+#endif
+#if defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED)
+                fprintf(STDERR, "\n PASS (%lu zero samples)\n",
+                   (unsigned long)zero_samples);
+#else
+                fprintf(STDERR, " PASS\n");
+#endif
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED)
+                for (k = 0; k<256; k++)
+                   if (filters_used[k])
+                      fprintf(STDERR, " Filter %d was used %lu times\n",
+                         k,
+                         (unsigned long)filters_used[k]);
+#endif
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+             if (tIME_chunk_present != 0)
+                fprintf(STDERR, " tIME = %s\n", tIME_string);
+#endif /* PNG_TIME_RFC1123_SUPPORTED */
+            }
+         }
+         else
+         {
+            if (verbose == 0 && i != 2)
+               fprintf(STDERR, "\n Testing %s:", inname);
+            fprintf(STDERR, " FAIL\n");
+            ierror += kerror;
+         }
+#if defined(PNG_USER_MEM_SUPPORTED) && PNG_DEBUG
+         if (allocation_now != current_allocation)
+             fprintf(STDERR, "MEMORY ERROR: %d bytes lost\n",
+               current_allocation - allocation_now);
+         if (current_allocation != 0)
+         {
+             memory_infop pinfo = pinformation;
+
+             fprintf(STDERR, "MEMORY ERROR: %d bytes still allocated\n",
+                current_allocation);
+             while (pinfo != NULL)
+             {
+                fprintf(STDERR, " %lu bytes at %x\n",
+                   (unsigned long)pinfo->size, (unsigned int)pinfo->pointer);
+                pinfo = pinfo->next;
+             }
+          }
+#endif
+       }
+#if defined(PNG_USER_MEM_SUPPORTED) && PNG_DEBUG
+       fprintf(STDERR, " Current memory allocation: %10d bytes\n",
+          current_allocation);
+       fprintf(STDERR, " Maximum memory allocation: %10d bytes\n",
+          maximum_allocation);
+       fprintf(STDERR, " Total   memory allocation: %10d bytes\n",
+          total_allocation);
+       fprintf(STDERR, "     Number of allocations: %10d\n",
+            num_allocations);
+#endif
+   }
+
+#ifdef PNGTEST_TIMING
+   t_stop = (float)clock();
+   t_misc += (t_stop - t_start);
+   t_start = t_stop;
+   fprintf(STDERR, " CPU time used = %.3f seconds",
+      (t_misc+t_decode+t_encode)/(float)CLOCKS_PER_SEC);
+   fprintf(STDERR, " (decoding %.3f,\n",
+      t_decode/(float)CLOCKS_PER_SEC);
+   fprintf(STDERR, "        encoding %.3f ,",
+      t_encode/(float)CLOCKS_PER_SEC);
+   fprintf(STDERR, " other %.3f seconds)\n\n",
+      t_misc/(float)CLOCKS_PER_SEC);
+#endif
+
+   if (ierror == 0)
+      fprintf(STDERR, " libpng passes test\n");
+   else
+      fprintf(STDERR, " libpng FAILS test\n");
+   return (int)(ierror != 0);
+}
+
+/* Generate a compiler error if there is an old png.h in the search path. */
+typedef version_1_2_37 your_png_h_is_not_version_1_2_37;
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngtrans.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngtrans.c
new file mode 100755
index 0000000..6880ce9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngtrans.c
@@ -0,0 +1,674 @@
+
+/* pngtrans.c - transforms the data in a row (used by both readers and writers)
+ *
+ * Last changed in libpng 1.2.36 [May 14, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#if defined(PNG_READ_SUPPORTED) || defined(PNG_WRITE_SUPPORTED)
+
+#if defined(PNG_READ_BGR_SUPPORTED) || defined(PNG_WRITE_BGR_SUPPORTED)
+/* Turn on BGR-to-RGB mapping */
+void PNGAPI
+png_set_bgr(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_bgr");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_BGR;
+}
+#endif
+
+#if defined(PNG_READ_SWAP_SUPPORTED) || defined(PNG_WRITE_SWAP_SUPPORTED)
+/* Turn on 16 bit byte swapping */
+void PNGAPI
+png_set_swap(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_swap");
+   if (png_ptr == NULL)
+      return;
+   if (png_ptr->bit_depth == 16)
+      png_ptr->transformations |= PNG_SWAP_BYTES;
+}
+#endif
+
+#if defined(PNG_READ_PACK_SUPPORTED) || defined(PNG_WRITE_PACK_SUPPORTED)
+/* Turn on pixel packing */
+void PNGAPI
+png_set_packing(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_packing");
+   if (png_ptr == NULL)
+      return;
+   if (png_ptr->bit_depth < 8)
+   {
+      png_ptr->transformations |= PNG_PACK;
+      png_ptr->usr_bit_depth = 8;
+   }
+}
+#endif
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)||defined(PNG_WRITE_PACKSWAP_SUPPORTED)
+/* Turn on packed pixel swapping */
+void PNGAPI
+png_set_packswap(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_packswap");
+   if (png_ptr == NULL)
+      return;
+   if (png_ptr->bit_depth < 8)
+      png_ptr->transformations |= PNG_PACKSWAP;
+}
+#endif
+
+#if defined(PNG_READ_SHIFT_SUPPORTED) || defined(PNG_WRITE_SHIFT_SUPPORTED)
+void PNGAPI
+png_set_shift(png_structp png_ptr, png_color_8p true_bits)
+{
+   png_debug(1, "in png_set_shift");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_SHIFT;
+   png_ptr->shift = *true_bits;
+}
+#endif
+
+#if defined(PNG_READ_INTERLACING_SUPPORTED) || \
+    defined(PNG_WRITE_INTERLACING_SUPPORTED)
+int PNGAPI
+png_set_interlace_handling(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_interlace handling");
+   if (png_ptr && png_ptr->interlaced)
+   {
+      png_ptr->transformations |= PNG_INTERLACE;
+      return (7);
+   }
+
+   return (1);
+}
+#endif
+
+#if defined(PNG_READ_FILLER_SUPPORTED) || defined(PNG_WRITE_FILLER_SUPPORTED)
+/* Add a filler byte on read, or remove a filler or alpha byte on write.
+ * The filler type has changed in v0.95 to allow future 2-byte fillers
+ * for 48-bit input data, as well as to avoid problems with some compilers
+ * that don't like bytes as parameters.
+ */
+void PNGAPI
+png_set_filler(png_structp png_ptr, png_uint_32 filler, int filler_loc)
+{
+   png_debug(1, "in png_set_filler");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_FILLER;
+   png_ptr->filler = (png_byte)filler;
+   if (filler_loc == PNG_FILLER_AFTER)
+      png_ptr->flags |= PNG_FLAG_FILLER_AFTER;
+   else
+      png_ptr->flags &= ~PNG_FLAG_FILLER_AFTER;
+
+   /* This should probably go in the "do_read_filler" routine.
+    * I attempted to do that in libpng-1.0.1a but that caused problems
+    * so I restored it in libpng-1.0.2a
+   */
+
+   if (png_ptr->color_type == PNG_COLOR_TYPE_RGB)
+   {
+      png_ptr->usr_channels = 4;
+   }
+
+   /* Also I added this in libpng-1.0.2a (what happens when we expand
+    * a less-than-8-bit grayscale to GA? */
+
+   if (png_ptr->color_type == PNG_COLOR_TYPE_GRAY && png_ptr->bit_depth >= 8)
+   {
+      png_ptr->usr_channels = 2;
+   }
+}
+
+#if !defined(PNG_1_0_X)
+/* Added to libpng-1.2.7 */
+void PNGAPI
+png_set_add_alpha(png_structp png_ptr, png_uint_32 filler, int filler_loc)
+{
+   png_debug(1, "in png_set_add_alpha");
+   if (png_ptr == NULL)
+      return;
+   png_set_filler(png_ptr, filler, filler_loc);
+   png_ptr->transformations |= PNG_ADD_ALPHA;
+}
+#endif
+
+#endif
+
+#if defined(PNG_READ_SWAP_ALPHA_SUPPORTED) || \
+    defined(PNG_WRITE_SWAP_ALPHA_SUPPORTED)
+void PNGAPI
+png_set_swap_alpha(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_swap_alpha");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_SWAP_ALPHA;
+}
+#endif
+
+#if defined(PNG_READ_INVERT_ALPHA_SUPPORTED) || \
+    defined(PNG_WRITE_INVERT_ALPHA_SUPPORTED)
+void PNGAPI
+png_set_invert_alpha(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_invert_alpha");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_INVERT_ALPHA;
+}
+#endif
+
+#if defined(PNG_READ_INVERT_SUPPORTED) || defined(PNG_WRITE_INVERT_SUPPORTED)
+void PNGAPI
+png_set_invert_mono(png_structp png_ptr)
+{
+   png_debug(1, "in png_set_invert_mono");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_INVERT_MONO;
+}
+
+/* Invert monochrome grayscale data */
+void /* PRIVATE */
+png_do_invert(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_invert");
+  /* This test removed from libpng version 1.0.13 and 1.2.0:
+   *   if (row_info->bit_depth == 1 &&
+   */
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row == NULL || row_info == NULL)
+     return;
+#endif
+   if (row_info->color_type == PNG_COLOR_TYPE_GRAY)
+   {
+      png_bytep rp = row;
+      png_uint_32 i;
+      png_uint_32 istop = row_info->rowbytes;
+
+      for (i = 0; i < istop; i++)
+      {
+         *rp = (png_byte)(~(*rp));
+         rp++;
+      }
+   }
+   else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA &&
+      row_info->bit_depth == 8)
+   {
+      png_bytep rp = row;
+      png_uint_32 i;
+      png_uint_32 istop = row_info->rowbytes;
+
+      for (i = 0; i < istop; i+=2)
+      {
+         *rp = (png_byte)(~(*rp));
+         rp+=2;
+      }
+   }
+   else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA &&
+      row_info->bit_depth == 16)
+   {
+      png_bytep rp = row;
+      png_uint_32 i;
+      png_uint_32 istop = row_info->rowbytes;
+
+      for (i = 0; i < istop; i+=4)
+      {
+         *rp = (png_byte)(~(*rp));
+         *(rp+1) = (png_byte)(~(*(rp+1)));
+         rp+=4;
+      }
+   }
+}
+#endif
+
+#if defined(PNG_READ_SWAP_SUPPORTED) || defined(PNG_WRITE_SWAP_SUPPORTED)
+/* Swaps byte order on 16 bit depth images */
+void /* PRIVATE */
+png_do_swap(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_swap");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       row_info->bit_depth == 16)
+   {
+      png_bytep rp = row;
+      png_uint_32 i;
+      png_uint_32 istop= row_info->width * row_info->channels;
+
+      for (i = 0; i < istop; i++, rp += 2)
+      {
+         png_byte t = *rp;
+         *rp = *(rp + 1);
+         *(rp + 1) = t;
+      }
+   }
+}
+#endif
+
+#if defined(PNG_READ_PACKSWAP_SUPPORTED)||defined(PNG_WRITE_PACKSWAP_SUPPORTED)
+static PNG_CONST png_byte onebppswaptable[256] = {
+   0x00, 0x80, 0x40, 0xC0, 0x20, 0xA0, 0x60, 0xE0,
+   0x10, 0x90, 0x50, 0xD0, 0x30, 0xB0, 0x70, 0xF0,
+   0x08, 0x88, 0x48, 0xC8, 0x28, 0xA8, 0x68, 0xE8,
+   0x18, 0x98, 0x58, 0xD8, 0x38, 0xB8, 0x78, 0xF8,
+   0x04, 0x84, 0x44, 0xC4, 0x24, 0xA4, 0x64, 0xE4,
+   0x14, 0x94, 0x54, 0xD4, 0x34, 0xB4, 0x74, 0xF4,
+   0x0C, 0x8C, 0x4C, 0xCC, 0x2C, 0xAC, 0x6C, 0xEC,
+   0x1C, 0x9C, 0x5C, 0xDC, 0x3C, 0xBC, 0x7C, 0xFC,
+   0x02, 0x82, 0x42, 0xC2, 0x22, 0xA2, 0x62, 0xE2,
+   0x12, 0x92, 0x52, 0xD2, 0x32, 0xB2, 0x72, 0xF2,
+   0x0A, 0x8A, 0x4A, 0xCA, 0x2A, 0xAA, 0x6A, 0xEA,
+   0x1A, 0x9A, 0x5A, 0xDA, 0x3A, 0xBA, 0x7A, 0xFA,
+   0x06, 0x86, 0x46, 0xC6, 0x26, 0xA6, 0x66, 0xE6,
+   0x16, 0x96, 0x56, 0xD6, 0x36, 0xB6, 0x76, 0xF6,
+   0x0E, 0x8E, 0x4E, 0xCE, 0x2E, 0xAE, 0x6E, 0xEE,
+   0x1E, 0x9E, 0x5E, 0xDE, 0x3E, 0xBE, 0x7E, 0xFE,
+   0x01, 0x81, 0x41, 0xC1, 0x21, 0xA1, 0x61, 0xE1,
+   0x11, 0x91, 0x51, 0xD1, 0x31, 0xB1, 0x71, 0xF1,
+   0x09, 0x89, 0x49, 0xC9, 0x29, 0xA9, 0x69, 0xE9,
+   0x19, 0x99, 0x59, 0xD9, 0x39, 0xB9, 0x79, 0xF9,
+   0x05, 0x85, 0x45, 0xC5, 0x25, 0xA5, 0x65, 0xE5,
+   0x15, 0x95, 0x55, 0xD5, 0x35, 0xB5, 0x75, 0xF5,
+   0x0D, 0x8D, 0x4D, 0xCD, 0x2D, 0xAD, 0x6D, 0xED,
+   0x1D, 0x9D, 0x5D, 0xDD, 0x3D, 0xBD, 0x7D, 0xFD,
+   0x03, 0x83, 0x43, 0xC3, 0x23, 0xA3, 0x63, 0xE3,
+   0x13, 0x93, 0x53, 0xD3, 0x33, 0xB3, 0x73, 0xF3,
+   0x0B, 0x8B, 0x4B, 0xCB, 0x2B, 0xAB, 0x6B, 0xEB,
+   0x1B, 0x9B, 0x5B, 0xDB, 0x3B, 0xBB, 0x7B, 0xFB,
+   0x07, 0x87, 0x47, 0xC7, 0x27, 0xA7, 0x67, 0xE7,
+   0x17, 0x97, 0x57, 0xD7, 0x37, 0xB7, 0x77, 0xF7,
+   0x0F, 0x8F, 0x4F, 0xCF, 0x2F, 0xAF, 0x6F, 0xEF,
+   0x1F, 0x9F, 0x5F, 0xDF, 0x3F, 0xBF, 0x7F, 0xFF
+};
+
+static PNG_CONST png_byte twobppswaptable[256] = {
+   0x00, 0x40, 0x80, 0xC0, 0x10, 0x50, 0x90, 0xD0,
+   0x20, 0x60, 0xA0, 0xE0, 0x30, 0x70, 0xB0, 0xF0,
+   0x04, 0x44, 0x84, 0xC4, 0x14, 0x54, 0x94, 0xD4,
+   0x24, 0x64, 0xA4, 0xE4, 0x34, 0x74, 0xB4, 0xF4,
+   0x08, 0x48, 0x88, 0xC8, 0x18, 0x58, 0x98, 0xD8,
+   0x28, 0x68, 0xA8, 0xE8, 0x38, 0x78, 0xB8, 0xF8,
+   0x0C, 0x4C, 0x8C, 0xCC, 0x1C, 0x5C, 0x9C, 0xDC,
+   0x2C, 0x6C, 0xAC, 0xEC, 0x3C, 0x7C, 0xBC, 0xFC,
+   0x01, 0x41, 0x81, 0xC1, 0x11, 0x51, 0x91, 0xD1,
+   0x21, 0x61, 0xA1, 0xE1, 0x31, 0x71, 0xB1, 0xF1,
+   0x05, 0x45, 0x85, 0xC5, 0x15, 0x55, 0x95, 0xD5,
+   0x25, 0x65, 0xA5, 0xE5, 0x35, 0x75, 0xB5, 0xF5,
+   0x09, 0x49, 0x89, 0xC9, 0x19, 0x59, 0x99, 0xD9,
+   0x29, 0x69, 0xA9, 0xE9, 0x39, 0x79, 0xB9, 0xF9,
+   0x0D, 0x4D, 0x8D, 0xCD, 0x1D, 0x5D, 0x9D, 0xDD,
+   0x2D, 0x6D, 0xAD, 0xED, 0x3D, 0x7D, 0xBD, 0xFD,
+   0x02, 0x42, 0x82, 0xC2, 0x12, 0x52, 0x92, 0xD2,
+   0x22, 0x62, 0xA2, 0xE2, 0x32, 0x72, 0xB2, 0xF2,
+   0x06, 0x46, 0x86, 0xC6, 0x16, 0x56, 0x96, 0xD6,
+   0x26, 0x66, 0xA6, 0xE6, 0x36, 0x76, 0xB6, 0xF6,
+   0x0A, 0x4A, 0x8A, 0xCA, 0x1A, 0x5A, 0x9A, 0xDA,
+   0x2A, 0x6A, 0xAA, 0xEA, 0x3A, 0x7A, 0xBA, 0xFA,
+   0x0E, 0x4E, 0x8E, 0xCE, 0x1E, 0x5E, 0x9E, 0xDE,
+   0x2E, 0x6E, 0xAE, 0xEE, 0x3E, 0x7E, 0xBE, 0xFE,
+   0x03, 0x43, 0x83, 0xC3, 0x13, 0x53, 0x93, 0xD3,
+   0x23, 0x63, 0xA3, 0xE3, 0x33, 0x73, 0xB3, 0xF3,
+   0x07, 0x47, 0x87, 0xC7, 0x17, 0x57, 0x97, 0xD7,
+   0x27, 0x67, 0xA7, 0xE7, 0x37, 0x77, 0xB7, 0xF7,
+   0x0B, 0x4B, 0x8B, 0xCB, 0x1B, 0x5B, 0x9B, 0xDB,
+   0x2B, 0x6B, 0xAB, 0xEB, 0x3B, 0x7B, 0xBB, 0xFB,
+   0x0F, 0x4F, 0x8F, 0xCF, 0x1F, 0x5F, 0x9F, 0xDF,
+   0x2F, 0x6F, 0xAF, 0xEF, 0x3F, 0x7F, 0xBF, 0xFF
+};
+
+static PNG_CONST png_byte fourbppswaptable[256] = {
+   0x00, 0x10, 0x20, 0x30, 0x40, 0x50, 0x60, 0x70,
+   0x80, 0x90, 0xA0, 0xB0, 0xC0, 0xD0, 0xE0, 0xF0,
+   0x01, 0x11, 0x21, 0x31, 0x41, 0x51, 0x61, 0x71,
+   0x81, 0x91, 0xA1, 0xB1, 0xC1, 0xD1, 0xE1, 0xF1,
+   0x02, 0x12, 0x22, 0x32, 0x42, 0x52, 0x62, 0x72,
+   0x82, 0x92, 0xA2, 0xB2, 0xC2, 0xD2, 0xE2, 0xF2,
+   0x03, 0x13, 0x23, 0x33, 0x43, 0x53, 0x63, 0x73,
+   0x83, 0x93, 0xA3, 0xB3, 0xC3, 0xD3, 0xE3, 0xF3,
+   0x04, 0x14, 0x24, 0x34, 0x44, 0x54, 0x64, 0x74,
+   0x84, 0x94, 0xA4, 0xB4, 0xC4, 0xD4, 0xE4, 0xF4,
+   0x05, 0x15, 0x25, 0x35, 0x45, 0x55, 0x65, 0x75,
+   0x85, 0x95, 0xA5, 0xB5, 0xC5, 0xD5, 0xE5, 0xF5,
+   0x06, 0x16, 0x26, 0x36, 0x46, 0x56, 0x66, 0x76,
+   0x86, 0x96, 0xA6, 0xB6, 0xC6, 0xD6, 0xE6, 0xF6,
+   0x07, 0x17, 0x27, 0x37, 0x47, 0x57, 0x67, 0x77,
+   0x87, 0x97, 0xA7, 0xB7, 0xC7, 0xD7, 0xE7, 0xF7,
+   0x08, 0x18, 0x28, 0x38, 0x48, 0x58, 0x68, 0x78,
+   0x88, 0x98, 0xA8, 0xB8, 0xC8, 0xD8, 0xE8, 0xF8,
+   0x09, 0x19, 0x29, 0x39, 0x49, 0x59, 0x69, 0x79,
+   0x89, 0x99, 0xA9, 0xB9, 0xC9, 0xD9, 0xE9, 0xF9,
+   0x0A, 0x1A, 0x2A, 0x3A, 0x4A, 0x5A, 0x6A, 0x7A,
+   0x8A, 0x9A, 0xAA, 0xBA, 0xCA, 0xDA, 0xEA, 0xFA,
+   0x0B, 0x1B, 0x2B, 0x3B, 0x4B, 0x5B, 0x6B, 0x7B,
+   0x8B, 0x9B, 0xAB, 0xBB, 0xCB, 0xDB, 0xEB, 0xFB,
+   0x0C, 0x1C, 0x2C, 0x3C, 0x4C, 0x5C, 0x6C, 0x7C,
+   0x8C, 0x9C, 0xAC, 0xBC, 0xCC, 0xDC, 0xEC, 0xFC,
+   0x0D, 0x1D, 0x2D, 0x3D, 0x4D, 0x5D, 0x6D, 0x7D,
+   0x8D, 0x9D, 0xAD, 0xBD, 0xCD, 0xDD, 0xED, 0xFD,
+   0x0E, 0x1E, 0x2E, 0x3E, 0x4E, 0x5E, 0x6E, 0x7E,
+   0x8E, 0x9E, 0xAE, 0xBE, 0xCE, 0xDE, 0xEE, 0xFE,
+   0x0F, 0x1F, 0x2F, 0x3F, 0x4F, 0x5F, 0x6F, 0x7F,
+   0x8F, 0x9F, 0xAF, 0xBF, 0xCF, 0xDF, 0xEF, 0xFF
+};
+
+/* Swaps pixel packing order within bytes */
+void /* PRIVATE */
+png_do_packswap(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_packswap");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       row_info->bit_depth < 8)
+   {
+      png_bytep rp, end, table;
+
+      end = row + row_info->rowbytes;
+
+      if (row_info->bit_depth == 1)
+         table = (png_bytep)onebppswaptable;
+      else if (row_info->bit_depth == 2)
+         table = (png_bytep)twobppswaptable;
+      else if (row_info->bit_depth == 4)
+         table = (png_bytep)fourbppswaptable;
+      else
+         return;
+
+      for (rp = row; rp < end; rp++)
+         *rp = table[*rp];
+   }
+}
+#endif /* PNG_READ_PACKSWAP_SUPPORTED or PNG_WRITE_PACKSWAP_SUPPORTED */
+
+#if defined(PNG_WRITE_FILLER_SUPPORTED) || \
+    defined(PNG_READ_STRIP_ALPHA_SUPPORTED)
+/* Remove filler or alpha byte(s) */
+void /* PRIVATE */
+png_do_strip_filler(png_row_infop row_info, png_bytep row, png_uint_32 flags)
+{
+   png_debug(1, "in png_do_strip_filler");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL)
+#endif
+   {
+      png_bytep sp=row;
+      png_bytep dp=row;
+      png_uint_32 row_width=row_info->width;
+      png_uint_32 i;
+
+      if ((row_info->color_type == PNG_COLOR_TYPE_RGB ||
+          (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA &&
+          (flags & PNG_FLAG_STRIP_ALPHA))) &&
+          row_info->channels == 4)
+      {
+         if (row_info->bit_depth == 8)
+         {
+            /* This converts from RGBX or RGBA to RGB */
+            if (flags & PNG_FLAG_FILLER_AFTER)
+            {
+               dp+=3; sp+=4;
+               for (i = 1; i < row_width; i++)
+               {
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  sp++;
+               }
+            }
+            /* This converts from XRGB or ARGB to RGB */
+            else
+            {
+               for (i = 0; i < row_width; i++)
+               {
+                  sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+               }
+            }
+            row_info->pixel_depth = 24;
+            row_info->rowbytes = row_width * 3;
+         }
+         else /* if (row_info->bit_depth == 16) */
+         {
+            if (flags & PNG_FLAG_FILLER_AFTER)
+            {
+               /* This converts from RRGGBBXX or RRGGBBAA to RRGGBB */
+               sp += 8; dp += 6;
+               for (i = 1; i < row_width; i++)
+               {
+                  /* This could be (although png_memcpy is probably slower):
+                  png_memcpy(dp, sp, 6);
+                  sp += 8;
+                  dp += 6;
+                  */
+
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  sp += 2;
+               }
+            }
+            else
+            {
+               /* This converts from XXRRGGBB or AARRGGBB to RRGGBB */
+               for (i = 0; i < row_width; i++)
+               {
+                  /* This could be (although png_memcpy is probably slower):
+                  png_memcpy(dp, sp, 6);
+                  sp += 8;
+                  dp += 6;
+                  */
+
+                  sp+=2;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+               }
+            }
+            row_info->pixel_depth = 48;
+            row_info->rowbytes = row_width * 6;
+         }
+         row_info->channels = 3;
+      }
+      else if ((row_info->color_type == PNG_COLOR_TYPE_GRAY ||
+         (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA &&
+         (flags & PNG_FLAG_STRIP_ALPHA))) &&
+          row_info->channels == 2)
+      {
+         if (row_info->bit_depth == 8)
+         {
+            /* This converts from GX or GA to G */
+            if (flags & PNG_FLAG_FILLER_AFTER)
+            {
+               for (i = 0; i < row_width; i++)
+               {
+                  *dp++ = *sp++;
+                  sp++;
+               }
+            }
+            /* This converts from XG or AG to G */
+            else
+            {
+               for (i = 0; i < row_width; i++)
+               {
+                  sp++;
+                  *dp++ = *sp++;
+               }
+            }
+            row_info->pixel_depth = 8;
+            row_info->rowbytes = row_width;
+         }
+         else /* if (row_info->bit_depth == 16) */
+         {
+            if (flags & PNG_FLAG_FILLER_AFTER)
+            {
+               /* This converts from GGXX or GGAA to GG */
+               sp += 4; dp += 2;
+               for (i = 1; i < row_width; i++)
+               {
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+                  sp += 2;
+               }
+            }
+            else
+            {
+               /* This converts from XXGG or AAGG to GG */
+               for (i = 0; i < row_width; i++)
+               {
+                  sp += 2;
+                  *dp++ = *sp++;
+                  *dp++ = *sp++;
+               }
+            }
+            row_info->pixel_depth = 16;
+            row_info->rowbytes = row_width * 2;
+         }
+         row_info->channels = 1;
+      }
+      if (flags & PNG_FLAG_STRIP_ALPHA)
+        row_info->color_type &= ~PNG_COLOR_MASK_ALPHA;
+   }
+}
+#endif
+
+#if defined(PNG_READ_BGR_SUPPORTED) || defined(PNG_WRITE_BGR_SUPPORTED)
+/* Swaps red and blue bytes within a pixel */
+void /* PRIVATE */
+png_do_bgr(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_bgr");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       (row_info->color_type & PNG_COLOR_MASK_COLOR))
+   {
+      png_uint_32 row_width = row_info->width;
+      if (row_info->bit_depth == 8)
+      {
+         if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+         {
+            png_bytep rp;
+            png_uint_32 i;
+
+            for (i = 0, rp = row; i < row_width; i++, rp += 3)
+            {
+               png_byte save = *rp;
+               *rp = *(rp + 2);
+               *(rp + 2) = save;
+            }
+         }
+         else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+         {
+            png_bytep rp;
+            png_uint_32 i;
+
+            for (i = 0, rp = row; i < row_width; i++, rp += 4)
+            {
+               png_byte save = *rp;
+               *rp = *(rp + 2);
+               *(rp + 2) = save;
+            }
+         }
+      }
+      else if (row_info->bit_depth == 16)
+      {
+         if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+         {
+            png_bytep rp;
+            png_uint_32 i;
+
+            for (i = 0, rp = row; i < row_width; i++, rp += 6)
+            {
+               png_byte save = *rp;
+               *rp = *(rp + 4);
+               *(rp + 4) = save;
+               save = *(rp + 1);
+               *(rp + 1) = *(rp + 5);
+               *(rp + 5) = save;
+            }
+         }
+         else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+         {
+            png_bytep rp;
+            png_uint_32 i;
+
+            for (i = 0, rp = row; i < row_width; i++, rp += 8)
+            {
+               png_byte save = *rp;
+               *rp = *(rp + 4);
+               *(rp + 4) = save;
+               save = *(rp + 1);
+               *(rp + 1) = *(rp + 5);
+               *(rp + 5) = save;
+            }
+         }
+      }
+   }
+}
+#endif /* PNG_READ_BGR_SUPPORTED or PNG_WRITE_BGR_SUPPORTED */
+
+#if defined(PNG_READ_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED) || \
+    defined(PNG_LEGACY_SUPPORTED)
+void PNGAPI
+png_set_user_transform_info(png_structp png_ptr, png_voidp
+   user_transform_ptr, int user_transform_depth, int user_transform_channels)
+{
+   png_debug(1, "in png_set_user_transform_info");
+   if (png_ptr == NULL)
+      return;
+#if defined(PNG_USER_TRANSFORM_PTR_SUPPORTED)
+   png_ptr->user_transform_ptr = user_transform_ptr;
+   png_ptr->user_transform_depth = (png_byte)user_transform_depth;
+   png_ptr->user_transform_channels = (png_byte)user_transform_channels;
+#else
+   if (user_transform_ptr || user_transform_depth || user_transform_channels)
+      png_warning(png_ptr,
+        "This version of libpng does not support user transform info");
+#endif
+}
+#endif
+
+/* This function returns a pointer to the user_transform_ptr associated with
+ * the user transform functions.  The application should free any memory
+ * associated with this pointer before png_write_destroy and png_read_destroy
+ * are called.
+ */
+png_voidp PNGAPI
+png_get_user_transform_ptr(png_structp png_ptr)
+{
+   if (png_ptr == NULL)
+      return (NULL);
+#if defined(PNG_USER_TRANSFORM_PTR_SUPPORTED)
+   return ((png_voidp)png_ptr->user_transform_ptr);
+#else
+   return (NULL);
+#endif
+}
+#endif /* PNG_READ_SUPPORTED || PNG_WRITE_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngvcrd.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngvcrd.c
new file mode 100755
index 0000000..54fef60
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngvcrd.c
@@ -0,0 +1 @@
+/* pnggvrd.c was removed from libpng-1.2.20. */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwio.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwio.c
new file mode 100755
index 0000000..4ecab7d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwio.c
@@ -0,0 +1,256 @@
+
+/* pngwio.c - functions for data output
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ *
+ * This file provides a location for all output.  Users who need
+ * special handling are expected to write functions that have the same
+ * arguments as these and perform similar functions, but that possibly
+ * use different output methods.  Note that you shouldn't change these
+ * functions, but rather write replacement functions and then change
+ * them at run time with png_set_write_fn(...).
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#ifdef PNG_WRITE_SUPPORTED
+
+/* Write the data to whatever output you are using.  The default routine
+ * writes to a file pointer.  Note that this routine sometimes gets called
+ * with very small lengths, so you should implement some kind of simple
+ * buffering if you are using unbuffered writes.  This should never be asked
+ * to write more than 64K on a 16 bit machine.
+ */
+
+void /* PRIVATE */
+png_write_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   if (png_ptr->write_data_fn != NULL )
+      (*(png_ptr->write_data_fn))(png_ptr, data, length);
+   else
+      png_error(png_ptr, "Call to NULL write function");
+}
+
+#if !defined(PNG_NO_STDIO)
+/* This is the function that does the actual writing of data.  If you are
+ * not writing to a standard C stream, you should create a replacement
+ * write_data function and use it at run time with png_set_write_fn(), rather
+ * than changing the library.
+ */
+#ifndef USE_FAR_KEYWORD
+void PNGAPI
+png_default_write_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_uint_32 check;
+
+   if (png_ptr == NULL)
+      return;
+#if defined(_WIN32_WCE)
+   if ( !WriteFile((HANDLE)(png_ptr->io_ptr), data, length, &check, NULL) )
+      check = 0;
+#else
+   check = fwrite(data, 1, length, (png_FILE_p)(png_ptr->io_ptr));
+#endif
+   if (check != length)
+      png_error(png_ptr, "Write Error");
+}
+#else
+/* This is the model-independent version. Since the standard I/O library
+ * can't handle far buffers in the medium and small models, we have to copy
+ * the data.
+ */
+
+#define NEAR_BUF_SIZE 1024
+#define MIN(a,b) (a <= b ? a : b)
+
+void PNGAPI
+png_default_write_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   png_uint_32 check;
+   png_byte *near_data;  /* Needs to be "png_byte *" instead of "png_bytep" */
+   png_FILE_p io_ptr;
+
+   if (png_ptr == NULL)
+      return;
+   /* Check if data really is near. If so, use usual code. */
+   near_data = (png_byte *)CVT_PTR_NOCHECK(data);
+   io_ptr = (png_FILE_p)CVT_PTR(png_ptr->io_ptr);
+   if ((png_bytep)near_data == data)
+   {
+#if defined(_WIN32_WCE)
+      if ( !WriteFile(io_ptr, near_data, length, &check, NULL) )
+         check = 0;
+#else
+      check = fwrite(near_data, 1, length, io_ptr);
+#endif
+   }
+   else
+   {
+      png_byte buf[NEAR_BUF_SIZE];
+      png_size_t written, remaining, err;
+      check = 0;
+      remaining = length;
+      do
+      {
+         written = MIN(NEAR_BUF_SIZE, remaining);
+         png_memcpy(buf, data, written); /* Copy far buffer to near buffer */
+#if defined(_WIN32_WCE)
+         if ( !WriteFile(io_ptr, buf, written, &err, NULL) )
+            err = 0;
+#else
+         err = fwrite(buf, 1, written, io_ptr);
+#endif
+         if (err != written)
+            break;
+
+         else
+            check += err;
+
+         data += written;
+         remaining -= written;
+      }
+      while (remaining != 0);
+   }
+   if (check != length)
+      png_error(png_ptr, "Write Error");
+}
+
+#endif
+#endif
+
+/* This function is called to output any data pending writing (normally
+ * to disk).  After png_flush is called, there should be no data pending
+ * writing in any buffers.
+ */
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+void /* PRIVATE */
+png_flush(png_structp png_ptr)
+{
+   if (png_ptr->output_flush_fn != NULL)
+      (*(png_ptr->output_flush_fn))(png_ptr);
+}
+
+#if !defined(PNG_NO_STDIO)
+void PNGAPI
+png_default_flush(png_structp png_ptr)
+{
+#if !defined(_WIN32_WCE)
+   png_FILE_p io_ptr;
+#endif
+   if (png_ptr == NULL)
+      return;
+#if !defined(_WIN32_WCE)
+   io_ptr = (png_FILE_p)CVT_PTR((png_ptr->io_ptr));
+   fflush(io_ptr);
+#endif
+}
+#endif
+#endif
+
+/* This function allows the application to supply new output functions for
+ * libpng if standard C streams aren't being used.
+ *
+ * This function takes as its arguments:
+ * png_ptr       - pointer to a png output data structure
+ * io_ptr        - pointer to user supplied structure containing info about
+ *                 the output functions.  May be NULL.
+ * write_data_fn - pointer to a new output function that takes as its
+ *                 arguments a pointer to a png_struct, a pointer to
+ *                 data to be written, and a 32-bit unsigned int that is
+ *                 the number of bytes to be written.  The new write
+ *                 function should call png_error(png_ptr, "Error msg")
+ *                 to exit and output any fatal error messages.  May be
+ *                 NULL, in which case libpng's default function will
+ *                 be used.
+ * flush_data_fn - pointer to a new flush function that takes as its
+ *                 arguments a pointer to a png_struct.  After a call to
+ *                 the flush function, there should be no data in any buffers
+ *                 or pending transmission.  If the output method doesn't do
+ *                 any buffering of ouput, a function prototype must still be
+ *                 supplied although it doesn't have to do anything.  If
+ *                 PNG_WRITE_FLUSH_SUPPORTED is not defined at libpng compile
+ *                 time, output_flush_fn will be ignored, although it must be
+ *                 supplied for compatibility.  May be NULL, in which case
+ *                 libpng's default function will be used, if
+ *                 PNG_WRITE_FLUSH_SUPPORTED is defined.  This is not
+ *                 a good idea if io_ptr does not point to a standard
+ *                 *FILE structure.
+ */
+void PNGAPI
+png_set_write_fn(png_structp png_ptr, png_voidp io_ptr,
+   png_rw_ptr write_data_fn, png_flush_ptr output_flush_fn)
+{
+   if (png_ptr == NULL)
+      return;
+
+   png_ptr->io_ptr = io_ptr;
+
+#if !defined(PNG_NO_STDIO)
+   if (write_data_fn != NULL)
+      png_ptr->write_data_fn = write_data_fn;
+
+   else
+      png_ptr->write_data_fn = png_default_write_data;
+#else
+   png_ptr->write_data_fn = write_data_fn;
+#endif
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+#if !defined(PNG_NO_STDIO)
+   if (output_flush_fn != NULL)
+      png_ptr->output_flush_fn = output_flush_fn;
+
+   else
+      png_ptr->output_flush_fn = png_default_flush;
+#else
+   png_ptr->output_flush_fn = output_flush_fn;
+#endif
+#endif /* PNG_WRITE_FLUSH_SUPPORTED */
+
+   /* It is an error to read while writing a png file */
+   if (png_ptr->read_data_fn != NULL)
+   {
+      png_ptr->read_data_fn = NULL;
+      png_warning(png_ptr,
+         "Attempted to set both read_data_fn and write_data_fn in");
+      png_warning(png_ptr,
+         "the same structure.  Resetting read_data_fn to NULL.");
+   }
+}
+
+#if defined(USE_FAR_KEYWORD)
+#if defined(_MSC_VER)
+void *png_far_to_near(png_structp png_ptr, png_voidp ptr, int check)
+{
+   void *near_ptr;
+   void FAR *far_ptr;
+   FP_OFF(near_ptr) = FP_OFF(ptr);
+   far_ptr = (void FAR *)near_ptr;
+
+   if (check != 0)
+      if (FP_SEG(ptr) != FP_SEG(far_ptr))
+         png_error(png_ptr, "segment lost in conversion");
+
+   return(near_ptr);
+}
+#  else
+void *png_far_to_near(png_structp png_ptr, png_voidp ptr, int check)
+{
+   void *near_ptr;
+   void FAR *far_ptr;
+   near_ptr = (void FAR *)ptr;
+   far_ptr = (void FAR *)near_ptr;
+
+   if (check != 0)
+      if (far_ptr != ptr)
+         png_error(png_ptr, "segment lost in conversion");
+
+   return(near_ptr);
+}
+#   endif
+#   endif
+#endif /* PNG_WRITE_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwrite.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwrite.c
new file mode 100755
index 0000000..8654083
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwrite.c
@@ -0,0 +1,1558 @@
+
+/* pngwrite.c - general routines to write a PNG file
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+/* Get internal access to png.h */
+#define PNG_INTERNAL
+#include "png.h"
+#ifdef PNG_WRITE_SUPPORTED
+
+/* Writes all the PNG information.  This is the suggested way to use the
+ * library.  If you have a new chunk to add, make a function to write it,
+ * and put it in the correct location here.  If you want the chunk written
+ * after the image data, put it in png_write_end().  I strongly encourage
+ * you to supply a PNG_INFO_ flag, and check info_ptr->valid before writing
+ * the chunk, as that will keep the code from breaking if you want to just
+ * write a plain PNG file.  If you have long comments, I suggest writing
+ * them in png_write_end(), and compressing them.
+ */
+void PNGAPI
+png_write_info_before_PLTE(png_structp png_ptr, png_infop info_ptr)
+{
+   png_debug(1, "in png_write_info_before_PLTE");
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+   if (!(png_ptr->mode & PNG_WROTE_INFO_BEFORE_PLTE))
+   {
+   png_write_sig(png_ptr); /* Write PNG signature */
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+   if ((png_ptr->mode&PNG_HAVE_PNG_SIGNATURE)&&(png_ptr->mng_features_permitted))
+   {
+      png_warning(png_ptr, "MNG features are not allowed in a PNG datastream");
+      png_ptr->mng_features_permitted=0;
+   }
+#endif
+   /* Write IHDR information. */
+   png_write_IHDR(png_ptr, info_ptr->width, info_ptr->height,
+      info_ptr->bit_depth, info_ptr->color_type, info_ptr->compression_type,
+      info_ptr->filter_type,
+#if defined(PNG_WRITE_INTERLACING_SUPPORTED)
+      info_ptr->interlace_type);
+#else
+      0);
+#endif
+   /* The rest of these check to see if the valid field has the appropriate
+    * flag set, and if it does, writes the chunk.
+    */
+#if defined(PNG_WRITE_gAMA_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_gAMA)
+   {
+#  ifdef PNG_FLOATING_POINT_SUPPORTED
+      png_write_gAMA(png_ptr, info_ptr->gamma);
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+      png_write_gAMA_fixed(png_ptr, info_ptr->int_gamma);
+#  endif
+#endif
+   }
+#endif
+#if defined(PNG_WRITE_sRGB_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_sRGB)
+      png_write_sRGB(png_ptr, (int)info_ptr->srgb_intent);
+#endif
+#if defined(PNG_WRITE_iCCP_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_iCCP)
+      png_write_iCCP(png_ptr, info_ptr->iccp_name, PNG_COMPRESSION_TYPE_BASE,
+                     info_ptr->iccp_profile, (int)info_ptr->iccp_proflen);
+#endif
+#if defined(PNG_WRITE_sBIT_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_sBIT)
+      png_write_sBIT(png_ptr, &(info_ptr->sig_bit), info_ptr->color_type);
+#endif
+#if defined(PNG_WRITE_cHRM_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_cHRM)
+   {
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+      png_write_cHRM(png_ptr,
+         info_ptr->x_white, info_ptr->y_white,
+         info_ptr->x_red, info_ptr->y_red,
+         info_ptr->x_green, info_ptr->y_green,
+         info_ptr->x_blue, info_ptr->y_blue);
+#else
+#  ifdef PNG_FIXED_POINT_SUPPORTED
+      png_write_cHRM_fixed(png_ptr,
+         info_ptr->int_x_white, info_ptr->int_y_white,
+         info_ptr->int_x_red, info_ptr->int_y_red,
+         info_ptr->int_x_green, info_ptr->int_y_green,
+         info_ptr->int_x_blue, info_ptr->int_y_blue);
+#  endif
+#endif
+   }
+#endif
+#if defined(PNG_WRITE_UNKNOWN_CHUNKS_SUPPORTED)
+   if (info_ptr->unknown_chunks_num)
+   {
+      png_unknown_chunk *up;
+
+      png_debug(5, "writing extra chunks");
+
+      for (up = info_ptr->unknown_chunks;
+           up < info_ptr->unknown_chunks + info_ptr->unknown_chunks_num;
+           up++)
+      {
+         int keep=png_handle_as_unknown(png_ptr, up->name);
+         if (keep != PNG_HANDLE_CHUNK_NEVER &&
+            up->location && !(up->location & PNG_HAVE_PLTE) &&
+            !(up->location & PNG_HAVE_IDAT) &&
+            ((up->name[3] & 0x20) || keep == PNG_HANDLE_CHUNK_ALWAYS ||
+            (png_ptr->flags & PNG_FLAG_KEEP_UNSAFE_CHUNKS)))
+         {
+            if (up->size == 0)
+               png_warning(png_ptr, "Writing zero-length unknown chunk");
+            png_write_chunk(png_ptr, up->name, up->data, up->size);
+         }
+      }
+   }
+#endif
+      png_ptr->mode |= PNG_WROTE_INFO_BEFORE_PLTE;
+   }
+}
+
+void PNGAPI
+png_write_info(png_structp png_ptr, png_infop info_ptr)
+{
+#if defined(PNG_WRITE_TEXT_SUPPORTED) || defined(PNG_WRITE_sPLT_SUPPORTED)
+   int i;
+#endif
+
+   png_debug(1, "in png_write_info");
+
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+
+   png_write_info_before_PLTE(png_ptr, info_ptr);
+
+   if (info_ptr->valid & PNG_INFO_PLTE)
+      png_write_PLTE(png_ptr, info_ptr->palette,
+         (png_uint_32)info_ptr->num_palette);
+   else if (info_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      png_error(png_ptr, "Valid palette required for paletted images");
+
+#if defined(PNG_WRITE_tRNS_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_tRNS)
+   {
+#if defined(PNG_WRITE_INVERT_ALPHA_SUPPORTED)
+      /* Invert the alpha channel (in tRNS) */
+      if ((png_ptr->transformations & PNG_INVERT_ALPHA) &&
+         info_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+      {
+         int j;
+         for (j=0; j<(int)info_ptr->num_trans; j++)
+            info_ptr->trans[j] = (png_byte)(255 - info_ptr->trans[j]);
+      }
+#endif
+      png_write_tRNS(png_ptr, info_ptr->trans, &(info_ptr->trans_values),
+         info_ptr->num_trans, info_ptr->color_type);
+   }
+#endif
+#if defined(PNG_WRITE_bKGD_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_bKGD)
+      png_write_bKGD(png_ptr, &(info_ptr->background), info_ptr->color_type);
+#endif
+#if defined(PNG_WRITE_hIST_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_hIST)
+      png_write_hIST(png_ptr, info_ptr->hist, info_ptr->num_palette);
+#endif
+#if defined(PNG_WRITE_oFFs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_oFFs)
+      png_write_oFFs(png_ptr, info_ptr->x_offset, info_ptr->y_offset,
+         info_ptr->offset_unit_type);
+#endif
+#if defined(PNG_WRITE_pCAL_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_pCAL)
+      png_write_pCAL(png_ptr, info_ptr->pcal_purpose, info_ptr->pcal_X0,
+         info_ptr->pcal_X1, info_ptr->pcal_type, info_ptr->pcal_nparams,
+         info_ptr->pcal_units, info_ptr->pcal_params);
+#endif
+
+#if defined(PNG_sCAL_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_sCAL)
+#if defined(PNG_WRITE_sCAL_SUPPORTED)
+#if defined(PNG_FLOATING_POINT_SUPPORTED) && !defined(PNG_NO_STDIO)
+      png_write_sCAL(png_ptr, (int)info_ptr->scal_unit,
+          info_ptr->scal_pixel_width, info_ptr->scal_pixel_height);
+#else /* !FLOATING_POINT */
+#ifdef PNG_FIXED_POINT_SUPPORTED
+      png_write_sCAL_s(png_ptr, (int)info_ptr->scal_unit,
+          info_ptr->scal_s_width, info_ptr->scal_s_height);
+#endif /* FIXED_POINT */
+#endif /* FLOATING_POINT */
+#else  /* !WRITE_sCAL */
+      png_warning(png_ptr,
+          "png_write_sCAL not supported; sCAL chunk not written.");
+#endif /* WRITE_sCAL */
+#endif /* sCAL */
+
+#if defined(PNG_WRITE_pHYs_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_pHYs)
+      png_write_pHYs(png_ptr, info_ptr->x_pixels_per_unit,
+         info_ptr->y_pixels_per_unit, info_ptr->phys_unit_type);
+#endif /* pHYs */
+
+#if defined(PNG_WRITE_tIME_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_tIME)
+   {
+      png_write_tIME(png_ptr, &(info_ptr->mod_time));
+      png_ptr->mode |= PNG_WROTE_tIME;
+   }
+#endif /* tIME */
+
+#if defined(PNG_WRITE_sPLT_SUPPORTED)
+   if (info_ptr->valid & PNG_INFO_sPLT)
+     for (i = 0; i < (int)info_ptr->splt_palettes_num; i++)
+       png_write_sPLT(png_ptr, info_ptr->splt_palettes + i);
+#endif /* sPLT */
+
+#if defined(PNG_WRITE_TEXT_SUPPORTED)
+   /* Check to see if we need to write text chunks */
+   for (i = 0; i < info_ptr->num_text; i++)
+   {
+      png_debug2(2, "Writing header text chunk %d, type %d", i,
+         info_ptr->text[i].compression);
+      /* An internationalized chunk? */
+      if (info_ptr->text[i].compression > 0)
+      {
+#if defined(PNG_WRITE_iTXt_SUPPORTED)
+          /* Write international chunk */
+          png_write_iTXt(png_ptr,
+                         info_ptr->text[i].compression,
+                         info_ptr->text[i].key,
+                         info_ptr->text[i].lang,
+                         info_ptr->text[i].lang_key,
+                         info_ptr->text[i].text);
+#else
+          png_warning(png_ptr, "Unable to write international text");
+#endif
+          /* Mark this chunk as written */
+          info_ptr->text[i].compression = PNG_TEXT_COMPRESSION_NONE_WR;
+      }
+      /* If we want a compressed text chunk */
+      else if (info_ptr->text[i].compression == PNG_TEXT_COMPRESSION_zTXt)
+      {
+#if defined(PNG_WRITE_zTXt_SUPPORTED)
+         /* Write compressed chunk */
+         png_write_zTXt(png_ptr, info_ptr->text[i].key,
+            info_ptr->text[i].text, 0,
+            info_ptr->text[i].compression);
+#else
+         png_warning(png_ptr, "Unable to write compressed text");
+#endif
+         /* Mark this chunk as written */
+         info_ptr->text[i].compression = PNG_TEXT_COMPRESSION_zTXt_WR;
+      }
+      else if (info_ptr->text[i].compression == PNG_TEXT_COMPRESSION_NONE)
+      {
+#if defined(PNG_WRITE_tEXt_SUPPORTED)
+         /* Write uncompressed chunk */
+         png_write_tEXt(png_ptr, info_ptr->text[i].key,
+                         info_ptr->text[i].text,
+                         0);
+         /* Mark this chunk as written */
+         info_ptr->text[i].compression = PNG_TEXT_COMPRESSION_NONE_WR;
+#else
+         /* Can't get here */
+         png_warning(png_ptr, "Unable to write uncompressed text");
+#endif
+      }
+   }
+#endif /* tEXt */
+
+#if defined(PNG_WRITE_UNKNOWN_CHUNKS_SUPPORTED)
+   if (info_ptr->unknown_chunks_num)
+   {
+       png_unknown_chunk *up;
+
+       png_debug(5, "writing extra chunks");
+
+       for (up = info_ptr->unknown_chunks;
+            up < info_ptr->unknown_chunks + info_ptr->unknown_chunks_num;
+            up++)
+       {
+         int keep=png_handle_as_unknown(png_ptr, up->name);
+         if (keep != PNG_HANDLE_CHUNK_NEVER &&
+            up->location && (up->location & PNG_HAVE_PLTE) &&
+            !(up->location & PNG_HAVE_IDAT) &&
+            ((up->name[3] & 0x20) || keep == PNG_HANDLE_CHUNK_ALWAYS ||
+            (png_ptr->flags & PNG_FLAG_KEEP_UNSAFE_CHUNKS)))
+         {
+            png_write_chunk(png_ptr, up->name, up->data, up->size);
+         }
+       }
+   }
+#endif
+}
+
+/* Writes the end of the PNG file.  If you don't want to write comments or
+ * time information, you can pass NULL for info.  If you already wrote these
+ * in png_write_info(), do not write them again here.  If you have long
+ * comments, I suggest writing them here, and compressing them.
+ */
+void PNGAPI
+png_write_end(png_structp png_ptr, png_infop info_ptr)
+{
+   png_debug(1, "in png_write_end");
+   if (png_ptr == NULL)
+      return;
+   if (!(png_ptr->mode & PNG_HAVE_IDAT))
+      png_error(png_ptr, "No IDATs written into file");
+
+   /* See if user wants us to write information chunks */
+   if (info_ptr != NULL)
+   {
+#if defined(PNG_WRITE_TEXT_SUPPORTED)
+      int i; /* Local index variable */
+#endif
+#if defined(PNG_WRITE_tIME_SUPPORTED)
+      /* Check to see if user has supplied a time chunk */
+      if ((info_ptr->valid & PNG_INFO_tIME) &&
+         !(png_ptr->mode & PNG_WROTE_tIME))
+         png_write_tIME(png_ptr, &(info_ptr->mod_time));
+#endif
+#if defined(PNG_WRITE_TEXT_SUPPORTED)
+      /* Loop through comment chunks */
+      for (i = 0; i < info_ptr->num_text; i++)
+      {
+         png_debug2(2, "Writing trailer text chunk %d, type %d", i,
+            info_ptr->text[i].compression);
+         /* An internationalized chunk? */
+         if (info_ptr->text[i].compression > 0)
+         {
+#if defined(PNG_WRITE_iTXt_SUPPORTED)
+             /* Write international chunk */
+             png_write_iTXt(png_ptr,
+                         info_ptr->text[i].compression,
+                         info_ptr->text[i].key,
+                         info_ptr->text[i].lang,
+                         info_ptr->text[i].lang_key,
+                         info_ptr->text[i].text);
+#else
+             png_warning(png_ptr, "Unable to write international text");
+#endif
+             /* Mark this chunk as written */
+             info_ptr->text[i].compression = PNG_TEXT_COMPRESSION_NONE_WR;
+         }
+         else if (info_ptr->text[i].compression >= PNG_TEXT_COMPRESSION_zTXt)
+         {
+#if defined(PNG_WRITE_zTXt_SUPPORTED)
+            /* Write compressed chunk */
+            png_write_zTXt(png_ptr, info_ptr->text[i].key,
+               info_ptr->text[i].text, 0,
+               info_ptr->text[i].compression);
+#else
+            png_warning(png_ptr, "Unable to write compressed text");
+#endif
+            /* Mark this chunk as written */
+            info_ptr->text[i].compression = PNG_TEXT_COMPRESSION_zTXt_WR;
+         }
+         else if (info_ptr->text[i].compression == PNG_TEXT_COMPRESSION_NONE)
+         {
+#if defined(PNG_WRITE_tEXt_SUPPORTED)
+            /* Write uncompressed chunk */
+            png_write_tEXt(png_ptr, info_ptr->text[i].key,
+               info_ptr->text[i].text, 0);
+#else
+            png_warning(png_ptr, "Unable to write uncompressed text");
+#endif
+
+            /* Mark this chunk as written */
+            info_ptr->text[i].compression = PNG_TEXT_COMPRESSION_NONE_WR;
+         }
+      }
+#endif
+#if defined(PNG_WRITE_UNKNOWN_CHUNKS_SUPPORTED)
+   if (info_ptr->unknown_chunks_num)
+   {
+       png_unknown_chunk *up;
+
+       png_debug(5, "writing extra chunks");
+
+       for (up = info_ptr->unknown_chunks;
+            up < info_ptr->unknown_chunks + info_ptr->unknown_chunks_num;
+            up++)
+       {
+         int keep=png_handle_as_unknown(png_ptr, up->name);
+         if (keep != PNG_HANDLE_CHUNK_NEVER &&
+            up->location && (up->location & PNG_AFTER_IDAT) &&
+            ((up->name[3] & 0x20) || keep == PNG_HANDLE_CHUNK_ALWAYS ||
+            (png_ptr->flags & PNG_FLAG_KEEP_UNSAFE_CHUNKS)))
+         {
+            png_write_chunk(png_ptr, up->name, up->data, up->size);
+         }
+       }
+   }
+#endif
+   }
+
+   png_ptr->mode |= PNG_AFTER_IDAT;
+
+   /* Write end of PNG file */
+   png_write_IEND(png_ptr);
+   /* This flush, added in libpng-1.0.8, removed from libpng-1.0.9beta03,
+    * and restored again in libpng-1.2.30, may cause some applications that
+    * do not set png_ptr->output_flush_fn to crash.  If your application
+    * experiences a problem, please try building libpng with
+    * PNG_WRITE_FLUSH_AFTER_IEND_SUPPORTED defined, and report the event to
+    * png-mng-implement at lists.sf.net .  This kludge will be removed
+    * from libpng-1.4.0.
+    */
+#if defined(PNG_WRITE_FLUSH_SUPPORTED) && \
+    defined(PNG_WRITE_FLUSH_AFTER_IEND_SUPPORTED)
+   png_flush(png_ptr);
+#endif
+}
+
+#if defined(PNG_WRITE_tIME_SUPPORTED)
+#if !defined(_WIN32_WCE)
+/* "time.h" functions are not supported on WindowsCE */
+void PNGAPI
+png_convert_from_struct_tm(png_timep ptime, struct tm FAR * ttime)
+{
+   png_debug(1, "in png_convert_from_struct_tm");
+   ptime->year = (png_uint_16)(1900 + ttime->tm_year);
+   ptime->month = (png_byte)(ttime->tm_mon + 1);
+   ptime->day = (png_byte)ttime->tm_mday;
+   ptime->hour = (png_byte)ttime->tm_hour;
+   ptime->minute = (png_byte)ttime->tm_min;
+   ptime->second = (png_byte)ttime->tm_sec;
+}
+
+void PNGAPI
+png_convert_from_time_t(png_timep ptime, time_t ttime)
+{
+   struct tm *tbuf;
+
+   png_debug(1, "in png_convert_from_time_t");
+   tbuf = gmtime(&ttime);
+   png_convert_from_struct_tm(ptime, tbuf);
+}
+#endif
+#endif
+
+/* Initialize png_ptr structure, and allocate any memory needed */
+png_structp PNGAPI
+png_create_write_struct(png_const_charp user_png_ver, png_voidp error_ptr,
+   png_error_ptr error_fn, png_error_ptr warn_fn)
+{
+#ifdef PNG_USER_MEM_SUPPORTED
+   return (png_create_write_struct_2(user_png_ver, error_ptr, error_fn,
+      warn_fn, png_voidp_NULL, png_malloc_ptr_NULL, png_free_ptr_NULL));
+}
+
+/* Alternate initialize png_ptr structure, and allocate any memory needed */
+png_structp PNGAPI
+png_create_write_struct_2(png_const_charp user_png_ver, png_voidp error_ptr,
+   png_error_ptr error_fn, png_error_ptr warn_fn, png_voidp mem_ptr,
+   png_malloc_ptr malloc_fn, png_free_ptr free_fn)
+{
+#endif /* PNG_USER_MEM_SUPPORTED */
+#ifdef PNG_SETJMP_SUPPORTED
+    volatile
+#endif
+    png_structp png_ptr;
+#ifdef PNG_SETJMP_SUPPORTED
+#ifdef USE_FAR_KEYWORD
+   jmp_buf jmpbuf;
+#endif
+#endif
+   int i;
+   png_debug(1, "in png_create_write_struct");
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_ptr = (png_structp)png_create_struct_2(PNG_STRUCT_PNG,
+      (png_malloc_ptr)malloc_fn, (png_voidp)mem_ptr);
+#else
+   png_ptr = (png_structp)png_create_struct(PNG_STRUCT_PNG);
+#endif /* PNG_USER_MEM_SUPPORTED */
+   if (png_ptr == NULL)
+      return (NULL);
+
+   /* Added at libpng-1.2.6 */
+#ifdef PNG_SET_USER_LIMITS_SUPPORTED
+   png_ptr->user_width_max=PNG_USER_WIDTH_MAX;
+   png_ptr->user_height_max=PNG_USER_HEIGHT_MAX;
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+#ifdef USE_FAR_KEYWORD
+   if (setjmp(jmpbuf))
+#else
+   if (setjmp(png_ptr->jmpbuf))
+#endif
+   {
+      png_free(png_ptr, png_ptr->zbuf);
+       png_ptr->zbuf=NULL;
+      png_destroy_struct(png_ptr);
+      return (NULL);
+   }
+#ifdef USE_FAR_KEYWORD
+   png_memcpy(png_ptr->jmpbuf, jmpbuf, png_sizeof(jmp_buf));
+#endif
+#endif
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_set_mem_fn(png_ptr, mem_ptr, malloc_fn, free_fn);
+#endif /* PNG_USER_MEM_SUPPORTED */
+   png_set_error_fn(png_ptr, error_ptr, error_fn, warn_fn);
+
+   if (user_png_ver)
+   {
+     i=0;
+     do
+     {
+       if (user_png_ver[i] != png_libpng_ver[i])
+          png_ptr->flags |= PNG_FLAG_LIBRARY_MISMATCH;
+     } while (png_libpng_ver[i++]);
+   }
+
+   if (png_ptr->flags & PNG_FLAG_LIBRARY_MISMATCH)
+   {
+     /* Libpng 0.90 and later are binary incompatible with libpng 0.89, so
+      * we must recompile any applications that use any older library version.
+      * For versions after libpng 1.0, we will be compatible, so we need
+      * only check the first digit.
+      */
+     if (user_png_ver == NULL || user_png_ver[0] != png_libpng_ver[0] ||
+         (user_png_ver[0] == '1' && user_png_ver[2] != png_libpng_ver[2]) ||
+         (user_png_ver[0] == '0' && user_png_ver[2] < '9'))
+     {
+#if !defined(PNG_NO_STDIO) && !defined(_WIN32_WCE)
+        char msg[80];
+        if (user_png_ver)
+        {
+          png_snprintf(msg, 80,
+             "Application was compiled with png.h from libpng-%.20s",
+             user_png_ver);
+          png_warning(png_ptr, msg);
+        }
+        png_snprintf(msg, 80,
+           "Application  is  running with png.c from libpng-%.20s",
+           png_libpng_ver);
+        png_warning(png_ptr, msg);
+#endif
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+        png_ptr->flags=0;
+#endif
+        png_error(png_ptr,
+           "Incompatible libpng version in application and library");
+     }
+   }
+
+   /* Initialize zbuf - compression buffer */
+   png_ptr->zbuf_size = PNG_ZBUF_SIZE;
+   png_ptr->zbuf = (png_bytep)png_malloc(png_ptr,
+      (png_uint_32)png_ptr->zbuf_size);
+
+   png_set_write_fn(png_ptr, png_voidp_NULL, png_rw_ptr_NULL,
+      png_flush_ptr_NULL);
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+   png_set_filter_heuristics(png_ptr, PNG_FILTER_HEURISTIC_DEFAULT,
+      1, png_doublep_NULL, png_doublep_NULL);
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+/* Applications that neglect to set up their own setjmp() and then encounter
+   a png_error() will longjmp here.  Since the jmpbuf is then meaningless we
+   abort instead of returning. */
+#ifdef USE_FAR_KEYWORD
+   if (setjmp(jmpbuf))
+      PNG_ABORT();
+   png_memcpy(png_ptr->jmpbuf, jmpbuf, png_sizeof(jmp_buf));
+#else
+   if (setjmp(png_ptr->jmpbuf))
+      PNG_ABORT();
+#endif
+#endif
+   return (png_ptr);
+}
+
+/* Initialize png_ptr structure, and allocate any memory needed */
+#if defined(PNG_1_0_X) || defined(PNG_1_2_X)
+/* Deprecated. */
+#undef png_write_init
+void PNGAPI
+png_write_init(png_structp png_ptr)
+{
+   /* We only come here via pre-1.0.7-compiled applications */
+   png_write_init_2(png_ptr, "1.0.6 or earlier", 0, 0);
+}
+
+void PNGAPI
+png_write_init_2(png_structp png_ptr, png_const_charp user_png_ver,
+   png_size_t png_struct_size, png_size_t png_info_size)
+{
+   /* We only come here via pre-1.0.12-compiled applications */
+   if (png_ptr == NULL) return;
+#if !defined(PNG_NO_STDIO) && !defined(_WIN32_WCE)
+   if (png_sizeof(png_struct) > png_struct_size ||
+      png_sizeof(png_info) > png_info_size)
+   {
+      char msg[80];
+      png_ptr->warning_fn=NULL;
+      if (user_png_ver)
+      {
+        png_snprintf(msg, 80,
+           "Application was compiled with png.h from libpng-%.20s",
+           user_png_ver);
+        png_warning(png_ptr, msg);
+      }
+      png_snprintf(msg, 80,
+         "Application  is  running with png.c from libpng-%.20s",
+         png_libpng_ver);
+      png_warning(png_ptr, msg);
+   }
+#endif
+   if (png_sizeof(png_struct) > png_struct_size)
+     {
+       png_ptr->error_fn=NULL;
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+       png_ptr->flags=0;
+#endif
+       png_error(png_ptr,
+       "The png struct allocated by the application for writing is too small.");
+     }
+   if (png_sizeof(png_info) > png_info_size)
+     {
+       png_ptr->error_fn=NULL;
+#ifdef PNG_ERROR_NUMBERS_SUPPORTED
+       png_ptr->flags=0;
+#endif
+       png_error(png_ptr,
+       "The info struct allocated by the application for writing is too small.");
+     }
+   png_write_init_3(&png_ptr, user_png_ver, png_struct_size);
+}
+#endif /* PNG_1_0_X || PNG_1_2_X */
+
+
+void PNGAPI
+png_write_init_3(png_structpp ptr_ptr, png_const_charp user_png_ver,
+   png_size_t png_struct_size)
+{
+   png_structp png_ptr=*ptr_ptr;
+#ifdef PNG_SETJMP_SUPPORTED
+   jmp_buf tmp_jmp; /* To save current jump buffer */
+#endif
+
+   int i = 0;
+
+   if (png_ptr == NULL)
+      return;
+
+   do
+   {
+     if (user_png_ver[i] != png_libpng_ver[i])
+     {
+#ifdef PNG_LEGACY_SUPPORTED
+       png_ptr->flags |= PNG_FLAG_LIBRARY_MISMATCH;
+#else
+       png_ptr->warning_fn=NULL;
+       png_warning(png_ptr,
+ "Application uses deprecated png_write_init() and should be recompiled.");
+       break;
+#endif
+     }
+   } while (png_libpng_ver[i++]);
+
+   png_debug(1, "in png_write_init_3");
+
+#ifdef PNG_SETJMP_SUPPORTED
+   /* Save jump buffer and error functions */
+   png_memcpy(tmp_jmp, png_ptr->jmpbuf, png_sizeof(jmp_buf));
+#endif
+
+   if (png_sizeof(png_struct) > png_struct_size)
+     {
+       png_destroy_struct(png_ptr);
+       png_ptr = (png_structp)png_create_struct(PNG_STRUCT_PNG);
+       *ptr_ptr = png_ptr;
+     }
+
+   /* Reset all variables to 0 */
+   png_memset(png_ptr, 0, png_sizeof(png_struct));
+
+   /* Added at libpng-1.2.6 */
+#ifdef PNG_SET_USER_LIMITS_SUPPORTED
+   png_ptr->user_width_max=PNG_USER_WIDTH_MAX;
+   png_ptr->user_height_max=PNG_USER_HEIGHT_MAX;
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+   /* Restore jump buffer */
+   png_memcpy(png_ptr->jmpbuf, tmp_jmp, png_sizeof(jmp_buf));
+#endif
+
+   png_set_write_fn(png_ptr, png_voidp_NULL, png_rw_ptr_NULL,
+      png_flush_ptr_NULL);
+
+   /* Initialize zbuf - compression buffer */
+   png_ptr->zbuf_size = PNG_ZBUF_SIZE;
+   png_ptr->zbuf = (png_bytep)png_malloc(png_ptr,
+      (png_uint_32)png_ptr->zbuf_size);
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+   png_set_filter_heuristics(png_ptr, PNG_FILTER_HEURISTIC_DEFAULT,
+      1, png_doublep_NULL, png_doublep_NULL);
+#endif
+}
+
+/* Write a few rows of image data.  If the image is interlaced,
+ * either you will have to write the 7 sub images, or, if you
+ * have called png_set_interlace_handling(), you will have to
+ * "write" the image seven times.
+ */
+void PNGAPI
+png_write_rows(png_structp png_ptr, png_bytepp row,
+   png_uint_32 num_rows)
+{
+   png_uint_32 i; /* Row counter */
+   png_bytepp rp; /* Row pointer */
+
+   png_debug(1, "in png_write_rows");
+
+   if (png_ptr == NULL)
+      return;
+
+   /* Loop through the rows */
+   for (i = 0, rp = row; i < num_rows; i++, rp++)
+   {
+      png_write_row(png_ptr, *rp);
+   }
+}
+
+/* Write the image.  You only need to call this function once, even
+ * if you are writing an interlaced image.
+ */
+void PNGAPI
+png_write_image(png_structp png_ptr, png_bytepp image)
+{
+   png_uint_32 i; /* Row index */
+   int pass, num_pass; /* Pass variables */
+   png_bytepp rp; /* Points to current row */
+
+   if (png_ptr == NULL)
+      return;
+
+   png_debug(1, "in png_write_image");
+#if defined(PNG_WRITE_INTERLACING_SUPPORTED)
+   /* Initialize interlace handling.  If image is not interlaced,
+    * this will set pass to 1
+    */
+   num_pass = png_set_interlace_handling(png_ptr);
+#else
+   num_pass = 1;
+#endif
+   /* Loop through passes */
+   for (pass = 0; pass < num_pass; pass++)
+   {
+      /* Loop through image */
+      for (i = 0, rp = image; i < png_ptr->height; i++, rp++)
+      {
+         png_write_row(png_ptr, *rp);
+      }
+   }
+}
+
+/* Called by user to write a row of image data */
+void PNGAPI
+png_write_row(png_structp png_ptr, png_bytep row)
+{
+   if (png_ptr == NULL)
+      return;
+   png_debug2(1, "in png_write_row (row %ld, pass %d)",
+      png_ptr->row_number, png_ptr->pass);
+
+   /* Initialize transformations and other stuff if first time */
+   if (png_ptr->row_number == 0 && png_ptr->pass == 0)
+   {
+      /* Make sure we wrote the header info */
+      if (!(png_ptr->mode & PNG_WROTE_INFO_BEFORE_PLTE))
+         png_error(png_ptr,
+            "png_write_info was never called before png_write_row.");
+
+      /* Check for transforms that have been set but were defined out */
+#if !defined(PNG_WRITE_INVERT_SUPPORTED) && defined(PNG_READ_INVERT_SUPPORTED)
+      if (png_ptr->transformations & PNG_INVERT_MONO)
+         png_warning(png_ptr, "PNG_WRITE_INVERT_SUPPORTED is not defined.");
+#endif
+#if !defined(PNG_WRITE_FILLER_SUPPORTED) && defined(PNG_READ_FILLER_SUPPORTED)
+      if (png_ptr->transformations & PNG_FILLER)
+         png_warning(png_ptr, "PNG_WRITE_FILLER_SUPPORTED is not defined.");
+#endif
+#if !defined(PNG_WRITE_PACKSWAP_SUPPORTED) && defined(PNG_READ_PACKSWAP_SUPPORTED)
+      if (png_ptr->transformations & PNG_PACKSWAP)
+         png_warning(png_ptr, "PNG_WRITE_PACKSWAP_SUPPORTED is not defined.");
+#endif
+#if !defined(PNG_WRITE_PACK_SUPPORTED) && defined(PNG_READ_PACK_SUPPORTED)
+      if (png_ptr->transformations & PNG_PACK)
+         png_warning(png_ptr, "PNG_WRITE_PACK_SUPPORTED is not defined.");
+#endif
+#if !defined(PNG_WRITE_SHIFT_SUPPORTED) && defined(PNG_READ_SHIFT_SUPPORTED)
+      if (png_ptr->transformations & PNG_SHIFT)
+         png_warning(png_ptr, "PNG_WRITE_SHIFT_SUPPORTED is not defined.");
+#endif
+#if !defined(PNG_WRITE_BGR_SUPPORTED) && defined(PNG_READ_BGR_SUPPORTED)
+      if (png_ptr->transformations & PNG_BGR)
+         png_warning(png_ptr, "PNG_WRITE_BGR_SUPPORTED is not defined.");
+#endif
+#if !defined(PNG_WRITE_SWAP_SUPPORTED) && defined(PNG_READ_SWAP_SUPPORTED)
+      if (png_ptr->transformations & PNG_SWAP_BYTES)
+         png_warning(png_ptr, "PNG_WRITE_SWAP_SUPPORTED is not defined.");
+#endif
+
+      png_write_start_row(png_ptr);
+   }
+
+#if defined(PNG_WRITE_INTERLACING_SUPPORTED)
+   /* If interlaced and not interested in row, return */
+   if (png_ptr->interlaced && (png_ptr->transformations & PNG_INTERLACE))
+   {
+      switch (png_ptr->pass)
+      {
+         case 0:
+            if (png_ptr->row_number & 0x07)
+            {
+               png_write_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 1:
+            if ((png_ptr->row_number & 0x07) || png_ptr->width < 5)
+            {
+               png_write_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 2:
+            if ((png_ptr->row_number & 0x07) != 4)
+            {
+               png_write_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 3:
+            if ((png_ptr->row_number & 0x03) || png_ptr->width < 3)
+            {
+               png_write_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 4:
+            if ((png_ptr->row_number & 0x03) != 2)
+            {
+               png_write_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 5:
+            if ((png_ptr->row_number & 0x01) || png_ptr->width < 2)
+            {
+               png_write_finish_row(png_ptr);
+               return;
+            }
+            break;
+         case 6:
+            if (!(png_ptr->row_number & 0x01))
+            {
+               png_write_finish_row(png_ptr);
+               return;
+            }
+            break;
+      }
+   }
+#endif
+
+   /* Set up row info for transformations */
+   png_ptr->row_info.color_type = png_ptr->color_type;
+   png_ptr->row_info.width = png_ptr->usr_width;
+   png_ptr->row_info.channels = png_ptr->usr_channels;
+   png_ptr->row_info.bit_depth = png_ptr->usr_bit_depth;
+   png_ptr->row_info.pixel_depth = (png_byte)(png_ptr->row_info.bit_depth *
+      png_ptr->row_info.channels);
+
+   png_ptr->row_info.rowbytes = PNG_ROWBYTES(png_ptr->row_info.pixel_depth,
+      png_ptr->row_info.width);
+
+   png_debug1(3, "row_info->color_type = %d", png_ptr->row_info.color_type);
+   png_debug1(3, "row_info->width = %lu", png_ptr->row_info.width);
+   png_debug1(3, "row_info->channels = %d", png_ptr->row_info.channels);
+   png_debug1(3, "row_info->bit_depth = %d", png_ptr->row_info.bit_depth);
+   png_debug1(3, "row_info->pixel_depth = %d", png_ptr->row_info.pixel_depth);
+   png_debug1(3, "row_info->rowbytes = %lu", png_ptr->row_info.rowbytes);
+
+   /* Copy user's row into buffer, leaving room for filter byte. */
+   png_memcpy_check(png_ptr, png_ptr->row_buf + 1, row,
+      png_ptr->row_info.rowbytes);
+
+#if defined(PNG_WRITE_INTERLACING_SUPPORTED)
+   /* Handle interlacing */
+   if (png_ptr->interlaced && png_ptr->pass < 6 &&
+      (png_ptr->transformations & PNG_INTERLACE))
+   {
+      png_do_write_interlace(&(png_ptr->row_info),
+         png_ptr->row_buf + 1, png_ptr->pass);
+      /* This should always get caught above, but still ... */
+      if (!(png_ptr->row_info.width))
+      {
+         png_write_finish_row(png_ptr);
+         return;
+      }
+   }
+#endif
+
+   /* Handle other transformations */
+   if (png_ptr->transformations)
+      png_do_write_transformations(png_ptr);
+
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+   /* Write filter_method 64 (intrapixel differencing) only if
+    * 1. Libpng was compiled with PNG_MNG_FEATURES_SUPPORTED and
+    * 2. Libpng did not write a PNG signature (this filter_method is only
+    *    used in PNG datastreams that are embedded in MNG datastreams) and
+    * 3. The application called png_permit_mng_features with a mask that
+    *    included PNG_FLAG_MNG_FILTER_64 and
+    * 4. The filter_method is 64 and
+    * 5. The color_type is RGB or RGBA
+    */
+   if ((png_ptr->mng_features_permitted & PNG_FLAG_MNG_FILTER_64) &&
+      (png_ptr->filter_type == PNG_INTRAPIXEL_DIFFERENCING))
+   {
+      /* Intrapixel differencing */
+      png_do_write_intrapixel(&(png_ptr->row_info), png_ptr->row_buf + 1);
+   }
+#endif
+
+   /* Find a filter if necessary, filter the row and write it out. */
+   png_write_find_filter(png_ptr, &(png_ptr->row_info));
+
+   if (png_ptr->write_row_fn != NULL)
+      (*(png_ptr->write_row_fn))(png_ptr, png_ptr->row_number, png_ptr->pass);
+}
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+/* Set the automatic flush interval or 0 to turn flushing off */
+void PNGAPI
+png_set_flush(png_structp png_ptr, int nrows)
+{
+   png_debug(1, "in png_set_flush");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->flush_dist = (nrows < 0 ? 0 : nrows);
+}
+
+/* Flush the current output buffers now */
+void PNGAPI
+png_write_flush(png_structp png_ptr)
+{
+   int wrote_IDAT;
+
+   png_debug(1, "in png_write_flush");
+   if (png_ptr == NULL)
+      return;
+   /* We have already written out all of the data */
+   if (png_ptr->row_number >= png_ptr->num_rows)
+      return;
+
+   do
+   {
+      int ret;
+
+      /* Compress the data */
+      ret = deflate(&png_ptr->zstream, Z_SYNC_FLUSH);
+      wrote_IDAT = 0;
+
+      /* Check for compression errors */
+      if (ret != Z_OK)
+      {
+         if (png_ptr->zstream.msg != NULL)
+            png_error(png_ptr, png_ptr->zstream.msg);
+         else
+            png_error(png_ptr, "zlib error");
+      }
+
+      if (!(png_ptr->zstream.avail_out))
+      {
+         /* Write the IDAT and reset the zlib output buffer */
+         png_write_IDAT(png_ptr, png_ptr->zbuf,
+                        png_ptr->zbuf_size);
+         png_ptr->zstream.next_out = png_ptr->zbuf;
+         png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+         wrote_IDAT = 1;
+      }
+   } while(wrote_IDAT == 1);
+
+   /* If there is any data left to be output, write it into a new IDAT */
+   if (png_ptr->zbuf_size != png_ptr->zstream.avail_out)
+   {
+      /* Write the IDAT and reset the zlib output buffer */
+      png_write_IDAT(png_ptr, png_ptr->zbuf,
+                     png_ptr->zbuf_size - png_ptr->zstream.avail_out);
+      png_ptr->zstream.next_out = png_ptr->zbuf;
+      png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+   }
+   png_ptr->flush_rows = 0;
+   png_flush(png_ptr);
+}
+#endif /* PNG_WRITE_FLUSH_SUPPORTED */
+
+/* Free all memory used by the write */
+void PNGAPI
+png_destroy_write_struct(png_structpp png_ptr_ptr, png_infopp info_ptr_ptr)
+{
+   png_structp png_ptr = NULL;
+   png_infop info_ptr = NULL;
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_free_ptr free_fn = NULL;
+   png_voidp mem_ptr = NULL;
+#endif
+
+   png_debug(1, "in png_destroy_write_struct");
+   if (png_ptr_ptr != NULL)
+   {
+      png_ptr = *png_ptr_ptr;
+#ifdef PNG_USER_MEM_SUPPORTED
+      free_fn = png_ptr->free_fn;
+      mem_ptr = png_ptr->mem_ptr;
+#endif
+   }
+
+#ifdef PNG_USER_MEM_SUPPORTED
+   if (png_ptr != NULL)
+   {
+      free_fn = png_ptr->free_fn;
+      mem_ptr = png_ptr->mem_ptr;
+   }
+#endif
+
+   if (info_ptr_ptr != NULL)
+      info_ptr = *info_ptr_ptr;
+
+   if (info_ptr != NULL)
+   {
+      if (png_ptr != NULL)
+      {
+        png_free_data(png_ptr, info_ptr, PNG_FREE_ALL, -1);
+
+#if defined(PNG_UNKNOWN_CHUNKS_SUPPORTED)
+        if (png_ptr->num_chunk_list)
+        {
+           png_free(png_ptr, png_ptr->chunk_list);
+           png_ptr->chunk_list=NULL;
+           png_ptr->num_chunk_list = 0;
+        }
+#endif
+      }
+
+#ifdef PNG_USER_MEM_SUPPORTED
+      png_destroy_struct_2((png_voidp)info_ptr, (png_free_ptr)free_fn,
+         (png_voidp)mem_ptr);
+#else
+      png_destroy_struct((png_voidp)info_ptr);
+#endif
+      *info_ptr_ptr = NULL;
+   }
+
+   if (png_ptr != NULL)
+   {
+      png_write_destroy(png_ptr);
+#ifdef PNG_USER_MEM_SUPPORTED
+      png_destroy_struct_2((png_voidp)png_ptr, (png_free_ptr)free_fn,
+         (png_voidp)mem_ptr);
+#else
+      png_destroy_struct((png_voidp)png_ptr);
+#endif
+      *png_ptr_ptr = NULL;
+   }
+}
+
+
+/* Free any memory used in png_ptr struct (old method) */
+void /* PRIVATE */
+png_write_destroy(png_structp png_ptr)
+{
+#ifdef PNG_SETJMP_SUPPORTED
+   jmp_buf tmp_jmp; /* Save jump buffer */
+#endif
+   png_error_ptr error_fn;
+   png_error_ptr warning_fn;
+   png_voidp error_ptr;
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_free_ptr free_fn;
+#endif
+
+   png_debug(1, "in png_write_destroy");
+   /* Free any memory zlib uses */
+   deflateEnd(&png_ptr->zstream);
+
+   /* Free our memory.  png_free checks NULL for us. */
+   png_free(png_ptr, png_ptr->zbuf);
+   png_free(png_ptr, png_ptr->row_buf);
+#ifndef PNG_NO_WRITE_FILTER
+   png_free(png_ptr, png_ptr->prev_row);
+   png_free(png_ptr, png_ptr->sub_row);
+   png_free(png_ptr, png_ptr->up_row);
+   png_free(png_ptr, png_ptr->avg_row);
+   png_free(png_ptr, png_ptr->paeth_row);
+#endif
+
+#if defined(PNG_TIME_RFC1123_SUPPORTED)
+   png_free(png_ptr, png_ptr->time_buffer);
+#endif
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+   png_free(png_ptr, png_ptr->prev_filters);
+   png_free(png_ptr, png_ptr->filter_weights);
+   png_free(png_ptr, png_ptr->inv_filter_weights);
+   png_free(png_ptr, png_ptr->filter_costs);
+   png_free(png_ptr, png_ptr->inv_filter_costs);
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+   /* Reset structure */
+   png_memcpy(tmp_jmp, png_ptr->jmpbuf, png_sizeof(jmp_buf));
+#endif
+
+   error_fn = png_ptr->error_fn;
+   warning_fn = png_ptr->warning_fn;
+   error_ptr = png_ptr->error_ptr;
+#ifdef PNG_USER_MEM_SUPPORTED
+   free_fn = png_ptr->free_fn;
+#endif
+
+   png_memset(png_ptr, 0, png_sizeof(png_struct));
+
+   png_ptr->error_fn = error_fn;
+   png_ptr->warning_fn = warning_fn;
+   png_ptr->error_ptr = error_ptr;
+#ifdef PNG_USER_MEM_SUPPORTED
+   png_ptr->free_fn = free_fn;
+#endif
+
+#ifdef PNG_SETJMP_SUPPORTED
+   png_memcpy(png_ptr->jmpbuf, tmp_jmp, png_sizeof(jmp_buf));
+#endif
+}
+
+/* Allow the application to select one or more row filters to use. */
+void PNGAPI
+png_set_filter(png_structp png_ptr, int method, int filters)
+{
+   png_debug(1, "in png_set_filter");
+   if (png_ptr == NULL)
+      return;
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+   if ((png_ptr->mng_features_permitted & PNG_FLAG_MNG_FILTER_64) &&
+      (method == PNG_INTRAPIXEL_DIFFERENCING))
+         method = PNG_FILTER_TYPE_BASE;
+#endif
+   if (method == PNG_FILTER_TYPE_BASE)
+   {
+      switch (filters & (PNG_ALL_FILTERS | 0x07))
+      {
+#ifndef PNG_NO_WRITE_FILTER
+         case 5:
+         case 6:
+         case 7: png_warning(png_ptr, "Unknown row filter for method 0");
+#endif /* PNG_NO_WRITE_FILTER */
+         case PNG_FILTER_VALUE_NONE:
+              png_ptr->do_filter=PNG_FILTER_NONE; break;
+#ifndef PNG_NO_WRITE_FILTER
+         case PNG_FILTER_VALUE_SUB:
+              png_ptr->do_filter=PNG_FILTER_SUB; break;
+         case PNG_FILTER_VALUE_UP:
+              png_ptr->do_filter=PNG_FILTER_UP; break;
+         case PNG_FILTER_VALUE_AVG:
+              png_ptr->do_filter=PNG_FILTER_AVG; break;
+         case PNG_FILTER_VALUE_PAETH:
+              png_ptr->do_filter=PNG_FILTER_PAETH; break;
+         default: png_ptr->do_filter = (png_byte)filters; break;
+#else
+         default: png_warning(png_ptr, "Unknown row filter for method 0");
+#endif /* PNG_NO_WRITE_FILTER */
+      }
+
+      /* If we have allocated the row_buf, this means we have already started
+       * with the image and we should have allocated all of the filter buffers
+       * that have been selected.  If prev_row isn't already allocated, then
+       * it is too late to start using the filters that need it, since we
+       * will be missing the data in the previous row.  If an application
+       * wants to start and stop using particular filters during compression,
+       * it should start out with all of the filters, and then add and
+       * remove them after the start of compression.
+       */
+      if (png_ptr->row_buf != NULL)
+      {
+#ifndef PNG_NO_WRITE_FILTER
+         if ((png_ptr->do_filter & PNG_FILTER_SUB) && png_ptr->sub_row == NULL)
+         {
+            png_ptr->sub_row = (png_bytep)png_malloc(png_ptr,
+              (png_ptr->rowbytes + 1));
+            png_ptr->sub_row[0] = PNG_FILTER_VALUE_SUB;
+         }
+
+         if ((png_ptr->do_filter & PNG_FILTER_UP) && png_ptr->up_row == NULL)
+         {
+            if (png_ptr->prev_row == NULL)
+            {
+               png_warning(png_ptr, "Can't add Up filter after starting");
+               png_ptr->do_filter &= ~PNG_FILTER_UP;
+            }
+            else
+            {
+               png_ptr->up_row = (png_bytep)png_malloc(png_ptr,
+                  (png_ptr->rowbytes + 1));
+               png_ptr->up_row[0] = PNG_FILTER_VALUE_UP;
+            }
+         }
+
+         if ((png_ptr->do_filter & PNG_FILTER_AVG) && png_ptr->avg_row == NULL)
+         {
+            if (png_ptr->prev_row == NULL)
+            {
+               png_warning(png_ptr, "Can't add Average filter after starting");
+               png_ptr->do_filter &= ~PNG_FILTER_AVG;
+            }
+            else
+            {
+               png_ptr->avg_row = (png_bytep)png_malloc(png_ptr,
+                  (png_ptr->rowbytes + 1));
+               png_ptr->avg_row[0] = PNG_FILTER_VALUE_AVG;
+            }
+         }
+
+         if ((png_ptr->do_filter & PNG_FILTER_PAETH) &&
+             png_ptr->paeth_row == NULL)
+         {
+            if (png_ptr->prev_row == NULL)
+            {
+               png_warning(png_ptr, "Can't add Paeth filter after starting");
+               png_ptr->do_filter &= (png_byte)(~PNG_FILTER_PAETH);
+            }
+            else
+            {
+               png_ptr->paeth_row = (png_bytep)png_malloc(png_ptr,
+                  (png_ptr->rowbytes + 1));
+               png_ptr->paeth_row[0] = PNG_FILTER_VALUE_PAETH;
+            }
+         }
+
+         if (png_ptr->do_filter == PNG_NO_FILTERS)
+#endif /* PNG_NO_WRITE_FILTER */
+            png_ptr->do_filter = PNG_FILTER_NONE;
+      }
+   }
+   else
+      png_error(png_ptr, "Unknown custom filter method");
+}
+
+/* This allows us to influence the way in which libpng chooses the "best"
+ * filter for the current scanline.  While the "minimum-sum-of-absolute-
+ * differences metric is relatively fast and effective, there is some
+ * question as to whether it can be improved upon by trying to keep the
+ * filtered data going to zlib more consistent, hopefully resulting in
+ * better compression.
+ */
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)      /* GRR 970116 */
+void PNGAPI
+png_set_filter_heuristics(png_structp png_ptr, int heuristic_method,
+   int num_weights, png_doublep filter_weights,
+   png_doublep filter_costs)
+{
+   int i;
+
+   png_debug(1, "in png_set_filter_heuristics");
+   if (png_ptr == NULL)
+      return;
+   if (heuristic_method >= PNG_FILTER_HEURISTIC_LAST)
+   {
+      png_warning(png_ptr, "Unknown filter heuristic method");
+      return;
+   }
+
+   if (heuristic_method == PNG_FILTER_HEURISTIC_DEFAULT)
+   {
+      heuristic_method = PNG_FILTER_HEURISTIC_UNWEIGHTED;
+   }
+
+   if (num_weights < 0 || filter_weights == NULL ||
+      heuristic_method == PNG_FILTER_HEURISTIC_UNWEIGHTED)
+   {
+      num_weights = 0;
+   }
+
+   png_ptr->num_prev_filters = (png_byte)num_weights;
+   png_ptr->heuristic_method = (png_byte)heuristic_method;
+
+   if (num_weights > 0)
+   {
+      if (png_ptr->prev_filters == NULL)
+      {
+         png_ptr->prev_filters = (png_bytep)png_malloc(png_ptr,
+            (png_uint_32)(png_sizeof(png_byte) * num_weights));
+
+         /* To make sure that the weighting starts out fairly */
+         for (i = 0; i < num_weights; i++)
+         {
+            png_ptr->prev_filters[i] = 255;
+         }
+      }
+
+      if (png_ptr->filter_weights == NULL)
+      {
+         png_ptr->filter_weights = (png_uint_16p)png_malloc(png_ptr,
+            (png_uint_32)(png_sizeof(png_uint_16) * num_weights));
+
+         png_ptr->inv_filter_weights = (png_uint_16p)png_malloc(png_ptr,
+            (png_uint_32)(png_sizeof(png_uint_16) * num_weights));
+         for (i = 0; i < num_weights; i++)
+         {
+            png_ptr->inv_filter_weights[i] =
+            png_ptr->filter_weights[i] = PNG_WEIGHT_FACTOR;
+         }
+      }
+
+      for (i = 0; i < num_weights; i++)
+      {
+         if (filter_weights[i] < 0.0)
+         {
+            png_ptr->inv_filter_weights[i] =
+            png_ptr->filter_weights[i] = PNG_WEIGHT_FACTOR;
+         }
+         else
+         {
+            png_ptr->inv_filter_weights[i] =
+               (png_uint_16)((double)PNG_WEIGHT_FACTOR*filter_weights[i]+0.5);
+            png_ptr->filter_weights[i] =
+               (png_uint_16)((double)PNG_WEIGHT_FACTOR/filter_weights[i]+0.5);
+         }
+      }
+   }
+
+   /* If, in the future, there are other filter methods, this would
+    * need to be based on png_ptr->filter.
+    */
+   if (png_ptr->filter_costs == NULL)
+   {
+      png_ptr->filter_costs = (png_uint_16p)png_malloc(png_ptr,
+         (png_uint_32)(png_sizeof(png_uint_16) * PNG_FILTER_VALUE_LAST));
+
+      png_ptr->inv_filter_costs = (png_uint_16p)png_malloc(png_ptr,
+         (png_uint_32)(png_sizeof(png_uint_16) * PNG_FILTER_VALUE_LAST));
+
+      for (i = 0; i < PNG_FILTER_VALUE_LAST; i++)
+      {
+         png_ptr->inv_filter_costs[i] =
+         png_ptr->filter_costs[i] = PNG_COST_FACTOR;
+      }
+   }
+
+   /* Here is where we set the relative costs of the different filters.  We
+    * should take the desired compression level into account when setting
+    * the costs, so that Paeth, for instance, has a high relative cost at low
+    * compression levels, while it has a lower relative cost at higher
+    * compression settings.  The filter types are in order of increasing
+    * relative cost, so it would be possible to do this with an algorithm.
+    */
+   for (i = 0; i < PNG_FILTER_VALUE_LAST; i++)
+   {
+      if (filter_costs == NULL || filter_costs[i] < 0.0)
+      {
+         png_ptr->inv_filter_costs[i] =
+         png_ptr->filter_costs[i] = PNG_COST_FACTOR;
+      }
+      else if (filter_costs[i] >= 1.0)
+      {
+         png_ptr->inv_filter_costs[i] =
+            (png_uint_16)((double)PNG_COST_FACTOR / filter_costs[i] + 0.5);
+         png_ptr->filter_costs[i] =
+            (png_uint_16)((double)PNG_COST_FACTOR * filter_costs[i] + 0.5);
+      }
+   }
+}
+#endif /* PNG_WRITE_WEIGHTED_FILTER_SUPPORTED */
+
+void PNGAPI
+png_set_compression_level(png_structp png_ptr, int level)
+{
+   png_debug(1, "in png_set_compression_level");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->flags |= PNG_FLAG_ZLIB_CUSTOM_LEVEL;
+   png_ptr->zlib_level = level;
+}
+
+void PNGAPI
+png_set_compression_mem_level(png_structp png_ptr, int mem_level)
+{
+   png_debug(1, "in png_set_compression_mem_level");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->flags |= PNG_FLAG_ZLIB_CUSTOM_MEM_LEVEL;
+   png_ptr->zlib_mem_level = mem_level;
+}
+
+void PNGAPI
+png_set_compression_strategy(png_structp png_ptr, int strategy)
+{
+   png_debug(1, "in png_set_compression_strategy");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->flags |= PNG_FLAG_ZLIB_CUSTOM_STRATEGY;
+   png_ptr->zlib_strategy = strategy;
+}
+
+void PNGAPI
+png_set_compression_window_bits(png_structp png_ptr, int window_bits)
+{
+   if (png_ptr == NULL)
+      return;
+   if (window_bits > 15)
+      png_warning(png_ptr, "Only compression windows <= 32k supported by PNG");
+   else if (window_bits < 8)
+      png_warning(png_ptr, "Only compression windows >= 256 supported by PNG");
+#ifndef WBITS_8_OK
+   /* Avoid libpng bug with 256-byte windows */
+   if (window_bits == 8)
+     {
+       png_warning(png_ptr, "Compression window is being reset to 512");
+       window_bits=9;
+     }
+#endif
+   png_ptr->flags |= PNG_FLAG_ZLIB_CUSTOM_WINDOW_BITS;
+   png_ptr->zlib_window_bits = window_bits;
+}
+
+void PNGAPI
+png_set_compression_method(png_structp png_ptr, int method)
+{
+   png_debug(1, "in png_set_compression_method");
+   if (png_ptr == NULL)
+      return;
+   if (method != 8)
+      png_warning(png_ptr, "Only compression method 8 is supported by PNG");
+   png_ptr->flags |= PNG_FLAG_ZLIB_CUSTOM_METHOD;
+   png_ptr->zlib_method = method;
+}
+
+void PNGAPI
+png_set_write_status_fn(png_structp png_ptr, png_write_status_ptr write_row_fn)
+{
+   if (png_ptr == NULL)
+      return;
+   png_ptr->write_row_fn = write_row_fn;
+}
+
+#if defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED)
+void PNGAPI
+png_set_write_user_transform_fn(png_structp png_ptr, png_user_transform_ptr
+   write_user_transform_fn)
+{
+   png_debug(1, "in png_set_write_user_transform_fn");
+   if (png_ptr == NULL)
+      return;
+   png_ptr->transformations |= PNG_USER_TRANSFORM;
+   png_ptr->write_user_transform_fn = write_user_transform_fn;
+}
+#endif
+
+
+#if defined(PNG_INFO_IMAGE_SUPPORTED)
+void PNGAPI
+png_write_png(png_structp png_ptr, png_infop info_ptr,
+              int transforms, voidp params)
+{
+   if (png_ptr == NULL || info_ptr == NULL)
+      return;
+#if defined(PNG_WRITE_INVERT_ALPHA_SUPPORTED)
+   /* Invert the alpha channel from opacity to transparency */
+   if (transforms & PNG_TRANSFORM_INVERT_ALPHA)
+      png_set_invert_alpha(png_ptr);
+#endif
+
+   /* Write the file header information. */
+   png_write_info(png_ptr, info_ptr);
+
+   /* ------ these transformations don't touch the info structure ------- */
+
+#if defined(PNG_WRITE_INVERT_SUPPORTED)
+   /* Invert monochrome pixels */
+   if (transforms & PNG_TRANSFORM_INVERT_MONO)
+      png_set_invert_mono(png_ptr);
+#endif
+
+#if defined(PNG_WRITE_SHIFT_SUPPORTED)
+   /* Shift the pixels up to a legal bit depth and fill in
+    * as appropriate to correctly scale the image.
+    */
+   if ((transforms & PNG_TRANSFORM_SHIFT)
+               && (info_ptr->valid & PNG_INFO_sBIT))
+      png_set_shift(png_ptr, &info_ptr->sig_bit);
+#endif
+
+#if defined(PNG_WRITE_PACK_SUPPORTED)
+   /* Pack pixels into bytes */
+   if (transforms & PNG_TRANSFORM_PACKING)
+       png_set_packing(png_ptr);
+#endif
+
+#if defined(PNG_WRITE_SWAP_ALPHA_SUPPORTED)
+   /* Swap location of alpha bytes from ARGB to RGBA */
+   if (transforms & PNG_TRANSFORM_SWAP_ALPHA)
+      png_set_swap_alpha(png_ptr);
+#endif
+
+#if defined(PNG_WRITE_FILLER_SUPPORTED)
+   /* Pack XRGB/RGBX/ARGB/RGBA into * RGB (4 channels -> 3 channels) */
+   if (transforms & PNG_TRANSFORM_STRIP_FILLER_AFTER)
+      png_set_filler(png_ptr, 0, PNG_FILLER_AFTER);
+   else if (transforms & PNG_TRANSFORM_STRIP_FILLER_BEFORE)
+      png_set_filler(png_ptr, 0, PNG_FILLER_BEFORE);
+#endif
+
+#if defined(PNG_WRITE_BGR_SUPPORTED)
+   /* Flip BGR pixels to RGB */
+   if (transforms & PNG_TRANSFORM_BGR)
+      png_set_bgr(png_ptr);
+#endif
+
+#if defined(PNG_WRITE_SWAP_SUPPORTED)
+   /* Swap bytes of 16-bit files to most significant byte first */
+   if (transforms & PNG_TRANSFORM_SWAP_ENDIAN)
+      png_set_swap(png_ptr);
+#endif
+
+#if defined(PNG_WRITE_PACKSWAP_SUPPORTED)
+   /* Swap bits of 1, 2, 4 bit packed pixel formats */
+   if (transforms & PNG_TRANSFORM_PACKSWAP)
+      png_set_packswap(png_ptr);
+#endif
+
+   /* ----------------------- end of transformations ------------------- */
+
+   /* Write the bits */
+   if (info_ptr->valid & PNG_INFO_IDAT)
+       png_write_image(png_ptr, info_ptr->row_pointers);
+
+   /* It is REQUIRED to call this to finish writing the rest of the file */
+   png_write_end(png_ptr, info_ptr);
+
+   transforms = transforms; /* Quiet compiler warnings */
+   params = params;
+}
+#endif
+#endif /* PNG_WRITE_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwtran.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwtran.c
new file mode 100755
index 0000000..afb5ac4
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwtran.c
@@ -0,0 +1,572 @@
+
+/* pngwtran.c - transforms the data in a row for PNG writers
+ *
+ * Last changed in libpng 1.2.37 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#ifdef PNG_WRITE_SUPPORTED
+
+/* Transform the data according to the user's wishes.  The order of
+ * transformations is significant.
+ */
+void /* PRIVATE */
+png_do_write_transformations(png_structp png_ptr)
+{
+   png_debug(1, "in png_do_write_transformations");
+
+   if (png_ptr == NULL)
+      return;
+
+#if defined(PNG_WRITE_USER_TRANSFORM_SUPPORTED)
+   if (png_ptr->transformations & PNG_USER_TRANSFORM)
+      if (png_ptr->write_user_transform_fn != NULL)
+        (*(png_ptr->write_user_transform_fn)) /* User write transform function */
+          (png_ptr,                    /* png_ptr */
+           &(png_ptr->row_info),       /* row_info:     */
+             /*  png_uint_32 width;          width of row */
+             /*  png_uint_32 rowbytes;       number of bytes in row */
+             /*  png_byte color_type;        color type of pixels */
+             /*  png_byte bit_depth;         bit depth of samples */
+             /*  png_byte channels;          number of channels (1-4) */
+             /*  png_byte pixel_depth;       bits per pixel (depth*channels) */
+           png_ptr->row_buf + 1);      /* start of pixel data for row */
+#endif
+#if defined(PNG_WRITE_FILLER_SUPPORTED)
+   if (png_ptr->transformations & PNG_FILLER)
+      png_do_strip_filler(&(png_ptr->row_info), png_ptr->row_buf + 1,
+         png_ptr->flags);
+#endif
+#if defined(PNG_WRITE_PACKSWAP_SUPPORTED)
+   if (png_ptr->transformations & PNG_PACKSWAP)
+      png_do_packswap(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+#if defined(PNG_WRITE_PACK_SUPPORTED)
+   if (png_ptr->transformations & PNG_PACK)
+      png_do_pack(&(png_ptr->row_info), png_ptr->row_buf + 1,
+         (png_uint_32)png_ptr->bit_depth);
+#endif
+#if defined(PNG_WRITE_SWAP_SUPPORTED)
+   if (png_ptr->transformations & PNG_SWAP_BYTES)
+      png_do_swap(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+#if defined(PNG_WRITE_SHIFT_SUPPORTED)
+   if (png_ptr->transformations & PNG_SHIFT)
+      png_do_shift(&(png_ptr->row_info), png_ptr->row_buf + 1,
+         &(png_ptr->shift));
+#endif
+#if defined(PNG_WRITE_SWAP_ALPHA_SUPPORTED)
+   if (png_ptr->transformations & PNG_SWAP_ALPHA)
+      png_do_write_swap_alpha(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+#if defined(PNG_WRITE_INVERT_ALPHA_SUPPORTED)
+   if (png_ptr->transformations & PNG_INVERT_ALPHA)
+      png_do_write_invert_alpha(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+#if defined(PNG_WRITE_BGR_SUPPORTED)
+   if (png_ptr->transformations & PNG_BGR)
+      png_do_bgr(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+#if defined(PNG_WRITE_INVERT_SUPPORTED)
+   if (png_ptr->transformations & PNG_INVERT_MONO)
+      png_do_invert(&(png_ptr->row_info), png_ptr->row_buf + 1);
+#endif
+}
+
+#if defined(PNG_WRITE_PACK_SUPPORTED)
+/* Pack pixels into bytes.  Pass the true bit depth in bit_depth.  The
+ * row_info bit depth should be 8 (one pixel per byte).  The channels
+ * should be 1 (this only happens on grayscale and paletted images).
+ */
+void /* PRIVATE */
+png_do_pack(png_row_infop row_info, png_bytep row, png_uint_32 bit_depth)
+{
+   png_debug(1, "in png_do_pack");
+   if (row_info->bit_depth == 8 &&
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+      row_info->channels == 1)
+   {
+      switch ((int)bit_depth)
+      {
+         case 1:
+         {
+            png_bytep sp, dp;
+            int mask, v;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            sp = row;
+            dp = row;
+            mask = 0x80;
+            v = 0;
+
+            for (i = 0; i < row_width; i++)
+            {
+               if (*sp != 0)
+                  v |= mask;
+               sp++;
+               if (mask > 1)
+                  mask >>= 1;
+               else
+               {
+                  mask = 0x80;
+                  *dp = (png_byte)v;
+                  dp++;
+                  v = 0;
+               }
+            }
+            if (mask != 0x80)
+               *dp = (png_byte)v;
+            break;
+         }
+         case 2:
+         {
+            png_bytep sp, dp;
+            int shift, v;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            sp = row;
+            dp = row;
+            shift = 6;
+            v = 0;
+            for (i = 0; i < row_width; i++)
+            {
+               png_byte value;
+
+               value = (png_byte)(*sp & 0x03);
+               v |= (value << shift);
+               if (shift == 0)
+               {
+                  shift = 6;
+                  *dp = (png_byte)v;
+                  dp++;
+                  v = 0;
+               }
+               else
+                  shift -= 2;
+               sp++;
+            }
+            if (shift != 6)
+               *dp = (png_byte)v;
+            break;
+         }
+         case 4:
+         {
+            png_bytep sp, dp;
+            int shift, v;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            sp = row;
+            dp = row;
+            shift = 4;
+            v = 0;
+            for (i = 0; i < row_width; i++)
+            {
+               png_byte value;
+
+               value = (png_byte)(*sp & 0x0f);
+               v |= (value << shift);
+
+               if (shift == 0)
+               {
+                  shift = 4;
+                  *dp = (png_byte)v;
+                  dp++;
+                  v = 0;
+               }
+               else
+                  shift -= 4;
+
+               sp++;
+            }
+            if (shift != 4)
+               *dp = (png_byte)v;
+            break;
+         }
+      }
+      row_info->bit_depth = (png_byte)bit_depth;
+      row_info->pixel_depth = (png_byte)(bit_depth * row_info->channels);
+      row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth,
+         row_info->width);
+   }
+}
+#endif
+
+#if defined(PNG_WRITE_SHIFT_SUPPORTED)
+/* Shift pixel values to take advantage of whole range.  Pass the
+ * true number of bits in bit_depth.  The row should be packed
+ * according to row_info->bit_depth.  Thus, if you had a row of
+ * bit depth 4, but the pixels only had values from 0 to 7, you
+ * would pass 3 as bit_depth, and this routine would translate the
+ * data to 0 to 15.
+ */
+void /* PRIVATE */
+png_do_shift(png_row_infop row_info, png_bytep row, png_color_8p bit_depth)
+{
+   png_debug(1, "in png_do_shift");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL &&
+#else
+   if (
+#endif
+      row_info->color_type != PNG_COLOR_TYPE_PALETTE)
+   {
+      int shift_start[4], shift_dec[4];
+      int channels = 0;
+
+      if (row_info->color_type & PNG_COLOR_MASK_COLOR)
+      {
+         shift_start[channels] = row_info->bit_depth - bit_depth->red;
+         shift_dec[channels] = bit_depth->red;
+         channels++;
+         shift_start[channels] = row_info->bit_depth - bit_depth->green;
+         shift_dec[channels] = bit_depth->green;
+         channels++;
+         shift_start[channels] = row_info->bit_depth - bit_depth->blue;
+         shift_dec[channels] = bit_depth->blue;
+         channels++;
+      }
+      else
+      {
+         shift_start[channels] = row_info->bit_depth - bit_depth->gray;
+         shift_dec[channels] = bit_depth->gray;
+         channels++;
+      }
+      if (row_info->color_type & PNG_COLOR_MASK_ALPHA)
+      {
+         shift_start[channels] = row_info->bit_depth - bit_depth->alpha;
+         shift_dec[channels] = bit_depth->alpha;
+         channels++;
+      }
+
+      /* With low row depths, could only be grayscale, so one channel */
+      if (row_info->bit_depth < 8)
+      {
+         png_bytep bp = row;
+         png_uint_32 i;
+         png_byte mask;
+         png_uint_32 row_bytes = row_info->rowbytes;
+
+         if (bit_depth->gray == 1 && row_info->bit_depth == 2)
+            mask = 0x55;
+         else if (row_info->bit_depth == 4 && bit_depth->gray == 3)
+            mask = 0x11;
+         else
+            mask = 0xff;
+
+         for (i = 0; i < row_bytes; i++, bp++)
+         {
+            png_uint_16 v;
+            int j;
+
+            v = *bp;
+            *bp = 0;
+            for (j = shift_start[0]; j > -shift_dec[0]; j -= shift_dec[0])
+            {
+               if (j > 0)
+                  *bp |= (png_byte)((v << j) & 0xff);
+               else
+                  *bp |= (png_byte)((v >> (-j)) & mask);
+            }
+         }
+      }
+      else if (row_info->bit_depth == 8)
+      {
+         png_bytep bp = row;
+         png_uint_32 i;
+         png_uint_32 istop = channels * row_info->width;
+
+         for (i = 0; i < istop; i++, bp++)
+         {
+
+            png_uint_16 v;
+            int j;
+            int c = (int)(i%channels);
+
+            v = *bp;
+            *bp = 0;
+            for (j = shift_start[c]; j > -shift_dec[c]; j -= shift_dec[c])
+            {
+               if (j > 0)
+                  *bp |= (png_byte)((v << j) & 0xff);
+               else
+                  *bp |= (png_byte)((v >> (-j)) & 0xff);
+            }
+         }
+      }
+      else
+      {
+         png_bytep bp;
+         png_uint_32 i;
+         png_uint_32 istop = channels * row_info->width;
+
+         for (bp = row, i = 0; i < istop; i++)
+         {
+            int c = (int)(i%channels);
+            png_uint_16 value, v;
+            int j;
+
+            v = (png_uint_16)(((png_uint_16)(*bp) << 8) + *(bp + 1));
+            value = 0;
+            for (j = shift_start[c]; j > -shift_dec[c]; j -= shift_dec[c])
+            {
+               if (j > 0)
+                  value |= (png_uint_16)((v << j) & (png_uint_16)0xffff);
+               else
+                  value |= (png_uint_16)((v >> (-j)) & (png_uint_16)0xffff);
+            }
+            *bp++ = (png_byte)(value >> 8);
+            *bp++ = (png_byte)(value & 0xff);
+         }
+      }
+   }
+}
+#endif
+
+#if defined(PNG_WRITE_SWAP_ALPHA_SUPPORTED)
+void /* PRIVATE */
+png_do_write_swap_alpha(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_write_swap_alpha");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL)
+#endif
+   {
+      if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+      {
+         /* This converts from ARGB to RGBA */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               png_byte save = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = save;
+            }
+         }
+         /* This converts from AARRGGBB to RRGGBBAA */
+         else
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               png_byte save[2];
+               save[0] = *(sp++);
+               save[1] = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = save[0];
+               *(dp++) = save[1];
+            }
+         }
+      }
+      else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA)
+      {
+         /* This converts from AG to GA */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               png_byte save = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = save;
+            }
+         }
+         /* This converts from AAGG to GGAA */
+         else
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               png_byte save[2];
+               save[0] = *(sp++);
+               save[1] = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = save[0];
+               *(dp++) = save[1];
+            }
+         }
+      }
+   }
+}
+#endif
+
+#if defined(PNG_WRITE_INVERT_ALPHA_SUPPORTED)
+void /* PRIVATE */
+png_do_write_invert_alpha(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_write_invert_alpha");
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL)
+#endif
+   {
+      if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+      {
+         /* This inverts the alpha channel in RGBA */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               /* Does nothing
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               */
+               sp+=3; dp = sp;
+               *(dp++) = (png_byte)(255 - *(sp++));
+            }
+         }
+         /* This inverts the alpha channel in RRGGBBAA */
+         else
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               /* Does nothing
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               */
+               sp+=6; dp = sp;
+               *(dp++) = (png_byte)(255 - *(sp++));
+               *(dp++) = (png_byte)(255 - *(sp++));
+            }
+         }
+      }
+      else if (row_info->color_type == PNG_COLOR_TYPE_GRAY_ALPHA)
+      {
+         /* This inverts the alpha channel in GA */
+         if (row_info->bit_depth == 8)
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               *(dp++) = *(sp++);
+               *(dp++) = (png_byte)(255 - *(sp++));
+            }
+         }
+         /* This inverts the alpha channel in GGAA */
+         else
+         {
+            png_bytep sp, dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            for (i = 0, sp = dp = row; i < row_width; i++)
+            {
+               /* Does nothing
+               *(dp++) = *(sp++);
+               *(dp++) = *(sp++);
+               */
+               sp+=2; dp = sp;
+               *(dp++) = (png_byte)(255 - *(sp++));
+               *(dp++) = (png_byte)(255 - *(sp++));
+            }
+         }
+      }
+   }
+}
+#endif
+
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+/* Undoes intrapixel differencing  */
+void /* PRIVATE */
+png_do_write_intrapixel(png_row_infop row_info, png_bytep row)
+{
+   png_debug(1, "in png_do_write_intrapixel");
+   if (
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+       row != NULL && row_info != NULL &&
+#endif
+       (row_info->color_type & PNG_COLOR_MASK_COLOR))
+   {
+      int bytes_per_pixel;
+      png_uint_32 row_width = row_info->width;
+      if (row_info->bit_depth == 8)
+      {
+         png_bytep rp;
+         png_uint_32 i;
+
+         if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+            bytes_per_pixel = 3;
+         else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+            bytes_per_pixel = 4;
+         else
+            return;
+
+         for (i = 0, rp = row; i < row_width; i++, rp += bytes_per_pixel)
+         {
+            *(rp)   = (png_byte)((*rp     - *(rp+1))&0xff);
+            *(rp+2) = (png_byte)((*(rp+2) - *(rp+1))&0xff);
+         }
+      }
+      else if (row_info->bit_depth == 16)
+      {
+         png_bytep rp;
+         png_uint_32 i;
+
+         if (row_info->color_type == PNG_COLOR_TYPE_RGB)
+            bytes_per_pixel = 6;
+         else if (row_info->color_type == PNG_COLOR_TYPE_RGB_ALPHA)
+            bytes_per_pixel = 8;
+         else
+            return;
+
+         for (i = 0, rp = row; i < row_width; i++, rp += bytes_per_pixel)
+         {
+            png_uint_32 s0   = (*(rp  ) << 8) | *(rp+1);
+            png_uint_32 s1   = (*(rp+2) << 8) | *(rp+3);
+            png_uint_32 s2   = (*(rp+4) << 8) | *(rp+5);
+            png_uint_32 red  = (png_uint_32)((s0 - s1) & 0xffffL);
+            png_uint_32 blue = (png_uint_32)((s2 - s1) & 0xffffL);
+            *(rp  ) = (png_byte)((red >> 8) & 0xff);
+            *(rp+1) = (png_byte)(red & 0xff);
+            *(rp+4) = (png_byte)((blue >> 8) & 0xff);
+            *(rp+5) = (png_byte)(blue & 0xff);
+         }
+      }
+   }
+}
+#endif /* PNG_MNG_FEATURES_SUPPORTED */
+#endif /* PNG_WRITE_SUPPORTED */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwutil.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwutil.c
new file mode 100755
index 0000000..91d761b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/png/pngwutil.c
@@ -0,0 +1,2788 @@
+
+/* pngwutil.c - utilities to write a PNG file
+ *
+ * Last changed in libpng 1.2.36 [June 4, 2009]
+ * For conditions of distribution and use, see copyright notice in png.h
+ * Copyright (c) 1998-2009 Glenn Randers-Pehrson
+ * (Version 0.96 Copyright (c) 1996, 1997 Andreas Dilger)
+ * (Version 0.88 Copyright (c) 1995, 1996 Guy Eric Schalnat, Group 42, Inc.)
+ */
+
+#define PNG_INTERNAL
+#include "png.h"
+#ifdef PNG_WRITE_SUPPORTED
+
+/* Place a 32-bit number into a buffer in PNG byte order.  We work
+ * with unsigned numbers for convenience, although one supported
+ * ancillary chunk uses signed (two's complement) numbers.
+ */
+void PNGAPI
+png_save_uint_32(png_bytep buf, png_uint_32 i)
+{
+   buf[0] = (png_byte)((i >> 24) & 0xff);
+   buf[1] = (png_byte)((i >> 16) & 0xff);
+   buf[2] = (png_byte)((i >> 8) & 0xff);
+   buf[3] = (png_byte)(i & 0xff);
+}
+
+/* The png_save_int_32 function assumes integers are stored in two's
+ * complement format.  If this isn't the case, then this routine needs to
+ * be modified to write data in two's complement format.
+ */
+void PNGAPI
+png_save_int_32(png_bytep buf, png_int_32 i)
+{
+   buf[0] = (png_byte)((i >> 24) & 0xff);
+   buf[1] = (png_byte)((i >> 16) & 0xff);
+   buf[2] = (png_byte)((i >> 8) & 0xff);
+   buf[3] = (png_byte)(i & 0xff);
+}
+
+/* Place a 16-bit number into a buffer in PNG byte order.
+ * The parameter is declared unsigned int, not png_uint_16,
+ * just to avoid potential problems on pre-ANSI C compilers.
+ */
+void PNGAPI
+png_save_uint_16(png_bytep buf, unsigned int i)
+{
+   buf[0] = (png_byte)((i >> 8) & 0xff);
+   buf[1] = (png_byte)(i & 0xff);
+}
+
+/* Simple function to write the signature.  If we have already written
+ * the magic bytes of the signature, or more likely, the PNG stream is
+ * being embedded into another stream and doesn't need its own signature,
+ * we should call png_set_sig_bytes() to tell libpng how many of the
+ * bytes have already been written.
+ */
+void /* PRIVATE */
+png_write_sig(png_structp png_ptr)
+{
+   png_byte png_signature[8] = {137, 80, 78, 71, 13, 10, 26, 10};
+
+   /* Write the rest of the 8 byte signature */
+   png_write_data(png_ptr, &png_signature[png_ptr->sig_bytes],
+      (png_size_t)(8 - png_ptr->sig_bytes));
+   if (png_ptr->sig_bytes < 3)
+      png_ptr->mode |= PNG_HAVE_PNG_SIGNATURE;
+}
+
+/* Write a PNG chunk all at once.  The type is an array of ASCII characters
+ * representing the chunk name.  The array must be at least 4 bytes in
+ * length, and does not need to be null terminated.  To be safe, pass the
+ * pre-defined chunk names here, and if you need a new one, define it
+ * where the others are defined.  The length is the length of the data.
+ * All the data must be present.  If that is not possible, use the
+ * png_write_chunk_start(), png_write_chunk_data(), and png_write_chunk_end()
+ * functions instead.
+ */
+void PNGAPI
+png_write_chunk(png_structp png_ptr, png_bytep chunk_name,
+   png_bytep data, png_size_t length)
+{
+   if (png_ptr == NULL)
+      return;
+   png_write_chunk_start(png_ptr, chunk_name, (png_uint_32)length);
+   png_write_chunk_data(png_ptr, data, (png_size_t)length);
+   png_write_chunk_end(png_ptr);
+}
+
+/* Write the start of a PNG chunk.  The type is the chunk type.
+ * The total_length is the sum of the lengths of all the data you will be
+ * passing in png_write_chunk_data().
+ */
+void PNGAPI
+png_write_chunk_start(png_structp png_ptr, png_bytep chunk_name,
+   png_uint_32 length)
+{
+   png_byte buf[8];
+
+   png_debug2(0, "Writing %s chunk, length = %lu", chunk_name,
+      (unsigned long)length);
+   if (png_ptr == NULL)
+      return;
+
+   /* Write the length and the chunk name */
+   png_save_uint_32(buf, length);
+   png_memcpy(buf + 4, chunk_name, 4);
+   png_write_data(png_ptr, buf, (png_size_t)8);
+   /* Put the chunk name into png_ptr->chunk_name */
+   png_memcpy(png_ptr->chunk_name, chunk_name, 4);
+   /* Reset the crc and run it over the chunk name */
+   png_reset_crc(png_ptr);
+   png_calculate_crc(png_ptr, chunk_name, (png_size_t)4);
+}
+
+/* Write the data of a PNG chunk started with png_write_chunk_start().
+ * Note that multiple calls to this function are allowed, and that the
+ * sum of the lengths from these calls *must* add up to the total_length
+ * given to png_write_chunk_start().
+ */
+void PNGAPI
+png_write_chunk_data(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+   /* Write the data, and run the CRC over it */
+   if (png_ptr == NULL)
+      return;
+   if (data != NULL && length > 0)
+   {
+      png_write_data(png_ptr, data, length);
+      /* Update the CRC after writing the data,
+       * in case that the user I/O routine alters it.
+       */
+      png_calculate_crc(png_ptr, data, length);
+   }
+}
+
+/* Finish a chunk started with png_write_chunk_start(). */
+void PNGAPI
+png_write_chunk_end(png_structp png_ptr)
+{
+   png_byte buf[4];
+
+   if (png_ptr == NULL) return;
+
+   /* Write the crc in a single operation */
+   png_save_uint_32(buf, png_ptr->crc);
+
+   png_write_data(png_ptr, buf, (png_size_t)4);
+}
+
+#if defined(PNG_WRITE_TEXT_SUPPORTED) || defined(PNG_WRITE_iCCP_SUPPORTED)
+/* This pair of functions encapsulates the operation of (a) compressing a
+ * text string, and (b) issuing it later as a series of chunk data writes.
+ * The compression_state structure is shared context for these functions
+ * set up by the caller in order to make the whole mess thread-safe.
+ */
+
+typedef struct
+{
+   char *input;   /* The uncompressed input data */
+   int input_len;   /* Its length */
+   int num_output_ptr; /* Number of output pointers used */
+   int max_output_ptr; /* Size of output_ptr */
+   png_charpp output_ptr; /* Array of pointers to output */
+} compression_state;
+
+/* Compress given text into storage in the png_ptr structure */
+static int /* PRIVATE */
+png_text_compress(png_structp png_ptr,
+        png_charp text, png_size_t text_len, int compression,
+        compression_state *comp)
+{
+   int ret;
+
+   comp->num_output_ptr = 0;
+   comp->max_output_ptr = 0;
+   comp->output_ptr = NULL;
+   comp->input = NULL;
+   comp->input_len = 0;
+
+   /* We may just want to pass the text right through */
+   if (compression == PNG_TEXT_COMPRESSION_NONE)
+   {
+       comp->input = text;
+       comp->input_len = text_len;
+       return((int)text_len);
+   }
+
+   if (compression >= PNG_TEXT_COMPRESSION_LAST)
+   {
+#if !defined(PNG_NO_STDIO) && !defined(_WIN32_WCE)
+      char msg[50];
+      png_snprintf(msg, 50, "Unknown compression type %d", compression);
+      png_warning(png_ptr, msg);
+#else
+      png_warning(png_ptr, "Unknown compression type");
+#endif
+   }
+
+   /* We can't write the chunk until we find out how much data we have,
+    * which means we need to run the compressor first and save the
+    * output.  This shouldn't be a problem, as the vast majority of
+    * comments should be reasonable, but we will set up an array of
+    * malloc'd pointers to be sure.
+    *
+    * If we knew the application was well behaved, we could simplify this
+    * greatly by assuming we can always malloc an output buffer large
+    * enough to hold the compressed text ((1001 * text_len / 1000) + 12)
+    * and malloc this directly.  The only time this would be a bad idea is
+    * if we can't malloc more than 64K and we have 64K of random input
+    * data, or if the input string is incredibly large (although this
+    * wouldn't cause a failure, just a slowdown due to swapping).
+    */
+
+   /* Set up the compression buffers */
+   png_ptr->zstream.avail_in = (uInt)text_len;
+   png_ptr->zstream.next_in = (Bytef *)text;
+   png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+   png_ptr->zstream.next_out = (Bytef *)png_ptr->zbuf;
+
+   /* This is the same compression loop as in png_write_row() */
+   do
+   {
+      /* Compress the data */
+      ret = deflate(&png_ptr->zstream, Z_NO_FLUSH);
+      if (ret != Z_OK)
+      {
+         /* Error */
+         if (png_ptr->zstream.msg != NULL)
+            png_error(png_ptr, png_ptr->zstream.msg);
+         else
+            png_error(png_ptr, "zlib error");
+      }
+      /* Check to see if we need more room */
+      if (!(png_ptr->zstream.avail_out))
+      {
+         /* Make sure the output array has room */
+         if (comp->num_output_ptr >= comp->max_output_ptr)
+         {
+            int old_max;
+
+            old_max = comp->max_output_ptr;
+            comp->max_output_ptr = comp->num_output_ptr + 4;
+            if (comp->output_ptr != NULL)
+            {
+               png_charpp old_ptr;
+
+               old_ptr = comp->output_ptr;
+               comp->output_ptr = (png_charpp)png_malloc(png_ptr,
+                  (png_uint_32)
+                  (comp->max_output_ptr * png_sizeof(png_charpp)));
+               png_memcpy(comp->output_ptr, old_ptr, old_max
+                  * png_sizeof(png_charp));
+               png_free(png_ptr, old_ptr);
+            }
+            else
+               comp->output_ptr = (png_charpp)png_malloc(png_ptr,
+                  (png_uint_32)
+                  (comp->max_output_ptr * png_sizeof(png_charp)));
+         }
+
+         /* Save the data */
+         comp->output_ptr[comp->num_output_ptr] =
+            (png_charp)png_malloc(png_ptr,
+            (png_uint_32)png_ptr->zbuf_size);
+         png_memcpy(comp->output_ptr[comp->num_output_ptr], png_ptr->zbuf,
+            png_ptr->zbuf_size);
+         comp->num_output_ptr++;
+
+         /* and reset the buffer */
+         png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+         png_ptr->zstream.next_out = png_ptr->zbuf;
+      }
+   /* Continue until we don't have any more to compress */
+   } while (png_ptr->zstream.avail_in);
+
+   /* Finish the compression */
+   do
+   {
+      /* Tell zlib we are finished */
+      ret = deflate(&png_ptr->zstream, Z_FINISH);
+
+      if (ret == Z_OK)
+      {
+         /* Check to see if we need more room */
+         if (!(png_ptr->zstream.avail_out))
+         {
+            /* Check to make sure our output array has room */
+            if (comp->num_output_ptr >= comp->max_output_ptr)
+            {
+               int old_max;
+
+               old_max = comp->max_output_ptr;
+               comp->max_output_ptr = comp->num_output_ptr + 4;
+               if (comp->output_ptr != NULL)
+               {
+                  png_charpp old_ptr;
+
+                  old_ptr = comp->output_ptr;
+                  /* This could be optimized to realloc() */
+                  comp->output_ptr = (png_charpp)png_malloc(png_ptr,
+                     (png_uint_32)(comp->max_output_ptr *
+                     png_sizeof(png_charp)));
+                  png_memcpy(comp->output_ptr, old_ptr,
+                     old_max * png_sizeof(png_charp));
+                  png_free(png_ptr, old_ptr);
+               }
+               else
+                  comp->output_ptr = (png_charpp)png_malloc(png_ptr,
+                     (png_uint_32)(comp->max_output_ptr *
+                     png_sizeof(png_charp)));
+            }
+
+            /* Save the data */
+            comp->output_ptr[comp->num_output_ptr] =
+               (png_charp)png_malloc(png_ptr,
+               (png_uint_32)png_ptr->zbuf_size);
+            png_memcpy(comp->output_ptr[comp->num_output_ptr], png_ptr->zbuf,
+               png_ptr->zbuf_size);
+            comp->num_output_ptr++;
+
+            /* and reset the buffer pointers */
+            png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+            png_ptr->zstream.next_out = png_ptr->zbuf;
+         }
+      }
+      else if (ret != Z_STREAM_END)
+      {
+         /* We got an error */
+         if (png_ptr->zstream.msg != NULL)
+            png_error(png_ptr, png_ptr->zstream.msg);
+         else
+            png_error(png_ptr, "zlib error");
+      }
+   } while (ret != Z_STREAM_END);
+
+   /* Text length is number of buffers plus last buffer */
+   text_len = png_ptr->zbuf_size * comp->num_output_ptr;
+   if (png_ptr->zstream.avail_out < png_ptr->zbuf_size)
+      text_len += png_ptr->zbuf_size - (png_size_t)png_ptr->zstream.avail_out;
+
+   return((int)text_len);
+}
+
+/* Ship the compressed text out via chunk writes */
+static void /* PRIVATE */
+png_write_compressed_data_out(png_structp png_ptr, compression_state *comp)
+{
+   int i;
+
+   /* Handle the no-compression case */
+   if (comp->input)
+   {
+      png_write_chunk_data(png_ptr, (png_bytep)comp->input,
+                            (png_size_t)comp->input_len);
+      return;
+   }
+
+   /* Write saved output buffers, if any */
+   for (i = 0; i < comp->num_output_ptr; i++)
+   {
+      png_write_chunk_data(png_ptr, (png_bytep)comp->output_ptr[i],
+         (png_size_t)png_ptr->zbuf_size);
+      png_free(png_ptr, comp->output_ptr[i]);
+       comp->output_ptr[i]=NULL;
+   }
+   if (comp->max_output_ptr != 0)
+      png_free(png_ptr, comp->output_ptr);
+       comp->output_ptr=NULL;
+   /* Write anything left in zbuf */
+   if (png_ptr->zstream.avail_out < (png_uint_32)png_ptr->zbuf_size)
+      png_write_chunk_data(png_ptr, png_ptr->zbuf,
+         (png_size_t)(png_ptr->zbuf_size - png_ptr->zstream.avail_out));
+
+   /* Reset zlib for another zTXt/iTXt or image data */
+   deflateReset(&png_ptr->zstream);
+   png_ptr->zstream.data_type = Z_BINARY;
+}
+#endif
+
+/* Write the IHDR chunk, and update the png_struct with the necessary
+ * information.  Note that the rest of this code depends upon this
+ * information being correct.
+ */
+void /* PRIVATE */
+png_write_IHDR(png_structp png_ptr, png_uint_32 width, png_uint_32 height,
+   int bit_depth, int color_type, int compression_type, int filter_type,
+   int interlace_type)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_IHDR;
+#endif
+   int ret;
+
+   png_byte buf[13]; /* Buffer to store the IHDR info */
+
+   png_debug(1, "in png_write_IHDR");
+   /* Check that we have valid input data from the application info */
+   switch (color_type)
+   {
+      case PNG_COLOR_TYPE_GRAY:
+         switch (bit_depth)
+         {
+            case 1:
+            case 2:
+            case 4:
+            case 8:
+            case 16: png_ptr->channels = 1; break;
+            default: png_error(png_ptr, "Invalid bit depth for grayscale image");
+         }
+         break;
+      case PNG_COLOR_TYPE_RGB:
+         if (bit_depth != 8 && bit_depth != 16)
+            png_error(png_ptr, "Invalid bit depth for RGB image");
+         png_ptr->channels = 3;
+         break;
+      case PNG_COLOR_TYPE_PALETTE:
+         switch (bit_depth)
+         {
+            case 1:
+            case 2:
+            case 4:
+            case 8: png_ptr->channels = 1; break;
+            default: png_error(png_ptr, "Invalid bit depth for paletted image");
+         }
+         break;
+      case PNG_COLOR_TYPE_GRAY_ALPHA:
+         if (bit_depth != 8 && bit_depth != 16)
+            png_error(png_ptr, "Invalid bit depth for grayscale+alpha image");
+         png_ptr->channels = 2;
+         break;
+      case PNG_COLOR_TYPE_RGB_ALPHA:
+         if (bit_depth != 8 && bit_depth != 16)
+            png_error(png_ptr, "Invalid bit depth for RGBA image");
+         png_ptr->channels = 4;
+         break;
+      default:
+         png_error(png_ptr, "Invalid image color type specified");
+   }
+
+   if (compression_type != PNG_COMPRESSION_TYPE_BASE)
+   {
+      png_warning(png_ptr, "Invalid compression type specified");
+      compression_type = PNG_COMPRESSION_TYPE_BASE;
+   }
+
+   /* Write filter_method 64 (intrapixel differencing) only if
+    * 1. Libpng was compiled with PNG_MNG_FEATURES_SUPPORTED and
+    * 2. Libpng did not write a PNG signature (this filter_method is only
+    *    used in PNG datastreams that are embedded in MNG datastreams) and
+    * 3. The application called png_permit_mng_features with a mask that
+    *    included PNG_FLAG_MNG_FILTER_64 and
+    * 4. The filter_method is 64 and
+    * 5. The color_type is RGB or RGBA
+    */
+   if (
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+      !((png_ptr->mng_features_permitted & PNG_FLAG_MNG_FILTER_64) &&
+      ((png_ptr->mode&PNG_HAVE_PNG_SIGNATURE) == 0) &&
+      (color_type == PNG_COLOR_TYPE_RGB ||
+       color_type == PNG_COLOR_TYPE_RGB_ALPHA) &&
+      (filter_type == PNG_INTRAPIXEL_DIFFERENCING)) &&
+#endif
+      filter_type != PNG_FILTER_TYPE_BASE)
+   {
+      png_warning(png_ptr, "Invalid filter type specified");
+      filter_type = PNG_FILTER_TYPE_BASE;
+   }
+
+#ifdef PNG_WRITE_INTERLACING_SUPPORTED
+   if (interlace_type != PNG_INTERLACE_NONE &&
+      interlace_type != PNG_INTERLACE_ADAM7)
+   {
+      png_warning(png_ptr, "Invalid interlace type specified");
+      interlace_type = PNG_INTERLACE_ADAM7;
+   }
+#else
+   interlace_type=PNG_INTERLACE_NONE;
+#endif
+
+   /* Save the relevent information */
+   png_ptr->bit_depth = (png_byte)bit_depth;
+   png_ptr->color_type = (png_byte)color_type;
+   png_ptr->interlaced = (png_byte)interlace_type;
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+   png_ptr->filter_type = (png_byte)filter_type;
+#endif
+   png_ptr->compression_type = (png_byte)compression_type;
+   png_ptr->width = width;
+   png_ptr->height = height;
+
+   png_ptr->pixel_depth = (png_byte)(bit_depth * png_ptr->channels);
+   png_ptr->rowbytes = PNG_ROWBYTES(png_ptr->pixel_depth, width);
+   /* Set the usr info, so any transformations can modify it */
+   png_ptr->usr_width = png_ptr->width;
+   png_ptr->usr_bit_depth = png_ptr->bit_depth;
+   png_ptr->usr_channels = png_ptr->channels;
+
+   /* Pack the header information into the buffer */
+   png_save_uint_32(buf, width);
+   png_save_uint_32(buf + 4, height);
+   buf[8] = (png_byte)bit_depth;
+   buf[9] = (png_byte)color_type;
+   buf[10] = (png_byte)compression_type;
+   buf[11] = (png_byte)filter_type;
+   buf[12] = (png_byte)interlace_type;
+
+   /* Write the chunk */
+   png_write_chunk(png_ptr, (png_bytep)png_IHDR, buf, (png_size_t)13);
+
+   /* Initialize zlib with PNG info */
+   png_ptr->zstream.zalloc = png_zalloc;
+   png_ptr->zstream.zfree = png_zfree;
+   png_ptr->zstream.opaque = (voidpf)png_ptr;
+   if (!(png_ptr->do_filter))
+   {
+      if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE ||
+         png_ptr->bit_depth < 8)
+         png_ptr->do_filter = PNG_FILTER_NONE;
+      else
+         png_ptr->do_filter = PNG_ALL_FILTERS;
+   }
+   if (!(png_ptr->flags & PNG_FLAG_ZLIB_CUSTOM_STRATEGY))
+   {
+      if (png_ptr->do_filter != PNG_FILTER_NONE)
+         png_ptr->zlib_strategy = Z_FILTERED;
+      else
+         png_ptr->zlib_strategy = Z_DEFAULT_STRATEGY;
+   }
+   if (!(png_ptr->flags & PNG_FLAG_ZLIB_CUSTOM_LEVEL))
+      png_ptr->zlib_level = Z_DEFAULT_COMPRESSION;
+   if (!(png_ptr->flags & PNG_FLAG_ZLIB_CUSTOM_MEM_LEVEL))
+      png_ptr->zlib_mem_level = 8;
+   if (!(png_ptr->flags & PNG_FLAG_ZLIB_CUSTOM_WINDOW_BITS))
+      png_ptr->zlib_window_bits = 15;
+   if (!(png_ptr->flags & PNG_FLAG_ZLIB_CUSTOM_METHOD))
+      png_ptr->zlib_method = 8;
+   ret = deflateInit2(&png_ptr->zstream, png_ptr->zlib_level,
+         png_ptr->zlib_method, png_ptr->zlib_window_bits,
+         png_ptr->zlib_mem_level, png_ptr->zlib_strategy);
+   if (ret != Z_OK)
+   {
+      if (ret == Z_VERSION_ERROR) png_error(png_ptr,
+          "zlib failed to initialize compressor -- version error");
+      if (ret == Z_STREAM_ERROR) png_error(png_ptr,
+           "zlib failed to initialize compressor -- stream error");
+      if (ret == Z_MEM_ERROR) png_error(png_ptr,
+           "zlib failed to initialize compressor -- mem error");
+      png_error(png_ptr, "zlib failed to initialize compressor");
+   }
+   png_ptr->zstream.next_out = png_ptr->zbuf;
+   png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+   /* libpng is not interested in zstream.data_type */
+   /* Set it to a predefined value, to avoid its evaluation inside zlib */
+   png_ptr->zstream.data_type = Z_BINARY;
+
+   png_ptr->mode = PNG_HAVE_IHDR;
+}
+
+/* Write the palette.  We are careful not to trust png_color to be in the
+ * correct order for PNG, so people can redefine it to any convenient
+ * structure.
+ */
+void /* PRIVATE */
+png_write_PLTE(png_structp png_ptr, png_colorp palette, png_uint_32 num_pal)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_PLTE;
+#endif
+   png_uint_32 i;
+   png_colorp pal_ptr;
+   png_byte buf[3];
+
+   png_debug(1, "in png_write_PLTE");
+   if ((
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+        !(png_ptr->mng_features_permitted & PNG_FLAG_MNG_EMPTY_PLTE) &&
+#endif
+        num_pal == 0) || num_pal > 256)
+   {
+     if (png_ptr->color_type == PNG_COLOR_TYPE_PALETTE)
+     {
+        png_error(png_ptr, "Invalid number of colors in palette");
+     }
+     else
+     {
+        png_warning(png_ptr, "Invalid number of colors in palette");
+        return;
+     }
+   }
+
+   if (!(png_ptr->color_type&PNG_COLOR_MASK_COLOR))
+   {
+      png_warning(png_ptr,
+        "Ignoring request to write a PLTE chunk in grayscale PNG");
+      return;
+   }
+
+   png_ptr->num_palette = (png_uint_16)num_pal;
+   png_debug1(3, "num_palette = %d", png_ptr->num_palette);
+
+   png_write_chunk_start(png_ptr, (png_bytep)png_PLTE,
+     (png_uint_32)(num_pal * 3));
+#ifndef PNG_NO_POINTER_INDEXING
+   for (i = 0, pal_ptr = palette; i < num_pal; i++, pal_ptr++)
+   {
+      buf[0] = pal_ptr->red;
+      buf[1] = pal_ptr->green;
+      buf[2] = pal_ptr->blue;
+      png_write_chunk_data(png_ptr, buf, (png_size_t)3);
+   }
+#else
+   /* This is a little slower but some buggy compilers need to do this instead */
+   pal_ptr=palette;
+   for (i = 0; i < num_pal; i++)
+   {
+      buf[0] = pal_ptr[i].red;
+      buf[1] = pal_ptr[i].green;
+      buf[2] = pal_ptr[i].blue;
+      png_write_chunk_data(png_ptr, buf, (png_size_t)3);
+   }
+#endif
+   png_write_chunk_end(png_ptr);
+   png_ptr->mode |= PNG_HAVE_PLTE;
+}
+
+/* Write an IDAT chunk */
+void /* PRIVATE */
+png_write_IDAT(png_structp png_ptr, png_bytep data, png_size_t length)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_IDAT;
+#endif
+   png_debug(1, "in png_write_IDAT");
+
+   /* Optimize the CMF field in the zlib stream. */
+   /* This hack of the zlib stream is compliant to the stream specification. */
+   if (!(png_ptr->mode & PNG_HAVE_IDAT) &&
+       png_ptr->compression_type == PNG_COMPRESSION_TYPE_BASE)
+   {
+      unsigned int z_cmf = data[0];  /* zlib compression method and flags */
+      if ((z_cmf & 0x0f) == 8 && (z_cmf & 0xf0) <= 0x70)
+      {
+         /* Avoid memory underflows and multiplication overflows.
+          *
+          * The conditions below are practically always satisfied;
+          * however, they still must be checked.
+          */
+         if (length >= 2 &&
+             png_ptr->height < 16384 && png_ptr->width < 16384)
+         {
+            png_uint_32 uncompressed_idat_size = png_ptr->height *
+               ((png_ptr->width *
+               png_ptr->channels * png_ptr->bit_depth + 15) >> 3);
+            unsigned int z_cinfo = z_cmf >> 4;
+            unsigned int half_z_window_size = 1 << (z_cinfo + 7);
+            while (uncompressed_idat_size <= half_z_window_size &&
+                   half_z_window_size >= 256)
+            {
+               z_cinfo--;
+               half_z_window_size >>= 1;
+            }
+            z_cmf = (z_cmf & 0x0f) | (z_cinfo << 4);
+            if (data[0] != (png_byte)z_cmf)
+            {
+               data[0] = (png_byte)z_cmf;
+               data[1] &= 0xe0;
+               data[1] += (png_byte)(0x1f - ((z_cmf << 8) + data[1]) % 0x1f);
+            }
+         }
+      }
+      else
+         png_error(png_ptr,
+            "Invalid zlib compression method or flags in IDAT");
+   }
+
+   png_write_chunk(png_ptr, (png_bytep)png_IDAT, data, length);
+   png_ptr->mode |= PNG_HAVE_IDAT;
+}
+
+/* Write an IEND chunk */
+void /* PRIVATE */
+png_write_IEND(png_structp png_ptr)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_IEND;
+#endif
+   png_debug(1, "in png_write_IEND");
+   png_write_chunk(png_ptr, (png_bytep)png_IEND, png_bytep_NULL,
+     (png_size_t)0);
+   png_ptr->mode |= PNG_HAVE_IEND;
+}
+
+#if defined(PNG_WRITE_gAMA_SUPPORTED)
+/* Write a gAMA chunk */
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+void /* PRIVATE */
+png_write_gAMA(png_structp png_ptr, double file_gamma)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_gAMA;
+#endif
+   png_uint_32 igamma;
+   png_byte buf[4];
+
+   png_debug(1, "in png_write_gAMA");
+   /* file_gamma is saved in 1/100,000ths */
+   igamma = (png_uint_32)(file_gamma * 100000.0 + 0.5);
+   png_save_uint_32(buf, igamma);
+   png_write_chunk(png_ptr, (png_bytep)png_gAMA, buf, (png_size_t)4);
+}
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+void /* PRIVATE */
+png_write_gAMA_fixed(png_structp png_ptr, png_fixed_point file_gamma)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_gAMA;
+#endif
+   png_byte buf[4];
+
+   png_debug(1, "in png_write_gAMA");
+   /* file_gamma is saved in 1/100,000ths */
+   png_save_uint_32(buf, (png_uint_32)file_gamma);
+   png_write_chunk(png_ptr, (png_bytep)png_gAMA, buf, (png_size_t)4);
+}
+#endif
+#endif
+
+#if defined(PNG_WRITE_sRGB_SUPPORTED)
+/* Write a sRGB chunk */
+void /* PRIVATE */
+png_write_sRGB(png_structp png_ptr, int srgb_intent)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_sRGB;
+#endif
+   png_byte buf[1];
+
+   png_debug(1, "in png_write_sRGB");
+   if (srgb_intent >= PNG_sRGB_INTENT_LAST)
+         png_warning(png_ptr,
+            "Invalid sRGB rendering intent specified");
+   buf[0]=(png_byte)srgb_intent;
+   png_write_chunk(png_ptr, (png_bytep)png_sRGB, buf, (png_size_t)1);
+}
+#endif
+
+#if defined(PNG_WRITE_iCCP_SUPPORTED)
+/* Write an iCCP chunk */
+void /* PRIVATE */
+png_write_iCCP(png_structp png_ptr, png_charp name, int compression_type,
+   png_charp profile, int profile_len)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_iCCP;
+#endif
+   png_size_t name_len;
+   png_charp new_name;
+   compression_state comp;
+   int embedded_profile_len = 0;
+
+   png_debug(1, "in png_write_iCCP");
+
+   comp.num_output_ptr = 0;
+   comp.max_output_ptr = 0;
+   comp.output_ptr = NULL;
+   comp.input = NULL;
+   comp.input_len = 0;
+
+   if ((name_len = png_check_keyword(png_ptr, name,
+      &new_name)) == 0)
+      return;
+
+   if (compression_type != PNG_COMPRESSION_TYPE_BASE)
+      png_warning(png_ptr, "Unknown compression type in iCCP chunk");
+
+   if (profile == NULL)
+      profile_len = 0;
+
+   if (profile_len > 3)
+      embedded_profile_len =
+          ((*( (png_bytep)profile    ))<<24) |
+          ((*( (png_bytep)profile + 1))<<16) |
+          ((*( (png_bytep)profile + 2))<< 8) |
+          ((*( (png_bytep)profile + 3))    );
+
+   if (profile_len < embedded_profile_len)
+   {
+      png_warning(png_ptr,
+        "Embedded profile length too large in iCCP chunk");
+      png_free(png_ptr, new_name);
+      return;
+   }
+
+   if (profile_len > embedded_profile_len)
+   {
+      png_warning(png_ptr,
+        "Truncating profile to actual length in iCCP chunk");
+      profile_len = embedded_profile_len;
+   }
+
+   if (profile_len)
+      profile_len = png_text_compress(png_ptr, profile,
+        (png_size_t)profile_len, PNG_COMPRESSION_TYPE_BASE, &comp);
+
+   /* Make sure we include the NULL after the name and the compression type */
+   png_write_chunk_start(png_ptr, (png_bytep)png_iCCP,
+          (png_uint_32)(name_len + profile_len + 2));
+   new_name[name_len + 1] = 0x00;
+   png_write_chunk_data(png_ptr, (png_bytep)new_name,
+     (png_size_t)(name_len + 2));
+
+   if (profile_len)
+      png_write_compressed_data_out(png_ptr, &comp);
+
+   png_write_chunk_end(png_ptr);
+   png_free(png_ptr, new_name);
+}
+#endif
+
+#if defined(PNG_WRITE_sPLT_SUPPORTED)
+/* Write a sPLT chunk */
+void /* PRIVATE */
+png_write_sPLT(png_structp png_ptr, png_sPLT_tp spalette)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_sPLT;
+#endif
+   png_size_t name_len;
+   png_charp new_name;
+   png_byte entrybuf[10];
+   int entry_size = (spalette->depth == 8 ? 6 : 10);
+   int palette_size = entry_size * spalette->nentries;
+   png_sPLT_entryp ep;
+#ifdef PNG_NO_POINTER_INDEXING
+   int i;
+#endif
+
+   png_debug(1, "in png_write_sPLT");
+   if ((name_len = png_check_keyword(png_ptr,spalette->name, &new_name))==0)
+      return;
+
+   /* Make sure we include the NULL after the name */
+   png_write_chunk_start(png_ptr, (png_bytep)png_sPLT,
+     (png_uint_32)(name_len + 2 + palette_size));
+   png_write_chunk_data(png_ptr, (png_bytep)new_name,
+     (png_size_t)(name_len + 1));
+   png_write_chunk_data(png_ptr, (png_bytep)&spalette->depth, (png_size_t)1);
+
+   /* Loop through each palette entry, writing appropriately */
+#ifndef PNG_NO_POINTER_INDEXING
+   for (ep = spalette->entries; ep<spalette->entries + spalette->nentries; ep++)
+   {
+      if (spalette->depth == 8)
+      {
+          entrybuf[0] = (png_byte)ep->red;
+          entrybuf[1] = (png_byte)ep->green;
+          entrybuf[2] = (png_byte)ep->blue;
+          entrybuf[3] = (png_byte)ep->alpha;
+          png_save_uint_16(entrybuf + 4, ep->frequency);
+      }
+      else
+      {
+          png_save_uint_16(entrybuf + 0, ep->red);
+          png_save_uint_16(entrybuf + 2, ep->green);
+          png_save_uint_16(entrybuf + 4, ep->blue);
+          png_save_uint_16(entrybuf + 6, ep->alpha);
+          png_save_uint_16(entrybuf + 8, ep->frequency);
+      }
+      png_write_chunk_data(png_ptr, entrybuf, (png_size_t)entry_size);
+   }
+#else
+   ep=spalette->entries;
+   for (i=0; i>spalette->nentries; i++)
+   {
+      if (spalette->depth == 8)
+      {
+          entrybuf[0] = (png_byte)ep[i].red;
+          entrybuf[1] = (png_byte)ep[i].green;
+          entrybuf[2] = (png_byte)ep[i].blue;
+          entrybuf[3] = (png_byte)ep[i].alpha;
+          png_save_uint_16(entrybuf + 4, ep[i].frequency);
+      }
+      else
+      {
+          png_save_uint_16(entrybuf + 0, ep[i].red);
+          png_save_uint_16(entrybuf + 2, ep[i].green);
+          png_save_uint_16(entrybuf + 4, ep[i].blue);
+          png_save_uint_16(entrybuf + 6, ep[i].alpha);
+          png_save_uint_16(entrybuf + 8, ep[i].frequency);
+      }
+      png_write_chunk_data(png_ptr, entrybuf, (png_size_t)entry_size);
+   }
+#endif
+
+   png_write_chunk_end(png_ptr);
+   png_free(png_ptr, new_name);
+}
+#endif
+
+#if defined(PNG_WRITE_sBIT_SUPPORTED)
+/* Write the sBIT chunk */
+void /* PRIVATE */
+png_write_sBIT(png_structp png_ptr, png_color_8p sbit, int color_type)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_sBIT;
+#endif
+   png_byte buf[4];
+   png_size_t size;
+
+   png_debug(1, "in png_write_sBIT");
+   /* Make sure we don't depend upon the order of PNG_COLOR_8 */
+   if (color_type & PNG_COLOR_MASK_COLOR)
+   {
+      png_byte maxbits;
+
+      maxbits = (png_byte)(color_type==PNG_COLOR_TYPE_PALETTE ? 8 :
+                png_ptr->usr_bit_depth);
+      if (sbit->red == 0 || sbit->red > maxbits ||
+          sbit->green == 0 || sbit->green > maxbits ||
+          sbit->blue == 0 || sbit->blue > maxbits)
+      {
+         png_warning(png_ptr, "Invalid sBIT depth specified");
+         return;
+      }
+      buf[0] = sbit->red;
+      buf[1] = sbit->green;
+      buf[2] = sbit->blue;
+      size = 3;
+   }
+   else
+   {
+      if (sbit->gray == 0 || sbit->gray > png_ptr->usr_bit_depth)
+      {
+         png_warning(png_ptr, "Invalid sBIT depth specified");
+         return;
+      }
+      buf[0] = sbit->gray;
+      size = 1;
+   }
+
+   if (color_type & PNG_COLOR_MASK_ALPHA)
+   {
+      if (sbit->alpha == 0 || sbit->alpha > png_ptr->usr_bit_depth)
+      {
+         png_warning(png_ptr, "Invalid sBIT depth specified");
+         return;
+      }
+      buf[size++] = sbit->alpha;
+   }
+
+   png_write_chunk(png_ptr, (png_bytep)png_sBIT, buf, size);
+}
+#endif
+
+#if defined(PNG_WRITE_cHRM_SUPPORTED)
+/* Write the cHRM chunk */
+#ifdef PNG_FLOATING_POINT_SUPPORTED
+void /* PRIVATE */
+png_write_cHRM(png_structp png_ptr, double white_x, double white_y,
+   double red_x, double red_y, double green_x, double green_y,
+   double blue_x, double blue_y)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_cHRM;
+#endif
+   png_byte buf[32];
+
+   png_fixed_point int_white_x, int_white_y, int_red_x, int_red_y,
+      int_green_x, int_green_y, int_blue_x, int_blue_y;
+
+   png_debug(1, "in png_write_cHRM");
+
+   int_white_x = (png_uint_32)(white_x * 100000.0 + 0.5);
+   int_white_y = (png_uint_32)(white_y * 100000.0 + 0.5);
+   int_red_x   = (png_uint_32)(red_x   * 100000.0 + 0.5);
+   int_red_y   = (png_uint_32)(red_y   * 100000.0 + 0.5);
+   int_green_x = (png_uint_32)(green_x * 100000.0 + 0.5);
+   int_green_y = (png_uint_32)(green_y * 100000.0 + 0.5);
+   int_blue_x  = (png_uint_32)(blue_x  * 100000.0 + 0.5);
+   int_blue_y  = (png_uint_32)(blue_y  * 100000.0 + 0.5);
+
+#if !defined(PNG_NO_CHECK_cHRM)
+   if (png_check_cHRM_fixed(png_ptr, int_white_x, int_white_y,
+      int_red_x, int_red_y, int_green_x, int_green_y, int_blue_x, int_blue_y))
+#endif
+   {
+      /* Each value is saved in 1/100,000ths */
+    
+      png_save_uint_32(buf, int_white_x);
+      png_save_uint_32(buf + 4, int_white_y);
+
+      png_save_uint_32(buf + 8, int_red_x);
+      png_save_uint_32(buf + 12, int_red_y);
+
+      png_save_uint_32(buf + 16, int_green_x);
+      png_save_uint_32(buf + 20, int_green_y);
+
+      png_save_uint_32(buf + 24, int_blue_x);
+      png_save_uint_32(buf + 28, int_blue_y);
+
+      png_write_chunk(png_ptr, (png_bytep)png_cHRM, buf, (png_size_t)32);
+   }
+}
+#endif
+#ifdef PNG_FIXED_POINT_SUPPORTED
+void /* PRIVATE */
+png_write_cHRM_fixed(png_structp png_ptr, png_fixed_point white_x,
+   png_fixed_point white_y, png_fixed_point red_x, png_fixed_point red_y,
+   png_fixed_point green_x, png_fixed_point green_y, png_fixed_point blue_x,
+   png_fixed_point blue_y)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_cHRM;
+#endif
+   png_byte buf[32];
+
+   png_debug(1, "in png_write_cHRM");
+   /* Each value is saved in 1/100,000ths */
+#if !defined(PNG_NO_CHECK_cHRM)
+   if (png_check_cHRM_fixed(png_ptr, white_x, white_y, red_x, red_y,
+      green_x, green_y, blue_x, blue_y))
+#endif
+   {
+      png_save_uint_32(buf, (png_uint_32)white_x);
+      png_save_uint_32(buf + 4, (png_uint_32)white_y);
+
+      png_save_uint_32(buf + 8, (png_uint_32)red_x);
+      png_save_uint_32(buf + 12, (png_uint_32)red_y);
+
+      png_save_uint_32(buf + 16, (png_uint_32)green_x);
+      png_save_uint_32(buf + 20, (png_uint_32)green_y);
+
+      png_save_uint_32(buf + 24, (png_uint_32)blue_x);
+      png_save_uint_32(buf + 28, (png_uint_32)blue_y);
+
+      png_write_chunk(png_ptr, (png_bytep)png_cHRM, buf, (png_size_t)32);
+   }
+}
+#endif
+#endif
+
+#if defined(PNG_WRITE_tRNS_SUPPORTED)
+/* Write the tRNS chunk */
+void /* PRIVATE */
+png_write_tRNS(png_structp png_ptr, png_bytep trans, png_color_16p tran,
+   int num_trans, int color_type)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_tRNS;
+#endif
+   png_byte buf[6];
+
+   png_debug(1, "in png_write_tRNS");
+   if (color_type == PNG_COLOR_TYPE_PALETTE)
+   {
+      if (num_trans <= 0 || num_trans > (int)png_ptr->num_palette)
+      {
+         png_warning(png_ptr, "Invalid number of transparent colors specified");
+         return;
+      }
+      /* Write the chunk out as it is */
+      png_write_chunk(png_ptr, (png_bytep)png_tRNS, trans,
+        (png_size_t)num_trans);
+   }
+   else if (color_type == PNG_COLOR_TYPE_GRAY)
+   {
+      /* One 16 bit value */
+      if (tran->gray >= (1 << png_ptr->bit_depth))
+      {
+         png_warning(png_ptr,
+           "Ignoring attempt to write tRNS chunk out-of-range for bit_depth");
+         return;
+      }
+      png_save_uint_16(buf, tran->gray);
+      png_write_chunk(png_ptr, (png_bytep)png_tRNS, buf, (png_size_t)2);
+   }
+   else if (color_type == PNG_COLOR_TYPE_RGB)
+   {
+      /* Three 16 bit values */
+      png_save_uint_16(buf, tran->red);
+      png_save_uint_16(buf + 2, tran->green);
+      png_save_uint_16(buf + 4, tran->blue);
+      if (png_ptr->bit_depth == 8 && (buf[0] | buf[2] | buf[4]))
+      {
+         png_warning(png_ptr,
+           "Ignoring attempt to write 16-bit tRNS chunk when bit_depth is 8");
+         return;
+      }
+      png_write_chunk(png_ptr, (png_bytep)png_tRNS, buf, (png_size_t)6);
+   }
+   else
+   {
+      png_warning(png_ptr, "Can't write tRNS with an alpha channel");
+   }
+}
+#endif
+
+#if defined(PNG_WRITE_bKGD_SUPPORTED)
+/* Write the background chunk */
+void /* PRIVATE */
+png_write_bKGD(png_structp png_ptr, png_color_16p back, int color_type)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_bKGD;
+#endif
+   png_byte buf[6];
+
+   png_debug(1, "in png_write_bKGD");
+   if (color_type == PNG_COLOR_TYPE_PALETTE)
+   {
+      if (
+#if defined(PNG_MNG_FEATURES_SUPPORTED)
+          (png_ptr->num_palette ||
+          (!(png_ptr->mng_features_permitted & PNG_FLAG_MNG_EMPTY_PLTE))) &&
+#endif
+         back->index >= png_ptr->num_palette)
+      {
+         png_warning(png_ptr, "Invalid background palette index");
+         return;
+      }
+      buf[0] = back->index;
+      png_write_chunk(png_ptr, (png_bytep)png_bKGD, buf, (png_size_t)1);
+   }
+   else if (color_type & PNG_COLOR_MASK_COLOR)
+   {
+      png_save_uint_16(buf, back->red);
+      png_save_uint_16(buf + 2, back->green);
+      png_save_uint_16(buf + 4, back->blue);
+      if (png_ptr->bit_depth == 8 && (buf[0] | buf[2] | buf[4]))
+      {
+         png_warning(png_ptr,
+           "Ignoring attempt to write 16-bit bKGD chunk when bit_depth is 8");
+         return;
+      }
+      png_write_chunk(png_ptr, (png_bytep)png_bKGD, buf, (png_size_t)6);
+   }
+   else
+   {
+      if (back->gray >= (1 << png_ptr->bit_depth))
+      {
+         png_warning(png_ptr,
+           "Ignoring attempt to write bKGD chunk out-of-range for bit_depth");
+         return;
+      }
+      png_save_uint_16(buf, back->gray);
+      png_write_chunk(png_ptr, (png_bytep)png_bKGD, buf, (png_size_t)2);
+   }
+}
+#endif
+
+#if defined(PNG_WRITE_hIST_SUPPORTED)
+/* Write the histogram */
+void /* PRIVATE */
+png_write_hIST(png_structp png_ptr, png_uint_16p hist, int num_hist)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_hIST;
+#endif
+   int i;
+   png_byte buf[3];
+
+   png_debug(1, "in png_write_hIST");
+   if (num_hist > (int)png_ptr->num_palette)
+   {
+      png_debug2(3, "num_hist = %d, num_palette = %d", num_hist,
+         png_ptr->num_palette);
+      png_warning(png_ptr, "Invalid number of histogram entries specified");
+      return;
+   }
+
+   png_write_chunk_start(png_ptr, (png_bytep)png_hIST,
+     (png_uint_32)(num_hist * 2));
+   for (i = 0; i < num_hist; i++)
+   {
+      png_save_uint_16(buf, hist[i]);
+      png_write_chunk_data(png_ptr, buf, (png_size_t)2);
+   }
+   png_write_chunk_end(png_ptr);
+}
+#endif
+
+#if defined(PNG_WRITE_TEXT_SUPPORTED) || defined(PNG_WRITE_pCAL_SUPPORTED) || \
+    defined(PNG_WRITE_iCCP_SUPPORTED) || defined(PNG_WRITE_sPLT_SUPPORTED)
+/* Check that the tEXt or zTXt keyword is valid per PNG 1.0 specification,
+ * and if invalid, correct the keyword rather than discarding the entire
+ * chunk.  The PNG 1.0 specification requires keywords 1-79 characters in
+ * length, forbids leading or trailing whitespace, multiple internal spaces,
+ * and the non-break space (0x80) from ISO 8859-1.  Returns keyword length.
+ *
+ * The new_key is allocated to hold the corrected keyword and must be freed
+ * by the calling routine.  This avoids problems with trying to write to
+ * static keywords without having to have duplicate copies of the strings.
+ */
+png_size_t /* PRIVATE */
+png_check_keyword(png_structp png_ptr, png_charp key, png_charpp new_key)
+{
+   png_size_t key_len;
+   png_charp kp, dp;
+   int kflag;
+   int kwarn=0;
+
+   png_debug(1, "in png_check_keyword");
+   *new_key = NULL;
+
+   if (key == NULL || (key_len = png_strlen(key)) == 0)
+   {
+      png_warning(png_ptr, "zero length keyword");
+      return ((png_size_t)0);
+   }
+
+   png_debug1(2, "Keyword to be checked is '%s'", key);
+
+   *new_key = (png_charp)png_malloc_warn(png_ptr, (png_uint_32)(key_len + 2));
+   if (*new_key == NULL)
+   {
+      png_warning(png_ptr, "Out of memory while procesing keyword");
+      return ((png_size_t)0);
+   }
+
+   /* Replace non-printing characters with a blank and print a warning */
+   for (kp = key, dp = *new_key; *kp != '\0'; kp++, dp++)
+   {
+      if ((png_byte)*kp < 0x20 ||
+         ((png_byte)*kp > 0x7E && (png_byte)*kp < 0xA1))
+      {
+#if !defined(PNG_NO_STDIO) && !defined(_WIN32_WCE)
+         char msg[40];
+
+         png_snprintf(msg, 40,
+           "invalid keyword character 0x%02X", (png_byte)*kp);
+         png_warning(png_ptr, msg);
+#else
+         png_warning(png_ptr, "invalid character in keyword");
+#endif
+         *dp = ' ';
+      }
+      else
+      {
+         *dp = *kp;
+      }
+   }
+   *dp = '\0';
+
+   /* Remove any trailing white space. */
+   kp = *new_key + key_len - 1;
+   if (*kp == ' ')
+   {
+      png_warning(png_ptr, "trailing spaces removed from keyword");
+
+      while (*kp == ' ')
+      {
+         *(kp--) = '\0';
+         key_len--;
+      }
+   }
+
+   /* Remove any leading white space. */
+   kp = *new_key;
+   if (*kp == ' ')
+   {
+      png_warning(png_ptr, "leading spaces removed from keyword");
+
+      while (*kp == ' ')
+      {
+         kp++;
+         key_len--;
+      }
+   }
+
+   png_debug1(2, "Checking for multiple internal spaces in '%s'", kp);
+
+   /* Remove multiple internal spaces. */
+   for (kflag = 0, dp = *new_key; *kp != '\0'; kp++)
+   {
+      if (*kp == ' ' && kflag == 0)
+      {
+         *(dp++) = *kp;
+         kflag = 1;
+      }
+      else if (*kp == ' ')
+      {
+         key_len--;
+         kwarn=1;
+      }
+      else
+      {
+         *(dp++) = *kp;
+         kflag = 0;
+      }
+   }
+   *dp = '\0';
+   if (kwarn)
+      png_warning(png_ptr, "extra interior spaces removed from keyword");
+
+   if (key_len == 0)
+   {
+      png_free(png_ptr, *new_key);
+       *new_key=NULL;
+      png_warning(png_ptr, "Zero length keyword");
+   }
+
+   if (key_len > 79)
+   {
+      png_warning(png_ptr, "keyword length must be 1 - 79 characters");
+      (*new_key)[79] = '\0';
+      key_len = 79;
+   }
+
+   return (key_len);
+}
+#endif
+
+#if defined(PNG_WRITE_tEXt_SUPPORTED)
+/* Write a tEXt chunk */
+void /* PRIVATE */
+png_write_tEXt(png_structp png_ptr, png_charp key, png_charp text,
+   png_size_t text_len)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_tEXt;
+#endif
+   png_size_t key_len;
+   png_charp new_key;
+
+   png_debug(1, "in png_write_tEXt");
+   if ((key_len = png_check_keyword(png_ptr, key, &new_key))==0)
+      return;
+
+   if (text == NULL || *text == '\0')
+      text_len = 0;
+   else
+      text_len = png_strlen(text);
+
+   /* Make sure we include the 0 after the key */
+   png_write_chunk_start(png_ptr, (png_bytep)png_tEXt,
+      (png_uint_32)(key_len + text_len + 1));
+   /*
+    * We leave it to the application to meet PNG-1.0 requirements on the
+    * contents of the text.  PNG-1.0 through PNG-1.2 discourage the use of
+    * any non-Latin-1 characters except for NEWLINE.  ISO PNG will forbid them.
+    * The NUL character is forbidden by PNG-1.0 through PNG-1.2 and ISO PNG.
+    */
+   png_write_chunk_data(png_ptr, (png_bytep)new_key,
+     (png_size_t)(key_len + 1));
+   if (text_len)
+      png_write_chunk_data(png_ptr, (png_bytep)text, (png_size_t)text_len);
+
+   png_write_chunk_end(png_ptr);
+   png_free(png_ptr, new_key);
+}
+#endif
+
+#if defined(PNG_WRITE_zTXt_SUPPORTED)
+/* Write a compressed text chunk */
+void /* PRIVATE */
+png_write_zTXt(png_structp png_ptr, png_charp key, png_charp text,
+   png_size_t text_len, int compression)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_zTXt;
+#endif
+   png_size_t key_len;
+   char buf[1];
+   png_charp new_key;
+   compression_state comp;
+
+   png_debug(1, "in png_write_zTXt");
+
+   comp.num_output_ptr = 0;
+   comp.max_output_ptr = 0;
+   comp.output_ptr = NULL;
+   comp.input = NULL;
+   comp.input_len = 0;
+
+   if ((key_len = png_check_keyword(png_ptr, key, &new_key))==0)
+   {
+      png_free(png_ptr, new_key);
+      return;
+   }
+
+   if (text == NULL || *text == '\0' || compression==PNG_TEXT_COMPRESSION_NONE)
+   {
+      png_write_tEXt(png_ptr, new_key, text, (png_size_t)0);
+      png_free(png_ptr, new_key);
+      return;
+   }
+
+   text_len = png_strlen(text);
+
+   /* Compute the compressed data; do it now for the length */
+   text_len = png_text_compress(png_ptr, text, text_len, compression,
+       &comp);
+
+   /* Write start of chunk */
+   png_write_chunk_start(png_ptr, (png_bytep)png_zTXt,
+     (png_uint_32)(key_len+text_len + 2));
+   /* Write key */
+   png_write_chunk_data(png_ptr, (png_bytep)new_key,
+     (png_size_t)(key_len + 1));
+   png_free(png_ptr, new_key);
+
+   buf[0] = (png_byte)compression;
+   /* Write compression */
+   png_write_chunk_data(png_ptr, (png_bytep)buf, (png_size_t)1);
+   /* Write the compressed data */
+   png_write_compressed_data_out(png_ptr, &comp);
+
+   /* Close the chunk */
+   png_write_chunk_end(png_ptr);
+}
+#endif
+
+#if defined(PNG_WRITE_iTXt_SUPPORTED)
+/* Write an iTXt chunk */
+void /* PRIVATE */
+png_write_iTXt(png_structp png_ptr, int compression, png_charp key,
+    png_charp lang, png_charp lang_key, png_charp text)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_iTXt;
+#endif
+   png_size_t lang_len, key_len, lang_key_len, text_len;
+   png_charp new_lang;
+   png_charp new_key = NULL;
+   png_byte cbuf[2];
+   compression_state comp;
+
+   png_debug(1, "in png_write_iTXt");
+
+   comp.num_output_ptr = 0;
+   comp.max_output_ptr = 0;
+   comp.output_ptr = NULL;
+   comp.input = NULL;
+
+   if ((key_len = png_check_keyword(png_ptr, key, &new_key))==0)
+      return;
+
+   if ((lang_len = png_check_keyword(png_ptr, lang, &new_lang))==0)
+   {
+      png_warning(png_ptr, "Empty language field in iTXt chunk");
+      new_lang = NULL;
+      lang_len = 0;
+   }
+
+   if (lang_key == NULL)
+      lang_key_len = 0;
+   else
+      lang_key_len = png_strlen(lang_key);
+
+   if (text == NULL)
+      text_len = 0;
+   else
+      text_len = png_strlen(text);
+
+   /* Compute the compressed data; do it now for the length */
+   text_len = png_text_compress(png_ptr, text, text_len, compression-2,
+      &comp);
+
+
+   /* Make sure we include the compression flag, the compression byte,
+    * and the NULs after the key, lang, and lang_key parts */
+
+   png_write_chunk_start(png_ptr, (png_bytep)png_iTXt,
+          (png_uint_32)(
+        5 /* comp byte, comp flag, terminators for key, lang and lang_key */
+        + key_len
+        + lang_len
+        + lang_key_len
+        + text_len));
+
+   /* We leave it to the application to meet PNG-1.0 requirements on the
+    * contents of the text.  PNG-1.0 through PNG-1.2 discourage the use of
+    * any non-Latin-1 characters except for NEWLINE.  ISO PNG will forbid them.
+    * The NUL character is forbidden by PNG-1.0 through PNG-1.2 and ISO PNG.
+    */
+   png_write_chunk_data(png_ptr, (png_bytep)new_key,
+     (png_size_t)(key_len + 1));
+
+   /* Set the compression flag */
+   if (compression == PNG_ITXT_COMPRESSION_NONE || \
+       compression == PNG_TEXT_COMPRESSION_NONE)
+       cbuf[0] = 0;
+   else /* compression == PNG_ITXT_COMPRESSION_zTXt */
+       cbuf[0] = 1;
+   /* Set the compression method */
+   cbuf[1] = 0;
+   png_write_chunk_data(png_ptr, cbuf, (png_size_t)2);
+
+   cbuf[0] = 0;
+   png_write_chunk_data(png_ptr, (new_lang ? (png_bytep)new_lang : cbuf),
+     (png_size_t)(lang_len + 1));
+   png_write_chunk_data(png_ptr, (lang_key ? (png_bytep)lang_key : cbuf),
+     (png_size_t)(lang_key_len + 1));
+   png_write_compressed_data_out(png_ptr, &comp);
+
+   png_write_chunk_end(png_ptr);
+   png_free(png_ptr, new_key);
+   png_free(png_ptr, new_lang);
+}
+#endif
+
+#if defined(PNG_WRITE_oFFs_SUPPORTED)
+/* Write the oFFs chunk */
+void /* PRIVATE */
+png_write_oFFs(png_structp png_ptr, png_int_32 x_offset, png_int_32 y_offset,
+   int unit_type)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_oFFs;
+#endif
+   png_byte buf[9];
+
+   png_debug(1, "in png_write_oFFs");
+   if (unit_type >= PNG_OFFSET_LAST)
+      png_warning(png_ptr, "Unrecognized unit type for oFFs chunk");
+
+   png_save_int_32(buf, x_offset);
+   png_save_int_32(buf + 4, y_offset);
+   buf[8] = (png_byte)unit_type;
+
+   png_write_chunk(png_ptr, (png_bytep)png_oFFs, buf, (png_size_t)9);
+}
+#endif
+#if defined(PNG_WRITE_pCAL_SUPPORTED)
+/* Write the pCAL chunk (described in the PNG extensions document) */
+void /* PRIVATE */
+png_write_pCAL(png_structp png_ptr, png_charp purpose, png_int_32 X0,
+   png_int_32 X1, int type, int nparams, png_charp units, png_charpp params)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_pCAL;
+#endif
+   png_size_t purpose_len, units_len, total_len;
+   png_uint_32p params_len;
+   png_byte buf[10];
+   png_charp new_purpose;
+   int i;
+
+   png_debug1(1, "in png_write_pCAL (%d parameters)", nparams);
+   if (type >= PNG_EQUATION_LAST)
+      png_warning(png_ptr, "Unrecognized equation type for pCAL chunk");
+
+   purpose_len = png_check_keyword(png_ptr, purpose, &new_purpose) + 1;
+   png_debug1(3, "pCAL purpose length = %d", (int)purpose_len);
+   units_len = png_strlen(units) + (nparams == 0 ? 0 : 1);
+   png_debug1(3, "pCAL units length = %d", (int)units_len);
+   total_len = purpose_len + units_len + 10;
+
+   params_len = (png_uint_32p)png_malloc(png_ptr,
+      (png_uint_32)(nparams * png_sizeof(png_uint_32)));
+
+   /* Find the length of each parameter, making sure we don't count the
+      null terminator for the last parameter. */
+   for (i = 0; i < nparams; i++)
+   {
+      params_len[i] = png_strlen(params[i]) + (i == nparams - 1 ? 0 : 1);
+      png_debug2(3, "pCAL parameter %d length = %lu", i,
+        (unsigned long) params_len[i]);
+      total_len += (png_size_t)params_len[i];
+   }
+
+   png_debug1(3, "pCAL total length = %d", (int)total_len);
+   png_write_chunk_start(png_ptr, (png_bytep)png_pCAL, (png_uint_32)total_len);
+   png_write_chunk_data(png_ptr, (png_bytep)new_purpose,
+     (png_size_t)purpose_len);
+   png_save_int_32(buf, X0);
+   png_save_int_32(buf + 4, X1);
+   buf[8] = (png_byte)type;
+   buf[9] = (png_byte)nparams;
+   png_write_chunk_data(png_ptr, buf, (png_size_t)10);
+   png_write_chunk_data(png_ptr, (png_bytep)units, (png_size_t)units_len);
+
+   png_free(png_ptr, new_purpose);
+
+   for (i = 0; i < nparams; i++)
+   {
+      png_write_chunk_data(png_ptr, (png_bytep)params[i],
+         (png_size_t)params_len[i]);
+   }
+
+   png_free(png_ptr, params_len);
+   png_write_chunk_end(png_ptr);
+}
+#endif
+
+#if defined(PNG_WRITE_sCAL_SUPPORTED)
+/* Write the sCAL chunk */
+#if defined(PNG_FLOATING_POINT_SUPPORTED) && !defined(PNG_NO_STDIO)
+void /* PRIVATE */
+png_write_sCAL(png_structp png_ptr, int unit, double width, double height)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_sCAL;
+#endif
+   char buf[64];
+   png_size_t total_len;
+
+   png_debug(1, "in png_write_sCAL");
+
+   buf[0] = (char)unit;
+#if defined(_WIN32_WCE)
+/* sprintf() function is not supported on WindowsCE */
+   {
+      wchar_t wc_buf[32];
+      size_t wc_len;
+      swprintf(wc_buf, TEXT("%12.12e"), width);
+      wc_len = wcslen(wc_buf);
+      WideCharToMultiByte(CP_ACP, 0, wc_buf, -1, buf + 1, wc_len, NULL, NULL);
+      total_len = wc_len + 2;
+      swprintf(wc_buf, TEXT("%12.12e"), height);
+      wc_len = wcslen(wc_buf);
+      WideCharToMultiByte(CP_ACP, 0, wc_buf, -1, buf + total_len, wc_len,
+         NULL, NULL);
+      total_len += wc_len;
+   }
+#else
+   png_snprintf(buf + 1, 63, "%12.12e", width);
+   total_len = 1 + png_strlen(buf + 1) + 1;
+   png_snprintf(buf + total_len, 64-total_len, "%12.12e", height);
+   total_len += png_strlen(buf + total_len);
+#endif
+
+   png_debug1(3, "sCAL total length = %u", (unsigned int)total_len);
+   png_write_chunk(png_ptr, (png_bytep)png_sCAL, (png_bytep)buf, total_len);
+}
+#else
+#ifdef PNG_FIXED_POINT_SUPPORTED
+void /* PRIVATE */
+png_write_sCAL_s(png_structp png_ptr, int unit, png_charp width,
+   png_charp height)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_sCAL;
+#endif
+   png_byte buf[64];
+   png_size_t wlen, hlen, total_len;
+
+   png_debug(1, "in png_write_sCAL_s");
+
+   wlen = png_strlen(width);
+   hlen = png_strlen(height);
+   total_len = wlen + hlen + 2;
+   if (total_len > 64)
+   {
+      png_warning(png_ptr, "Can't write sCAL (buffer too small)");
+      return;
+   }
+
+   buf[0] = (png_byte)unit;
+   png_memcpy(buf + 1, width, wlen + 1);      /* Append the '\0' here */
+   png_memcpy(buf + wlen + 2, height, hlen);  /* Do NOT append the '\0' here */
+
+   png_debug1(3, "sCAL total length = %u", (unsigned int)total_len);
+   png_write_chunk(png_ptr, (png_bytep)png_sCAL, buf, total_len);
+}
+#endif
+#endif
+#endif
+
+#if defined(PNG_WRITE_pHYs_SUPPORTED)
+/* Write the pHYs chunk */
+void /* PRIVATE */
+png_write_pHYs(png_structp png_ptr, png_uint_32 x_pixels_per_unit,
+   png_uint_32 y_pixels_per_unit,
+   int unit_type)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_pHYs;
+#endif
+   png_byte buf[9];
+
+   png_debug(1, "in png_write_pHYs");
+   if (unit_type >= PNG_RESOLUTION_LAST)
+      png_warning(png_ptr, "Unrecognized unit type for pHYs chunk");
+
+   png_save_uint_32(buf, x_pixels_per_unit);
+   png_save_uint_32(buf + 4, y_pixels_per_unit);
+   buf[8] = (png_byte)unit_type;
+
+   png_write_chunk(png_ptr, (png_bytep)png_pHYs, buf, (png_size_t)9);
+}
+#endif
+
+#if defined(PNG_WRITE_tIME_SUPPORTED)
+/* Write the tIME chunk.  Use either png_convert_from_struct_tm()
+ * or png_convert_from_time_t(), or fill in the structure yourself.
+ */
+void /* PRIVATE */
+png_write_tIME(png_structp png_ptr, png_timep mod_time)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   PNG_tIME;
+#endif
+   png_byte buf[7];
+
+   png_debug(1, "in png_write_tIME");
+   if (mod_time->month  > 12 || mod_time->month  < 1 ||
+       mod_time->day    > 31 || mod_time->day    < 1 ||
+       mod_time->hour   > 23 || mod_time->second > 60)
+   {
+      png_warning(png_ptr, "Invalid time specified for tIME chunk");
+      return;
+   }
+
+   png_save_uint_16(buf, mod_time->year);
+   buf[2] = mod_time->month;
+   buf[3] = mod_time->day;
+   buf[4] = mod_time->hour;
+   buf[5] = mod_time->minute;
+   buf[6] = mod_time->second;
+
+   png_write_chunk(png_ptr, (png_bytep)png_tIME, buf, (png_size_t)7);
+}
+#endif
+
+/* Initializes the row writing capability of libpng */
+void /* PRIVATE */
+png_write_start_row(png_structp png_ptr)
+{
+#ifdef PNG_WRITE_INTERLACING_SUPPORTED
+#ifdef PNG_USE_LOCAL_ARRAYS
+   /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
+
+   /* Start of interlace block */
+   int png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
+
+   /* Offset to next interlace block */
+   int png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+
+   /* Start of interlace block in the y direction */
+   int png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
+
+   /* Offset to next interlace block in the y direction */
+   int png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
+#endif
+#endif
+
+   png_size_t buf_size;
+
+   png_debug(1, "in png_write_start_row");
+   buf_size = (png_size_t)(PNG_ROWBYTES(
+      png_ptr->usr_channels*png_ptr->usr_bit_depth, png_ptr->width) + 1);
+
+   /* Set up row buffer */
+   png_ptr->row_buf = (png_bytep)png_malloc(png_ptr,
+     (png_uint_32)buf_size);
+   png_ptr->row_buf[0] = PNG_FILTER_VALUE_NONE;
+
+#ifndef PNG_NO_WRITE_FILTER
+   /* Set up filtering buffer, if using this filter */
+   if (png_ptr->do_filter & PNG_FILTER_SUB)
+   {
+      png_ptr->sub_row = (png_bytep)png_malloc(png_ptr,
+         (png_uint_32)(png_ptr->rowbytes + 1));
+      png_ptr->sub_row[0] = PNG_FILTER_VALUE_SUB;
+   }
+
+   /* We only need to keep the previous row if we are using one of these. */
+   if (png_ptr->do_filter & (PNG_FILTER_AVG | PNG_FILTER_UP | PNG_FILTER_PAETH))
+   {
+     /* Set up previous row buffer */
+     png_ptr->prev_row = (png_bytep)png_malloc(png_ptr,
+        (png_uint_32)buf_size);
+     png_memset(png_ptr->prev_row, 0, buf_size);
+
+      if (png_ptr->do_filter & PNG_FILTER_UP)
+      {
+         png_ptr->up_row = (png_bytep)png_malloc(png_ptr,
+           (png_uint_32)(png_ptr->rowbytes + 1));
+         png_ptr->up_row[0] = PNG_FILTER_VALUE_UP;
+      }
+
+      if (png_ptr->do_filter & PNG_FILTER_AVG)
+      {
+         png_ptr->avg_row = (png_bytep)png_malloc(png_ptr,
+           (png_uint_32)(png_ptr->rowbytes + 1));
+         png_ptr->avg_row[0] = PNG_FILTER_VALUE_AVG;
+      }
+
+      if (png_ptr->do_filter & PNG_FILTER_PAETH)
+      {
+         png_ptr->paeth_row = (png_bytep)png_malloc(png_ptr,
+           (png_uint_32)(png_ptr->rowbytes + 1));
+         png_ptr->paeth_row[0] = PNG_FILTER_VALUE_PAETH;
+      }
+   }
+#endif /* PNG_NO_WRITE_FILTER */
+
+#ifdef PNG_WRITE_INTERLACING_SUPPORTED
+   /* If interlaced, we need to set up width and height of pass */
+   if (png_ptr->interlaced)
+   {
+      if (!(png_ptr->transformations & PNG_INTERLACE))
+      {
+         png_ptr->num_rows = (png_ptr->height + png_pass_yinc[0] - 1 -
+            png_pass_ystart[0]) / png_pass_yinc[0];
+         png_ptr->usr_width = (png_ptr->width + png_pass_inc[0] - 1 -
+            png_pass_start[0]) / png_pass_inc[0];
+      }
+      else
+      {
+         png_ptr->num_rows = png_ptr->height;
+         png_ptr->usr_width = png_ptr->width;
+      }
+   }
+   else
+#endif
+   {
+      png_ptr->num_rows = png_ptr->height;
+      png_ptr->usr_width = png_ptr->width;
+   }
+   png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+   png_ptr->zstream.next_out = png_ptr->zbuf;
+}
+
+/* Internal use only.  Called when finished processing a row of data. */
+void /* PRIVATE */
+png_write_finish_row(png_structp png_ptr)
+{
+#ifdef PNG_WRITE_INTERLACING_SUPPORTED
+#ifdef PNG_USE_LOCAL_ARRAYS
+   /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
+
+   /* Start of interlace block */
+   int png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
+
+   /* Offset to next interlace block */
+   int png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+
+   /* Start of interlace block in the y direction */
+   int png_pass_ystart[7] = {0, 0, 4, 0, 2, 0, 1};
+
+   /* Offset to next interlace block in the y direction */
+   int png_pass_yinc[7] = {8, 8, 8, 4, 4, 2, 2};
+#endif
+#endif
+
+   int ret;
+
+   png_debug(1, "in png_write_finish_row");
+   /* Next row */
+   png_ptr->row_number++;
+
+   /* See if we are done */
+   if (png_ptr->row_number < png_ptr->num_rows)
+      return;
+
+#ifdef PNG_WRITE_INTERLACING_SUPPORTED
+   /* If interlaced, go to next pass */
+   if (png_ptr->interlaced)
+   {
+      png_ptr->row_number = 0;
+      if (png_ptr->transformations & PNG_INTERLACE)
+      {
+         png_ptr->pass++;
+      }
+      else
+      {
+         /* Loop until we find a non-zero width or height pass */
+         do
+         {
+            png_ptr->pass++;
+            if (png_ptr->pass >= 7)
+               break;
+            png_ptr->usr_width = (png_ptr->width +
+               png_pass_inc[png_ptr->pass] - 1 -
+               png_pass_start[png_ptr->pass]) /
+               png_pass_inc[png_ptr->pass];
+            png_ptr->num_rows = (png_ptr->height +
+               png_pass_yinc[png_ptr->pass] - 1 -
+               png_pass_ystart[png_ptr->pass]) /
+               png_pass_yinc[png_ptr->pass];
+            if (png_ptr->transformations & PNG_INTERLACE)
+               break;
+         } while (png_ptr->usr_width == 0 || png_ptr->num_rows == 0);
+
+      }
+
+      /* Reset the row above the image for the next pass */
+      if (png_ptr->pass < 7)
+      {
+         if (png_ptr->prev_row != NULL)
+            png_memset(png_ptr->prev_row, 0,
+               (png_size_t)(PNG_ROWBYTES(png_ptr->usr_channels*
+               png_ptr->usr_bit_depth, png_ptr->width)) + 1);
+         return;
+      }
+   }
+#endif
+
+   /* If we get here, we've just written the last row, so we need
+      to flush the compressor */
+   do
+   {
+      /* Tell the compressor we are done */
+      ret = deflate(&png_ptr->zstream, Z_FINISH);
+      /* Check for an error */
+      if (ret == Z_OK)
+      {
+         /* Check to see if we need more room */
+         if (!(png_ptr->zstream.avail_out))
+         {
+            png_write_IDAT(png_ptr, png_ptr->zbuf, png_ptr->zbuf_size);
+            png_ptr->zstream.next_out = png_ptr->zbuf;
+            png_ptr->zstream.avail_out = (uInt)png_ptr->zbuf_size;
+         }
+      }
+      else if (ret != Z_STREAM_END)
+      {
+         if (png_ptr->zstream.msg != NULL)
+            png_error(png_ptr, png_ptr->zstream.msg);
+         else
+            png_error(png_ptr, "zlib error");
+      }
+   } while (ret != Z_STREAM_END);
+
+   /* Write any extra space */
+   if (png_ptr->zstream.avail_out < png_ptr->zbuf_size)
+   {
+      png_write_IDAT(png_ptr, png_ptr->zbuf, png_ptr->zbuf_size -
+         png_ptr->zstream.avail_out);
+   }
+
+   deflateReset(&png_ptr->zstream);
+   png_ptr->zstream.data_type = Z_BINARY;
+}
+
+#if defined(PNG_WRITE_INTERLACING_SUPPORTED)
+/* Pick out the correct pixels for the interlace pass.
+ * The basic idea here is to go through the row with a source
+ * pointer and a destination pointer (sp and dp), and copy the
+ * correct pixels for the pass.  As the row gets compacted,
+ * sp will always be >= dp, so we should never overwrite anything.
+ * See the default: case for the easiest code to understand.
+ */
+void /* PRIVATE */
+png_do_write_interlace(png_row_infop row_info, png_bytep row, int pass)
+{
+#ifdef PNG_USE_LOCAL_ARRAYS
+   /* Arrays to facilitate easy interlacing - use pass (0 - 6) as index */
+
+   /* Start of interlace block */
+   int png_pass_start[7] = {0, 4, 0, 2, 0, 1, 0};
+
+   /* Offset to next interlace block */
+   int png_pass_inc[7] = {8, 8, 4, 4, 2, 2, 1};
+#endif
+
+   png_debug(1, "in png_do_write_interlace");
+   /* We don't have to do anything on the last pass (6) */
+#if defined(PNG_USELESS_TESTS_SUPPORTED)
+   if (row != NULL && row_info != NULL && pass < 6)
+#else
+   if (pass < 6)
+#endif
+   {
+      /* Each pixel depth is handled separately */
+      switch (row_info->pixel_depth)
+      {
+         case 1:
+         {
+            png_bytep sp;
+            png_bytep dp;
+            int shift;
+            int d;
+            int value;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            dp = row;
+            d = 0;
+            shift = 7;
+            for (i = png_pass_start[pass]; i < row_width;
+               i += png_pass_inc[pass])
+            {
+               sp = row + (png_size_t)(i >> 3);
+               value = (int)(*sp >> (7 - (int)(i & 0x07))) & 0x01;
+               d |= (value << shift);
+
+               if (shift == 0)
+               {
+                  shift = 7;
+                  *dp++ = (png_byte)d;
+                  d = 0;
+               }
+               else
+                  shift--;
+
+            }
+            if (shift != 7)
+               *dp = (png_byte)d;
+            break;
+         }
+         case 2:
+         {
+            png_bytep sp;
+            png_bytep dp;
+            int shift;
+            int d;
+            int value;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            dp = row;
+            shift = 6;
+            d = 0;
+            for (i = png_pass_start[pass]; i < row_width;
+               i += png_pass_inc[pass])
+            {
+               sp = row + (png_size_t)(i >> 2);
+               value = (*sp >> ((3 - (int)(i & 0x03)) << 1)) & 0x03;
+               d |= (value << shift);
+
+               if (shift == 0)
+               {
+                  shift = 6;
+                  *dp++ = (png_byte)d;
+                  d = 0;
+               }
+               else
+                  shift -= 2;
+            }
+            if (shift != 6)
+                   *dp = (png_byte)d;
+            break;
+         }
+         case 4:
+         {
+            png_bytep sp;
+            png_bytep dp;
+            int shift;
+            int d;
+            int value;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+
+            dp = row;
+            shift = 4;
+            d = 0;
+            for (i = png_pass_start[pass]; i < row_width;
+               i += png_pass_inc[pass])
+            {
+               sp = row + (png_size_t)(i >> 1);
+               value = (*sp >> ((1 - (int)(i & 0x01)) << 2)) & 0x0f;
+               d |= (value << shift);
+
+               if (shift == 0)
+               {
+                  shift = 4;
+                  *dp++ = (png_byte)d;
+                  d = 0;
+               }
+               else
+                  shift -= 4;
+            }
+            if (shift != 4)
+               *dp = (png_byte)d;
+            break;
+         }
+         default:
+         {
+            png_bytep sp;
+            png_bytep dp;
+            png_uint_32 i;
+            png_uint_32 row_width = row_info->width;
+            png_size_t pixel_bytes;
+
+            /* Start at the beginning */
+            dp = row;
+            /* Find out how many bytes each pixel takes up */
+            pixel_bytes = (row_info->pixel_depth >> 3);
+            /* Loop through the row, only looking at the pixels that
+               matter */
+            for (i = png_pass_start[pass]; i < row_width;
+               i += png_pass_inc[pass])
+            {
+               /* Find out where the original pixel is */
+               sp = row + (png_size_t)i * pixel_bytes;
+               /* Move the pixel */
+               if (dp != sp)
+                  png_memcpy(dp, sp, pixel_bytes);
+               /* Next pixel */
+               dp += pixel_bytes;
+            }
+            break;
+         }
+      }
+      /* Set new row width */
+      row_info->width = (row_info->width +
+         png_pass_inc[pass] - 1 -
+         png_pass_start[pass]) /
+         png_pass_inc[pass];
+         row_info->rowbytes = PNG_ROWBYTES(row_info->pixel_depth,
+            row_info->width);
+   }
+}
+#endif
+
+/* This filters the row, chooses which filter to use, if it has not already
+ * been specified by the application, and then writes the row out with the
+ * chosen filter.
+ */
+#define PNG_MAXSUM (((png_uint_32)(-1)) >> 1)
+#define PNG_HISHIFT 10
+#define PNG_LOMASK ((png_uint_32)0xffffL)
+#define PNG_HIMASK ((png_uint_32)(~PNG_LOMASK >> PNG_HISHIFT))
+void /* PRIVATE */
+png_write_find_filter(png_structp png_ptr, png_row_infop row_info)
+{
+   png_bytep best_row;
+#ifndef PNG_NO_WRITE_FILTER
+   png_bytep prev_row, row_buf;
+   png_uint_32 mins, bpp;
+   png_byte filter_to_do = png_ptr->do_filter;
+   png_uint_32 row_bytes = row_info->rowbytes;
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+   int num_p_filters = (int)png_ptr->num_prev_filters;
+#endif
+
+   png_debug(1, "in png_write_find_filter");
+   /* Find out how many bytes offset each pixel is */
+   bpp = (row_info->pixel_depth + 7) >> 3;
+
+   prev_row = png_ptr->prev_row;
+#endif
+   best_row = png_ptr->row_buf;
+#ifndef PNG_NO_WRITE_FILTER
+   row_buf = best_row;
+   mins = PNG_MAXSUM;
+
+   /* The prediction method we use is to find which method provides the
+    * smallest value when summing the absolute values of the distances
+    * from zero, using anything >= 128 as negative numbers.  This is known
+    * as the "minimum sum of absolute differences" heuristic.  Other
+    * heuristics are the "weighted minimum sum of absolute differences"
+    * (experimental and can in theory improve compression), and the "zlib
+    * predictive" method (not implemented yet), which does test compressions
+    * of lines using different filter methods, and then chooses the
+    * (series of) filter(s) that give minimum compressed data size (VERY
+    * computationally expensive).
+    *
+    * GRR 980525:  consider also
+    *   (1) minimum sum of absolute differences from running average (i.e.,
+    *       keep running sum of non-absolute differences & count of bytes)
+    *       [track dispersion, too?  restart average if dispersion too large?]
+    *  (1b) minimum sum of absolute differences from sliding average, probably
+    *       with window size <= deflate window (usually 32K)
+    *   (2) minimum sum of squared differences from zero or running average
+    *       (i.e., ~ root-mean-square approach)
+    */
+
+
+   /* We don't need to test the 'no filter' case if this is the only filter
+    * that has been chosen, as it doesn't actually do anything to the data.
+    */
+   if ((filter_to_do & PNG_FILTER_NONE) &&
+       filter_to_do != PNG_FILTER_NONE)
+   {
+      png_bytep rp;
+      png_uint_32 sum = 0;
+      png_uint_32 i;
+      int v;
+
+      for (i = 0, rp = row_buf + 1; i < row_bytes; i++, rp++)
+      {
+         v = *rp;
+         sum += (v < 128) ? v : 256 - v;
+      }
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+      if (png_ptr->heuristic_method == PNG_FILTER_HEURISTIC_WEIGHTED)
+      {
+         png_uint_32 sumhi, sumlo;
+         int j;
+         sumlo = sum & PNG_LOMASK;
+         sumhi = (sum >> PNG_HISHIFT) & PNG_HIMASK; /* Gives us some footroom */
+
+         /* Reduce the sum if we match any of the previous rows */
+         for (j = 0; j < num_p_filters; j++)
+         {
+            if (png_ptr->prev_filters[j] == PNG_FILTER_VALUE_NONE)
+            {
+               sumlo = (sumlo * png_ptr->filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+               sumhi = (sumhi * png_ptr->filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+            }
+         }
+
+         /* Factor in the cost of this filter (this is here for completeness,
+          * but it makes no sense to have a "cost" for the NONE filter, as
+          * it has the minimum possible computational cost - none).
+          */
+         sumlo = (sumlo * png_ptr->filter_costs[PNG_FILTER_VALUE_NONE]) >>
+            PNG_COST_SHIFT;
+         sumhi = (sumhi * png_ptr->filter_costs[PNG_FILTER_VALUE_NONE]) >>
+            PNG_COST_SHIFT;
+
+         if (sumhi > PNG_HIMASK)
+            sum = PNG_MAXSUM;
+         else
+            sum = (sumhi << PNG_HISHIFT) + sumlo;
+      }
+#endif
+      mins = sum;
+   }
+
+   /* Sub filter */
+   if (filter_to_do == PNG_FILTER_SUB)
+   /* It's the only filter so no testing is needed */
+   {
+      png_bytep rp, lp, dp;
+      png_uint_32 i;
+      for (i = 0, rp = row_buf + 1, dp = png_ptr->sub_row + 1; i < bpp;
+           i++, rp++, dp++)
+      {
+         *dp = *rp;
+      }
+      for (lp = row_buf + 1; i < row_bytes;
+         i++, rp++, lp++, dp++)
+      {
+         *dp = (png_byte)(((int)*rp - (int)*lp) & 0xff);
+      }
+      best_row = png_ptr->sub_row;
+   }
+
+   else if (filter_to_do & PNG_FILTER_SUB)
+   {
+      png_bytep rp, dp, lp;
+      png_uint_32 sum = 0, lmins = mins;
+      png_uint_32 i;
+      int v;
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+      /* We temporarily increase the "minimum sum" by the factor we
+       * would reduce the sum of this filter, so that we can do the
+       * early exit comparison without scaling the sum each time.
+       */
+      if (png_ptr->heuristic_method == PNG_FILTER_HEURISTIC_WEIGHTED)
+      {
+         int j;
+         png_uint_32 lmhi, lmlo;
+         lmlo = lmins & PNG_LOMASK;
+         lmhi = (lmins >> PNG_HISHIFT) & PNG_HIMASK;
+
+         for (j = 0; j < num_p_filters; j++)
+         {
+            if (png_ptr->prev_filters[j] == PNG_FILTER_VALUE_SUB)
+            {
+               lmlo = (lmlo * png_ptr->inv_filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+               lmhi = (lmhi * png_ptr->inv_filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+            }
+         }
+
+         lmlo = (lmlo * png_ptr->inv_filter_costs[PNG_FILTER_VALUE_SUB]) >>
+            PNG_COST_SHIFT;
+         lmhi = (lmhi * png_ptr->inv_filter_costs[PNG_FILTER_VALUE_SUB]) >>
+            PNG_COST_SHIFT;
+
+         if (lmhi > PNG_HIMASK)
+            lmins = PNG_MAXSUM;
+         else
+            lmins = (lmhi << PNG_HISHIFT) + lmlo;
+      }
+#endif
+
+      for (i = 0, rp = row_buf + 1, dp = png_ptr->sub_row + 1; i < bpp;
+           i++, rp++, dp++)
+      {
+         v = *dp = *rp;
+
+         sum += (v < 128) ? v : 256 - v;
+      }
+      for (lp = row_buf + 1; i < row_bytes;
+         i++, rp++, lp++, dp++)
+      {
+         v = *dp = (png_byte)(((int)*rp - (int)*lp) & 0xff);
+
+         sum += (v < 128) ? v : 256 - v;
+
+         if (sum > lmins)  /* We are already worse, don't continue. */
+            break;
+      }
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+      if (png_ptr->heuristic_method == PNG_FILTER_HEURISTIC_WEIGHTED)
+      {
+         int j;
+         png_uint_32 sumhi, sumlo;
+         sumlo = sum & PNG_LOMASK;
+         sumhi = (sum >> PNG_HISHIFT) & PNG_HIMASK;
+
+         for (j = 0; j < num_p_filters; j++)
+         {
+            if (png_ptr->prev_filters[j] == PNG_FILTER_VALUE_SUB)
+            {
+               sumlo = (sumlo * png_ptr->inv_filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+               sumhi = (sumhi * png_ptr->inv_filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+            }
+         }
+
+         sumlo = (sumlo * png_ptr->inv_filter_costs[PNG_FILTER_VALUE_SUB]) >>
+            PNG_COST_SHIFT;
+         sumhi = (sumhi * png_ptr->inv_filter_costs[PNG_FILTER_VALUE_SUB]) >>
+            PNG_COST_SHIFT;
+
+         if (sumhi > PNG_HIMASK)
+            sum = PNG_MAXSUM;
+         else
+            sum = (sumhi << PNG_HISHIFT) + sumlo;
+      }
+#endif
+
+      if (sum < mins)
+      {
+         mins = sum;
+         best_row = png_ptr->sub_row;
+      }
+   }
+
+   /* Up filter */
+   if (filter_to_do == PNG_FILTER_UP)
+   {
+      png_bytep rp, dp, pp;
+      png_uint_32 i;
+
+      for (i = 0, rp = row_buf + 1, dp = png_ptr->up_row + 1,
+           pp = prev_row + 1; i < row_bytes;
+           i++, rp++, pp++, dp++)
+      {
+         *dp = (png_byte)(((int)*rp - (int)*pp) & 0xff);
+      }
+      best_row = png_ptr->up_row;
+   }
+
+   else if (filter_to_do & PNG_FILTER_UP)
+   {
+      png_bytep rp, dp, pp;
+      png_uint_32 sum = 0, lmins = mins;
+      png_uint_32 i;
+      int v;
+
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+      if (png_ptr->heuristic_method == PNG_FILTER_HEURISTIC_WEIGHTED)
+      {
+         int j;
+         png_uint_32 lmhi, lmlo;
+         lmlo = lmins & PNG_LOMASK;
+         lmhi = (lmins >> PNG_HISHIFT) & PNG_HIMASK;
+
+         for (j = 0; j < num_p_filters; j++)
+         {
+            if (png_ptr->prev_filters[j] == PNG_FILTER_VALUE_UP)
+            {
+               lmlo = (lmlo * png_ptr->inv_filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+               lmhi = (lmhi * png_ptr->inv_filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+            }
+         }
+
+         lmlo = (lmlo * png_ptr->inv_filter_costs[PNG_FILTER_VALUE_UP]) >>
+            PNG_COST_SHIFT;
+         lmhi = (lmhi * png_ptr->inv_filter_costs[PNG_FILTER_VALUE_UP]) >>
+            PNG_COST_SHIFT;
+
+         if (lmhi > PNG_HIMASK)
+            lmins = PNG_MAXSUM;
+         else
+            lmins = (lmhi << PNG_HISHIFT) + lmlo;
+      }
+#endif
+
+      for (i = 0, rp = row_buf + 1, dp = png_ptr->up_row + 1,
+           pp = prev_row + 1; i < row_bytes; i++)
+      {
+         v = *dp++ = (png_byte)(((int)*rp++ - (int)*pp++) & 0xff);
+
+         sum += (v < 128) ? v : 256 - v;
+
+         if (sum > lmins)  /* We are already worse, don't continue. */
+            break;
+      }
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+      if (png_ptr->heuristic_method == PNG_FILTER_HEURISTIC_WEIGHTED)
+      {
+         int j;
+         png_uint_32 sumhi, sumlo;
+         sumlo = sum & PNG_LOMASK;
+         sumhi = (sum >> PNG_HISHIFT) & PNG_HIMASK;
+
+         for (j = 0; j < num_p_filters; j++)
+         {
+            if (png_ptr->prev_filters[j] == PNG_FILTER_VALUE_UP)
+            {
+               sumlo = (sumlo * png_ptr->filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+               sumhi = (sumhi * png_ptr->filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+            }
+         }
+
+         sumlo = (sumlo * png_ptr->filter_costs[PNG_FILTER_VALUE_UP]) >>
+            PNG_COST_SHIFT;
+         sumhi = (sumhi * png_ptr->filter_costs[PNG_FILTER_VALUE_UP]) >>
+            PNG_COST_SHIFT;
+
+         if (sumhi > PNG_HIMASK)
+            sum = PNG_MAXSUM;
+         else
+            sum = (sumhi << PNG_HISHIFT) + sumlo;
+      }
+#endif
+
+      if (sum < mins)
+      {
+         mins = sum;
+         best_row = png_ptr->up_row;
+      }
+   }
+
+   /* Avg filter */
+   if (filter_to_do == PNG_FILTER_AVG)
+   {
+      png_bytep rp, dp, pp, lp;
+      png_uint_32 i;
+      for (i = 0, rp = row_buf + 1, dp = png_ptr->avg_row + 1,
+           pp = prev_row + 1; i < bpp; i++)
+      {
+         *dp++ = (png_byte)(((int)*rp++ - ((int)*pp++ / 2)) & 0xff);
+      }
+      for (lp = row_buf + 1; i < row_bytes; i++)
+      {
+         *dp++ = (png_byte)(((int)*rp++ - (((int)*pp++ + (int)*lp++) / 2))
+                 & 0xff);
+      }
+      best_row = png_ptr->avg_row;
+   }
+
+   else if (filter_to_do & PNG_FILTER_AVG)
+   {
+      png_bytep rp, dp, pp, lp;
+      png_uint_32 sum = 0, lmins = mins;
+      png_uint_32 i;
+      int v;
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+      if (png_ptr->heuristic_method == PNG_FILTER_HEURISTIC_WEIGHTED)
+      {
+         int j;
+         png_uint_32 lmhi, lmlo;
+         lmlo = lmins & PNG_LOMASK;
+         lmhi = (lmins >> PNG_HISHIFT) & PNG_HIMASK;
+
+         for (j = 0; j < num_p_filters; j++)
+         {
+            if (png_ptr->prev_filters[j] == PNG_FILTER_VALUE_AVG)
+            {
+               lmlo = (lmlo * png_ptr->inv_filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+               lmhi = (lmhi * png_ptr->inv_filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+            }
+         }
+
+         lmlo = (lmlo * png_ptr->inv_filter_costs[PNG_FILTER_VALUE_AVG]) >>
+            PNG_COST_SHIFT;
+         lmhi = (lmhi * png_ptr->inv_filter_costs[PNG_FILTER_VALUE_AVG]) >>
+            PNG_COST_SHIFT;
+
+         if (lmhi > PNG_HIMASK)
+            lmins = PNG_MAXSUM;
+         else
+            lmins = (lmhi << PNG_HISHIFT) + lmlo;
+      }
+#endif
+
+      for (i = 0, rp = row_buf + 1, dp = png_ptr->avg_row + 1,
+           pp = prev_row + 1; i < bpp; i++)
+      {
+         v = *dp++ = (png_byte)(((int)*rp++ - ((int)*pp++ / 2)) & 0xff);
+
+         sum += (v < 128) ? v : 256 - v;
+      }
+      for (lp = row_buf + 1; i < row_bytes; i++)
+      {
+         v = *dp++ =
+          (png_byte)(((int)*rp++ - (((int)*pp++ + (int)*lp++) / 2)) & 0xff);
+
+         sum += (v < 128) ? v : 256 - v;
+
+         if (sum > lmins)  /* We are already worse, don't continue. */
+            break;
+      }
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+      if (png_ptr->heuristic_method == PNG_FILTER_HEURISTIC_WEIGHTED)
+      {
+         int j;
+         png_uint_32 sumhi, sumlo;
+         sumlo = sum & PNG_LOMASK;
+         sumhi = (sum >> PNG_HISHIFT) & PNG_HIMASK;
+
+         for (j = 0; j < num_p_filters; j++)
+         {
+            if (png_ptr->prev_filters[j] == PNG_FILTER_VALUE_NONE)
+            {
+               sumlo = (sumlo * png_ptr->filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+               sumhi = (sumhi * png_ptr->filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+            }
+         }
+
+         sumlo = (sumlo * png_ptr->filter_costs[PNG_FILTER_VALUE_AVG]) >>
+            PNG_COST_SHIFT;
+         sumhi = (sumhi * png_ptr->filter_costs[PNG_FILTER_VALUE_AVG]) >>
+            PNG_COST_SHIFT;
+
+         if (sumhi > PNG_HIMASK)
+            sum = PNG_MAXSUM;
+         else
+            sum = (sumhi << PNG_HISHIFT) + sumlo;
+      }
+#endif
+
+      if (sum < mins)
+      {
+         mins = sum;
+         best_row = png_ptr->avg_row;
+      }
+   }
+
+   /* Paeth filter */
+   if (filter_to_do == PNG_FILTER_PAETH)
+   {
+      png_bytep rp, dp, pp, cp, lp;
+      png_uint_32 i;
+      for (i = 0, rp = row_buf + 1, dp = png_ptr->paeth_row + 1,
+           pp = prev_row + 1; i < bpp; i++)
+      {
+         *dp++ = (png_byte)(((int)*rp++ - (int)*pp++) & 0xff);
+      }
+
+      for (lp = row_buf + 1, cp = prev_row + 1; i < row_bytes; i++)
+      {
+         int a, b, c, pa, pb, pc, p;
+
+         b = *pp++;
+         c = *cp++;
+         a = *lp++;
+
+         p = b - c;
+         pc = a - c;
+
+#ifdef PNG_USE_ABS
+         pa = abs(p);
+         pb = abs(pc);
+         pc = abs(p + pc);
+#else
+         pa = p < 0 ? -p : p;
+         pb = pc < 0 ? -pc : pc;
+         pc = (p + pc) < 0 ? -(p + pc) : p + pc;
+#endif
+
+         p = (pa <= pb && pa <=pc) ? a : (pb <= pc) ? b : c;
+
+         *dp++ = (png_byte)(((int)*rp++ - p) & 0xff);
+      }
+      best_row = png_ptr->paeth_row;
+   }
+
+   else if (filter_to_do & PNG_FILTER_PAETH)
+   {
+      png_bytep rp, dp, pp, cp, lp;
+      png_uint_32 sum = 0, lmins = mins;
+      png_uint_32 i;
+      int v;
+
+#if defined(PNG_WRITE_WEIGHTED_FILTER_SUPPORTED)
+      if (png_ptr->heuristic_method == PNG_FILTER_HEURISTIC_WEIGHTED)
+      {
+         int j;
+         png_uint_32 lmhi, lmlo;
+         lmlo = lmins & PNG_LOMASK;
+         lmhi = (lmins >> PNG_HISHIFT) & PNG_HIMASK;
+
+         for (j = 0; j < num_p_filters; j++)
+         {
+            if (png_ptr->prev_filters[j] == PNG_FILTER_VALUE_PAETH)
+            {
+               lmlo = (lmlo * png_ptr->inv_filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+               lmhi = (lmhi * png_ptr->inv_filter_weights[j]) >>
+                  PNG_WEIGHT_SHIFT;
+            }
+         }
+
+         lmlo = (lmlo * png_ptr->inv_filter_costs[PNG_FILTER_VALUE_PAETH]) >>
+            PNG_COST_SHIFT;
+         lmhi = (lmhi * png_ptr->inv_filter_costs[PNG_FILTER_VALUE_PAETH]) >>
+            PNG_COST_SHIFT;
+
+         if (lmhi > PNG_HIMASK)
+            lmins = PNG_MAXSUM;
+         else
+            lmins = (lmhi << PNG_HISHIFT) + lmlo;
+      }
+#endif
+
+      for (i = 0, rp = row_buf + 1, dp = png_ptr->paeth_row + 1,
+           pp = prev_row + 1; i < bpp; i++)
+      {
+         v = *dp++ = (png_byte)(((int)*rp++ - (int)*pp++) & 0xff);
+
+         sum += (v < 128) ? v : 256 - v;
+      }
+
+      for (lp = row_buf + 1, cp = prev_row + 1; i < row_bytes; i++)
+      {
+         int a, b, c, pa, pb, pc, p;
+
+         b = *pp++;
+         c = *cp++;
+         a = *lp++;
+
+#ifndef PNG_SLOW_PAETH
+         p = b - c;
+         pc = a - c;
+#ifdef PNG_USE_ABS
+         pa = abs(p);
+         pb = abs(pc);
+         pc = abs(p + pc);
+#else
+         pa = p < 0 ? -p : p;
+         pb = pc < 0 ? -pc : pc;
+         pc = (p + pc) < 0 ? -(p + pc) : p + pc;
+#endif
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+                  PNG_WEIGHT_SHIFT;
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+         if (sumhi > PNG_HIMASK)
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+      }
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+
+#ifndef PNG_NO_WRITE_FILTER
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+   /* Save the type of filter we picked this time for future calculations */
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+   /* Repeat until all data has been compressed */
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+
+   /* Swap the current and previous rows */
+   if (png_ptr->prev_row != NULL)
+   {
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+      tptr = png_ptr->prev_row;
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+   }
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+   /* Finish row - updates counters and flushes zlib if last row */
+   png_write_finish_row(png_ptr);
+
+#if defined(PNG_WRITE_FLUSH_SUPPORTED)
+   png_ptr->flush_rows++;
+
+   if (png_ptr->flush_dist > 0 &&
+       png_ptr->flush_rows >= png_ptr->flush_dist)
+   {
+      png_write_flush(png_ptr);
+   }
+#endif
+}
+#endif /* PNG_WRITE_SUPPORTED */
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diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/README b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/README
new file mode 100755
index 0000000..758cc50
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/README
@@ -0,0 +1,125 @@
+ZLIB DATA COMPRESSION LIBRARY
+
+zlib 1.2.3 is a general purpose data compression library.  All the code is
+thread safe.  The data format used by the zlib library is described by RFCs
+(Request for Comments) 1950 to 1952 in the files
+http://www.ietf.org/rfc/rfc1950.txt (zlib format), rfc1951.txt (deflate format)
+and rfc1952.txt (gzip format). These documents are also available in other
+formats from ftp://ftp.uu.net/graphics/png/documents/zlib/zdoc-index.html
+
+All functions of the compression library are documented in the file zlib.h
+(volunteer to write man pages welcome, contact zlib@gzip.org). A usage example
+of the library is given in the file example.c which also tests that the library
+is working correctly. Another example is given in the file minigzip.c. The
+compression library itself is composed of all source files except example.c and
+minigzip.c.
+
+To compile all files and run the test program, follow the instructions given at
+the top of Makefile. In short "make test; make install" should work for most
+machines. For Unix: "./configure; make test; make install". For MSDOS, use one
+of the special makefiles such as Makefile.msc. For VMS, use make_vms.com.
+
+Questions about zlib should be sent to <zlib@gzip.org>, or to Gilles Vollant
+<info@winimage.com> for the Windows DLL version. The zlib home page is
+http://www.zlib.org or http://www.gzip.org/zlib/ Before reporting a problem,
+please check this site to verify that you have the latest version of zlib;
+otherwise get the latest version and check whether the problem still exists or
+not.
+
+PLEASE read the zlib FAQ http://www.gzip.org/zlib/zlib_faq.html before asking
+for help.
+
+Mark Nelson <markn@ieee.org> wrote an article about zlib for the Jan. 1997
+issue of  Dr. Dobb's Journal; a copy of the article is available in
+http://dogma.net/markn/articles/zlibtool/zlibtool.htm
+
+The changes made in version 1.2.3 are documented in the file ChangeLog.
+
+Unsupported third party contributions are provided in directory "contrib".
+
+A Java implementation of zlib is available in the Java Development Kit
+http://java.sun.com/j2se/1.4.2/docs/api/java/util/zip/package-summary.html
+See the zlib home page http://www.zlib.org for details.
+
+A Perl interface to zlib written by Paul Marquess <pmqs@cpan.org> is in the
+CPAN (Comprehensive Perl Archive Network) sites
+http://www.cpan.org/modules/by-module/Compress/
+
+A Python interface to zlib written by A.M. Kuchling <amk@amk.ca> is
+available in Python 1.5 and later versions, see
+http://www.python.org/doc/lib/module-zlib.html
+
+A zlib binding for TCL written by Andreas Kupries <a.kupries@westend.com> is
+availlable at http://www.oche.de/~akupries/soft/trf/trf_zip.html
+
+An experimental package to read and write files in .zip format, written on top
+of zlib by Gilles Vollant <info@winimage.com>, is available in the
+contrib/minizip directory of zlib.
+
+
+Notes for some targets:
+
+- For Windows DLL versions, please see win32/DLL_FAQ.txt
+
+- For 64-bit Irix, deflate.c must be compiled without any optimization. With
+  -O, one libpng test fails. The test works in 32 bit mode (with the -n32
+  compiler flag). The compiler bug has been reported to SGI.
+
+- zlib doesn't work with gcc 2.6.3 on a DEC 3000/300LX under OSF/1 2.1 it works
+  when compiled with cc.
+
+- On Digital Unix 4.0D (formely OSF/1) on AlphaServer, the cc option -std1 is
+  necessary to get gzprintf working correctly. This is done by configure.
+
+- zlib doesn't work on HP-UX 9.05 with some versions of /bin/cc. It works with
+  other compilers. Use "make test" to check your compiler.
+
+- gzdopen is not supported on RISCOS, BEOS and by some Mac compilers.
+
+- For PalmOs, see http://palmzlib.sourceforge.net/
+
+- When building a shared, i.e. dynamic library on Mac OS X, the library must be
+  installed before testing (do "make install" before "make test"), since the
+  library location is specified in the library.
+
+
+Acknowledgments:
+
+  The deflate format used by zlib was defined by Phil Katz. The deflate
+  and zlib specifications were written by L. Peter Deutsch. Thanks to all the
+  people who reported problems and suggested various improvements in zlib;
+  they are too numerous to cite here.
+
+Copyright notice:
+
+ (C) 1995-2004 Jean-loup Gailly and Mark Adler
+
+  This software is provided 'as-is', without any express or implied
+  warranty.  In no event will the authors be held liable for any damages
+  arising from the use of this software.
+
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+
+  1. The origin of this software must not be misrepresented; you must not
+     claim that you wrote the original software. If you use this software
+     in a product, an acknowledgment in the product documentation would be
+     appreciated but is not required.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+
+  Jean-loup Gailly        Mark Adler
+  jloup@gzip.org          madler@alumni.caltech.edu
+
+If you use the zlib library in a product, we would appreciate *not*
+receiving lengthy legal documents to sign. The sources are provided
+for free but without warranty of any kind.  The library has been
+entirely written by Jean-loup Gailly and Mark Adler; it does not
+include third-party code.
+
+If you redistribute modified sources, we would appreciate that you include
+in the file ChangeLog history information documenting your changes. Please
+read the FAQ for more information on the distribution of modified source
+versions.
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/adler32.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/adler32.c
new file mode 100755
index 0000000..007ba26
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/adler32.c
@@ -0,0 +1,149 @@
+/* adler32.c -- compute the Adler-32 checksum of a data stream
+ * Copyright (C) 1995-2004 Mark Adler
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* @(#) $Id$ */
+
+#define ZLIB_INTERNAL
+#include "zlib.h"
+
+#define BASE 65521UL    /* largest prime smaller than 65536 */
+#define NMAX 5552
+/* NMAX is the largest n such that 255n(n+1)/2 + (n+1)(BASE-1) <= 2^32-1 */
+
+#define DO1(buf,i)  {adler += (buf)[i]; sum2 += adler;}
+#define DO2(buf,i)  DO1(buf,i); DO1(buf,i+1);
+#define DO4(buf,i)  DO2(buf,i); DO2(buf,i+2);
+#define DO8(buf,i)  DO4(buf,i); DO4(buf,i+4);
+#define DO16(buf)   DO8(buf,0); DO8(buf,8);
+
+/* use NO_DIVIDE if your processor does not do division in hardware */
+#ifdef NO_DIVIDE
+#  define MOD(a) \
+    do { \
+        if (a >= (BASE << 16)) a -= (BASE << 16); \
+        if (a >= (BASE << 15)) a -= (BASE << 15); \
+        if (a >= (BASE << 14)) a -= (BASE << 14); \
+        if (a >= (BASE << 13)) a -= (BASE << 13); \
+        if (a >= (BASE << 12)) a -= (BASE << 12); \
+        if (a >= (BASE << 11)) a -= (BASE << 11); \
+        if (a >= (BASE << 10)) a -= (BASE << 10); \
+        if (a >= (BASE << 9)) a -= (BASE << 9); \
+        if (a >= (BASE << 8)) a -= (BASE << 8); \
+        if (a >= (BASE << 7)) a -= (BASE << 7); \
+        if (a >= (BASE << 6)) a -= (BASE << 6); \
+        if (a >= (BASE << 5)) a -= (BASE << 5); \
+        if (a >= (BASE << 4)) a -= (BASE << 4); \
+        if (a >= (BASE << 3)) a -= (BASE << 3); \
+        if (a >= (BASE << 2)) a -= (BASE << 2); \
+        if (a >= (BASE << 1)) a -= (BASE << 1); \
+        if (a >= BASE) a -= BASE; \
+    } while (0)
+#  define MOD4(a) \
+    do { \
+        if (a >= (BASE << 4)) a -= (BASE << 4); \
+        if (a >= (BASE << 3)) a -= (BASE << 3); \
+        if (a >= (BASE << 2)) a -= (BASE << 2); \
+        if (a >= (BASE << 1)) a -= (BASE << 1); \
+        if (a >= BASE) a -= BASE; \
+    } while (0)
+#else
+#  define MOD(a) a %= BASE
+#  define MOD4(a) a %= BASE
+#endif
+
+/* ========================================================================= */
+uLong ZEXPORT adler32(adler, buf, len)
+    uLong adler;
+    const Bytef *buf;
+    uInt len;
+{
+    unsigned long sum2;
+    unsigned n;
+
+    /* split Adler-32 into component sums */
+    sum2 = (adler >> 16) & 0xffff;
+    adler &= 0xffff;
+
+    /* in case user likes doing a byte at a time, keep it fast */
+    if (len == 1) {
+        adler += buf[0];
+        if (adler >= BASE)
+            adler -= BASE;
+        sum2 += adler;
+        if (sum2 >= BASE)
+            sum2 -= BASE;
+        return adler | (sum2 << 16);
+    }
+
+    /* initial Adler-32 value (deferred check for len == 1 speed) */
+    if (buf == Z_NULL)
+        return 1L;
+
+    /* in case short lengths are provided, keep it somewhat fast */
+    if (len < 16) {
+        while (len--) {
+            adler += *buf++;
+            sum2 += adler;
+        }
+        if (adler >= BASE)
+            adler -= BASE;
+        MOD4(sum2);             /* only added so many BASE's */
+        return adler | (sum2 << 16);
+    }
+
+    /* do length NMAX blocks -- requires just one modulo operation */
+    while (len >= NMAX) {
+        len -= NMAX;
+        n = NMAX / 16;          /* NMAX is divisible by 16 */
+        do {
+            DO16(buf);          /* 16 sums unrolled */
+            buf += 16;
+        } while (--n);
+        MOD(adler);
+        MOD(sum2);
+    }
+
+    /* do remaining bytes (less than NMAX, still just one modulo) */
+    if (len) {                  /* avoid modulos if none remaining */
+        while (len >= 16) {
+            len -= 16;
+            DO16(buf);
+            buf += 16;
+        }
+        while (len--) {
+            adler += *buf++;
+            sum2 += adler;
+        }
+        MOD(adler);
+        MOD(sum2);
+    }
+
+    /* return recombined sums */
+    return adler | (sum2 << 16);
+}
+
+/* ========================================================================= */
+uLong ZEXPORT adler32_combine(adler1, adler2, len2)
+    uLong adler1;
+    uLong adler2;
+    z_off_t len2;
+{
+    unsigned long sum1;
+    unsigned long sum2;
+    unsigned rem;
+
+    /* the derivation of this formula is left as an exercise for the reader */
+    rem = (unsigned)(len2 % BASE);
+    sum1 = adler1 & 0xffff;
+    sum2 = rem * sum1;
+    MOD(sum2);
+    sum1 += (adler2 & 0xffff) + BASE - 1;
+    sum2 += ((adler1 >> 16) & 0xffff) + ((adler2 >> 16) & 0xffff) + BASE - rem;
+    if (sum1 > BASE) sum1 -= BASE;
+    if (sum1 > BASE) sum1 -= BASE;
+    if (sum2 > (BASE << 1)) sum2 -= (BASE << 1);
+    if (sum2 > BASE) sum2 -= BASE;
+    return sum1 | (sum2 << 16);
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/cmake_install.cmake b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/cmake_install.cmake
new file mode 100644
index 0000000..cf5e69f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /home/harle/catkin_ws/src/demo_ASIFT_src/io_png/libs/zlib
+
+# 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)
+
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/compress.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/compress.c
new file mode 100755
index 0000000..df04f01
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/compress.c
@@ -0,0 +1,79 @@
+/* compress.c -- compress a memory buffer
+ * Copyright (C) 1995-2003 Jean-loup Gailly.
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* @(#) $Id$ */
+
+#define ZLIB_INTERNAL
+#include "zlib.h"
+
+/* ===========================================================================
+     Compresses the source buffer into the destination buffer. The level
+   parameter has the same meaning as in deflateInit.  sourceLen is the byte
+   length of the source buffer. Upon entry, destLen is the total size of the
+   destination buffer, which must be at least 0.1% larger than sourceLen plus
+   12 bytes. Upon exit, destLen is the actual size of the compressed buffer.
+
+     compress2 returns Z_OK if success, Z_MEM_ERROR if there was not enough
+   memory, Z_BUF_ERROR if there was not enough room in the output buffer,
+   Z_STREAM_ERROR if the level parameter is invalid.
+*/
+int ZEXPORT compress2 (dest, destLen, source, sourceLen, level)
+    Bytef *dest;
+    uLongf *destLen;
+    const Bytef *source;
+    uLong sourceLen;
+    int level;
+{
+    z_stream stream;
+    int err;
+
+    stream.next_in = (Bytef*)source;
+    stream.avail_in = (uInt)sourceLen;
+#ifdef MAXSEG_64K
+    /* Check for source > 64K on 16-bit machine: */
+    if ((uLong)stream.avail_in != sourceLen) return Z_BUF_ERROR;
+#endif
+    stream.next_out = dest;
+    stream.avail_out = (uInt)*destLen;
+    if ((uLong)stream.avail_out != *destLen) return Z_BUF_ERROR;
+
+    stream.zalloc = (alloc_func)0;
+    stream.zfree = (free_func)0;
+    stream.opaque = (voidpf)0;
+
+    err = deflateInit(&stream, level);
+    if (err != Z_OK) return err;
+
+    err = deflate(&stream, Z_FINISH);
+    if (err != Z_STREAM_END) {
+        deflateEnd(&stream);
+        return err == Z_OK ? Z_BUF_ERROR : err;
+    }
+    *destLen = stream.total_out;
+
+    err = deflateEnd(&stream);
+    return err;
+}
+
+/* ===========================================================================
+ */
+int ZEXPORT compress (dest, destLen, source, sourceLen)
+    Bytef *dest;
+    uLongf *destLen;
+    const Bytef *source;
+    uLong sourceLen;
+{
+    return compress2(dest, destLen, source, sourceLen, Z_DEFAULT_COMPRESSION);
+}
+
+/* ===========================================================================
+     If the default memLevel or windowBits for deflateInit() is changed, then
+   this function needs to be updated.
+ */
+uLong ZEXPORT compressBound (sourceLen)
+    uLong sourceLen;
+{
+    return sourceLen + (sourceLen >> 12) + (sourceLen >> 14) + 11;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/crc32.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/crc32.c
new file mode 100755
index 0000000..f658a9e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/crc32.c
@@ -0,0 +1,423 @@
+/* crc32.c -- compute the CRC-32 of a data stream
+ * Copyright (C) 1995-2005 Mark Adler
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ *
+ * Thanks to Rodney Brown <rbrown64@csc.com.au> for his contribution of faster
+ * CRC methods: exclusive-oring 32 bits of data at a time, and pre-computing
+ * tables for updating the shift register in one step with three exclusive-ors
+ * instead of four steps with four exclusive-ors.  This results in about a
+ * factor of two increase in speed on a Power PC G4 (PPC7455) using gcc -O3.
+ */
+
+/* @(#) $Id$ */
+
+/*
+  Note on the use of DYNAMIC_CRC_TABLE: there is no mutex or semaphore
+  protection on the static variables used to control the first-use generation
+  of the crc tables.  Therefore, if you #define DYNAMIC_CRC_TABLE, you should
+  first call get_crc_table() to initialize the tables before allowing more than
+  one thread to use crc32().
+ */
+
+#ifdef MAKECRCH
+#  include <stdio.h>
+#  ifndef DYNAMIC_CRC_TABLE
+#    define DYNAMIC_CRC_TABLE
+#  endif /* !DYNAMIC_CRC_TABLE */
+#endif /* MAKECRCH */
+
+#include "zutil.h"      /* for STDC and FAR definitions */
+
+#define local static
+
+/* Find a four-byte integer type for crc32_little() and crc32_big(). */
+#ifndef NOBYFOUR
+#  ifdef STDC           /* need ANSI C limits.h to determine sizes */
+#    include <limits.h>
+#    define BYFOUR
+#    if (UINT_MAX == 0xffffffffUL)
+       typedef unsigned int u4;
+#    else
+#      if (ULONG_MAX == 0xffffffffUL)
+         typedef unsigned long u4;
+#      else
+#        if (USHRT_MAX == 0xffffffffUL)
+           typedef unsigned short u4;
+#        else
+#          undef BYFOUR     /* can't find a four-byte integer type! */
+#        endif
+#      endif
+#    endif
+#  endif /* STDC */
+#endif /* !NOBYFOUR */
+
+/* Definitions for doing the crc four data bytes at a time. */
+#ifdef BYFOUR
+#  define REV(w) (((w)>>24)+(((w)>>8)&0xff00)+ \
+                (((w)&0xff00)<<8)+(((w)&0xff)<<24))
+   local unsigned long crc32_little OF((unsigned long,
+                        const unsigned char FAR *, unsigned));
+   local unsigned long crc32_big OF((unsigned long,
+                        const unsigned char FAR *, unsigned));
+#  define TBLS 8
+#else
+#  define TBLS 1
+#endif /* BYFOUR */
+
+/* Local functions for crc concatenation */
+local unsigned long gf2_matrix_times OF((unsigned long *mat,
+                                         unsigned long vec));
+local void gf2_matrix_square OF((unsigned long *square, unsigned long *mat));
+
+#ifdef DYNAMIC_CRC_TABLE
+
+local volatile int crc_table_empty = 1;
+local unsigned long FAR crc_table[TBLS][256];
+local void make_crc_table OF((void));
+#ifdef MAKECRCH
+   local void write_table OF((FILE *, const unsigned long FAR *));
+#endif /* MAKECRCH */
+/*
+  Generate tables for a byte-wise 32-bit CRC calculation on the polynomial:
+  x^32+x^26+x^23+x^22+x^16+x^12+x^11+x^10+x^8+x^7+x^5+x^4+x^2+x+1.
+
+  Polynomials over GF(2) are represented in binary, one bit per coefficient,
+  with the lowest powers in the most significant bit.  Then adding polynomials
+  is just exclusive-or, and multiplying a polynomial by x is a right shift by
+  one.  If we call the above polynomial p, and represent a byte as the
+  polynomial q, also with the lowest power in the most significant bit (so the
+  byte 0xb1 is the polynomial x^7+x^3+x+1), then the CRC is (q*x^32) mod p,
+  where a mod b means the remainder after dividing a by b.
+
+  This calculation is done using the shift-register method of multiplying and
+  taking the remainder.  The register is initialized to zero, and for each
+  incoming bit, x^32 is added mod p to the register if the bit is a one (where
+  x^32 mod p is p+x^32 = x^26+...+1), and the register is multiplied mod p by
+  x (which is shifting right by one and adding x^32 mod p if the bit shifted
+  out is a one).  We start with the highest power (least significant bit) of
+  q and repeat for all eight bits of q.
+
+  The first table is simply the CRC of all possible eight bit values.  This is
+  all the information needed to generate CRCs on data a byte at a time for all
+  combinations of CRC register values and incoming bytes.  The remaining tables
+  allow for word-at-a-time CRC calculation for both big-endian and little-
+  endian machines, where a word is four bytes.
+*/
+local void make_crc_table()
+{
+    unsigned long c;
+    int n, k;
+    unsigned long poly;                 /* polynomial exclusive-or pattern */
+    /* terms of polynomial defining this crc (except x^32): */
+    static volatile int first = 1;      /* flag to limit concurrent making */
+    static const unsigned char p[] = {0,1,2,4,5,7,8,10,11,12,16,22,23,26};
+
+    /* See if another task is already doing this (not thread-safe, but better
+       than nothing -- significantly reduces duration of vulnerability in
+       case the advice about DYNAMIC_CRC_TABLE is ignored) */
+    if (first) {
+        first = 0;
+
+        /* make exclusive-or pattern from polynomial (0xedb88320UL) */
+        poly = 0UL;
+        for (n = 0; n < sizeof(p)/sizeof(unsigned char); n++)
+            poly |= 1UL << (31 - p[n]);
+
+        /* generate a crc for every 8-bit value */
+        for (n = 0; n < 256; n++) {
+            c = (unsigned long)n;
+            for (k = 0; k < 8; k++)
+                c = c & 1 ? poly ^ (c >> 1) : c >> 1;
+            crc_table[0][n] = c;
+        }
+
+#ifdef BYFOUR
+        /* generate crc for each value followed by one, two, and three zeros,
+           and then the byte reversal of those as well as the first table */
+        for (n = 0; n < 256; n++) {
+            c = crc_table[0][n];
+            crc_table[4][n] = REV(c);
+            for (k = 1; k < 4; k++) {
+                c = crc_table[0][c & 0xff] ^ (c >> 8);
+                crc_table[k][n] = c;
+                crc_table[k + 4][n] = REV(c);
+            }
+        }
+#endif /* BYFOUR */
+
+        crc_table_empty = 0;
+    }
+    else {      /* not first */
+        /* wait for the other guy to finish (not efficient, but rare) */
+        while (crc_table_empty)
+            ;
+    }
+
+#ifdef MAKECRCH
+    /* write out CRC tables to crc32.h */
+    {
+        FILE *out;
+
+        out = fopen("crc32.h", "w");
+        if (out == NULL) return;
+        fprintf(out, "/* crc32.h -- tables for rapid CRC calculation\n");
+        fprintf(out, " * Generated automatically by crc32.c\n */\n\n");
+        fprintf(out, "local const unsigned long FAR ");
+        fprintf(out, "crc_table[TBLS][256] =\n{\n  {\n");
+        write_table(out, crc_table[0]);
+#  ifdef BYFOUR
+        fprintf(out, "#ifdef BYFOUR\n");
+        for (k = 1; k < 8; k++) {
+            fprintf(out, "  },\n  {\n");
+            write_table(out, crc_table[k]);
+        }
+        fprintf(out, "#endif\n");
+#  endif /* BYFOUR */
+        fprintf(out, "  }\n};\n");
+        fclose(out);
+    }
+#endif /* MAKECRCH */
+}
+
+#ifdef MAKECRCH
+local void write_table(out, table)
+    FILE *out;
+    const unsigned long FAR *table;
+{
+    int n;
+
+    for (n = 0; n < 256; n++)
+        fprintf(out, "%s0x%08lxUL%s", n % 5 ? "" : "    ", table[n],
+                n == 255 ? "\n" : (n % 5 == 4 ? ",\n" : ", "));
+}
+#endif /* MAKECRCH */
+
+#else /* !DYNAMIC_CRC_TABLE */
+/* ========================================================================
+ * Tables of CRC-32s of all single-byte values, made by make_crc_table().
+ */
+#include "crc32.h"
+#endif /* DYNAMIC_CRC_TABLE */
+
+/* =========================================================================
+ * This function can be used by asm versions of crc32()
+ */
+const unsigned long FAR * ZEXPORT get_crc_table()
+{
+#ifdef DYNAMIC_CRC_TABLE
+    if (crc_table_empty)
+        make_crc_table();
+#endif /* DYNAMIC_CRC_TABLE */
+    return (const unsigned long FAR *)crc_table;
+}
+
+/* ========================================================================= */
+#define DO1 crc = crc_table[0][((int)crc ^ (*buf++)) & 0xff] ^ (crc >> 8)
+#define DO8 DO1; DO1; DO1; DO1; DO1; DO1; DO1; DO1
+
+/* ========================================================================= */
+unsigned long ZEXPORT crc32(crc, buf, len)
+    unsigned long crc;
+    const unsigned char FAR *buf;
+    unsigned len;
+{
+    if (buf == Z_NULL) return 0UL;
+
+#ifdef DYNAMIC_CRC_TABLE
+    if (crc_table_empty)
+        make_crc_table();
+#endif /* DYNAMIC_CRC_TABLE */
+
+#ifdef BYFOUR
+    if (sizeof(void *) == sizeof(ptrdiff_t)) {
+        u4 endian;
+
+        endian = 1;
+        if (*((unsigned char *)(&endian)))
+            return crc32_little(crc, buf, len);
+        else
+            return crc32_big(crc, buf, len);
+    }
+#endif /* BYFOUR */
+    crc = crc ^ 0xffffffffUL;
+    while (len >= 8) {
+        DO8;
+        len -= 8;
+    }
+    if (len) do {
+        DO1;
+    } while (--len);
+    return crc ^ 0xffffffffUL;
+}
+
+#ifdef BYFOUR
+
+/* ========================================================================= */
+#define DOLIT4 c ^= *buf4++; \
+        c = crc_table[3][c & 0xff] ^ crc_table[2][(c >> 8) & 0xff] ^ \
+            crc_table[1][(c >> 16) & 0xff] ^ crc_table[0][c >> 24]
+#define DOLIT32 DOLIT4; DOLIT4; DOLIT4; DOLIT4; DOLIT4; DOLIT4; DOLIT4; DOLIT4
+
+/* ========================================================================= */
+local unsigned long crc32_little(crc, buf, len)
+    unsigned long crc;
+    const unsigned char FAR *buf;
+    unsigned len;
+{
+    register u4 c;
+    register const u4 FAR *buf4;
+
+    c = (u4)crc;
+    c = ~c;
+    while (len && ((ptrdiff_t)buf & 3)) {
+        c = crc_table[0][(c ^ *buf++) & 0xff] ^ (c >> 8);
+        len--;
+    }
+
+    buf4 = (const u4 FAR *)(const void FAR *)buf;
+    while (len >= 32) {
+        DOLIT32;
+        len -= 32;
+    }
+    while (len >= 4) {
+        DOLIT4;
+        len -= 4;
+    }
+    buf = (const unsigned char FAR *)buf4;
+
+    if (len) do {
+        c = crc_table[0][(c ^ *buf++) & 0xff] ^ (c >> 8);
+    } while (--len);
+    c = ~c;
+    return (unsigned long)c;
+}
+
+/* ========================================================================= */
+#define DOBIG4 c ^= *++buf4; \
+        c = crc_table[4][c & 0xff] ^ crc_table[5][(c >> 8) & 0xff] ^ \
+            crc_table[6][(c >> 16) & 0xff] ^ crc_table[7][c >> 24]
+#define DOBIG32 DOBIG4; DOBIG4; DOBIG4; DOBIG4; DOBIG4; DOBIG4; DOBIG4; DOBIG4
+
+/* ========================================================================= */
+local unsigned long crc32_big(crc, buf, len)
+    unsigned long crc;
+    const unsigned char FAR *buf;
+    unsigned len;
+{
+    register u4 c;
+    register const u4 FAR *buf4;
+
+    c = REV((u4)crc);
+    c = ~c;
+    while (len && ((ptrdiff_t)buf & 3)) {
+        c = crc_table[4][(c >> 24) ^ *buf++] ^ (c << 8);
+        len--;
+    }
+
+    buf4 = (const u4 FAR *)(const void FAR *)buf;
+    buf4--;
+    while (len >= 32) {
+        DOBIG32;
+        len -= 32;
+    }
+    while (len >= 4) {
+        DOBIG4;
+        len -= 4;
+    }
+    buf4++;
+    buf = (const unsigned char FAR *)buf4;
+
+    if (len) do {
+        c = crc_table[4][(c >> 24) ^ *buf++] ^ (c << 8);
+    } while (--len);
+    c = ~c;
+    return (unsigned long)(REV(c));
+}
+
+#endif /* BYFOUR */
+
+#define GF2_DIM 32      /* dimension of GF(2) vectors (length of CRC) */
+
+/* ========================================================================= */
+local unsigned long gf2_matrix_times(mat, vec)
+    unsigned long *mat;
+    unsigned long vec;
+{
+    unsigned long sum;
+
+    sum = 0;
+    while (vec) {
+        if (vec & 1)
+            sum ^= *mat;
+        vec >>= 1;
+        mat++;
+    }
+    return sum;
+}
+
+/* ========================================================================= */
+local void gf2_matrix_square(square, mat)
+    unsigned long *square;
+    unsigned long *mat;
+{
+    int n;
+
+    for (n = 0; n < GF2_DIM; n++)
+        square[n] = gf2_matrix_times(mat, mat[n]);
+}
+
+/* ========================================================================= */
+uLong ZEXPORT crc32_combine(crc1, crc2, len2)
+    uLong crc1;
+    uLong crc2;
+    z_off_t len2;
+{
+    int n;
+    unsigned long row;
+    unsigned long even[GF2_DIM];    /* even-power-of-two zeros operator */
+    unsigned long odd[GF2_DIM];     /* odd-power-of-two zeros operator */
+
+    /* degenerate case */
+    if (len2 == 0)
+        return crc1;
+
+    /* put operator for one zero bit in odd */
+    odd[0] = 0xedb88320L;           /* CRC-32 polynomial */
+    row = 1;
+    for (n = 1; n < GF2_DIM; n++) {
+        odd[n] = row;
+        row <<= 1;
+    }
+
+    /* put operator for two zero bits in even */
+    gf2_matrix_square(even, odd);
+
+    /* put operator for four zero bits in odd */
+    gf2_matrix_square(odd, even);
+
+    /* apply len2 zeros to crc1 (first square will put the operator for one
+       zero byte, eight zero bits, in even) */
+    do {
+        /* apply zeros operator for this bit of len2 */
+        gf2_matrix_square(even, odd);
+        if (len2 & 1)
+            crc1 = gf2_matrix_times(even, crc1);
+        len2 >>= 1;
+
+        /* if no more bits set, then done */
+        if (len2 == 0)
+            break;
+
+        /* another iteration of the loop with odd and even swapped */
+        gf2_matrix_square(odd, even);
+        if (len2 & 1)
+            crc1 = gf2_matrix_times(odd, crc1);
+        len2 >>= 1;
+
+        /* if no more bits set, then done */
+    } while (len2 != 0);
+
+    /* return combined crc */
+    crc1 ^= crc2;
+    return crc1;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/crc32.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/crc32.h
new file mode 100755
index 0000000..8053b61
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/crc32.h
@@ -0,0 +1,441 @@
+/* crc32.h -- tables for rapid CRC calculation
+ * Generated automatically by crc32.c
+ */
+
+local const unsigned long FAR crc_table[TBLS][256] =
+{
+  {
+    0x00000000UL, 0x77073096UL, 0xee0e612cUL, 0x990951baUL, 0x076dc419UL,
+    0x706af48fUL, 0xe963a535UL, 0x9e6495a3UL, 0x0edb8832UL, 0x79dcb8a4UL,
+    0xe0d5e91eUL, 0x97d2d988UL, 0x09b64c2bUL, 0x7eb17cbdUL, 0xe7b82d07UL,
+    0x90bf1d91UL, 0x1db71064UL, 0x6ab020f2UL, 0xf3b97148UL, 0x84be41deUL,
+    0x1adad47dUL, 0x6ddde4ebUL, 0xf4d4b551UL, 0x83d385c7UL, 0x136c9856UL,
+    0x646ba8c0UL, 0xfd62f97aUL, 0x8a65c9ecUL, 0x14015c4fUL, 0x63066cd9UL,
+    0xfa0f3d63UL, 0x8d080df5UL, 0x3b6e20c8UL, 0x4c69105eUL, 0xd56041e4UL,
+    0xa2677172UL, 0x3c03e4d1UL, 0x4b04d447UL, 0xd20d85fdUL, 0xa50ab56bUL,
+    0x35b5a8faUL, 0x42b2986cUL, 0xdbbbc9d6UL, 0xacbcf940UL, 0x32d86ce3UL,
+    0x45df5c75UL, 0xdcd60dcfUL, 0xabd13d59UL, 0x26d930acUL, 0x51de003aUL,
+    0xc8d75180UL, 0xbfd06116UL, 0x21b4f4b5UL, 0x56b3c423UL, 0xcfba9599UL,
+    0xb8bda50fUL, 0x2802b89eUL, 0x5f058808UL, 0xc60cd9b2UL, 0xb10be924UL,
+    0x2f6f7c87UL, 0x58684c11UL, 0xc1611dabUL, 0xb6662d3dUL, 0x76dc4190UL,
+    0x01db7106UL, 0x98d220bcUL, 0xefd5102aUL, 0x71b18589UL, 0x06b6b51fUL,
+    0x9fbfe4a5UL, 0xe8b8d433UL, 0x7807c9a2UL, 0x0f00f934UL, 0x9609a88eUL,
+    0xe10e9818UL, 0x7f6a0dbbUL, 0x086d3d2dUL, 0x91646c97UL, 0xe6635c01UL,
+    0x6b6b51f4UL, 0x1c6c6162UL, 0x856530d8UL, 0xf262004eUL, 0x6c0695edUL,
+    0x1b01a57bUL, 0x8208f4c1UL, 0xf50fc457UL, 0x65b0d9c6UL, 0x12b7e950UL,
+    0x8bbeb8eaUL, 0xfcb9887cUL, 0x62dd1ddfUL, 0x15da2d49UL, 0x8cd37cf3UL,
+    0xfbd44c65UL, 0x4db26158UL, 0x3ab551ceUL, 0xa3bc0074UL, 0xd4bb30e2UL,
+    0x4adfa541UL, 0x3dd895d7UL, 0xa4d1c46dUL, 0xd3d6f4fbUL, 0x4369e96aUL,
+    0x346ed9fcUL, 0xad678846UL, 0xda60b8d0UL, 0x44042d73UL, 0x33031de5UL,
+    0xaa0a4c5fUL, 0xdd0d7cc9UL, 0x5005713cUL, 0x270241aaUL, 0xbe0b1010UL,
+    0xc90c2086UL, 0x5768b525UL, 0x206f85b3UL, 0xb966d409UL, 0xce61e49fUL,
+    0x5edef90eUL, 0x29d9c998UL, 0xb0d09822UL, 0xc7d7a8b4UL, 0x59b33d17UL,
+    0x2eb40d81UL, 0xb7bd5c3bUL, 0xc0ba6cadUL, 0xedb88320UL, 0x9abfb3b6UL,
+    0x03b6e20cUL, 0x74b1d29aUL, 0xead54739UL, 0x9dd277afUL, 0x04db2615UL,
+    0x73dc1683UL, 0xe3630b12UL, 0x94643b84UL, 0x0d6d6a3eUL, 0x7a6a5aa8UL,
+    0xe40ecf0bUL, 0x9309ff9dUL, 0x0a00ae27UL, 0x7d079eb1UL, 0xf00f9344UL,
+    0x8708a3d2UL, 0x1e01f268UL, 0x6906c2feUL, 0xf762575dUL, 0x806567cbUL,
+    0x196c3671UL, 0x6e6b06e7UL, 0xfed41b76UL, 0x89d32be0UL, 0x10da7a5aUL,
+    0x67dd4accUL, 0xf9b9df6fUL, 0x8ebeeff9UL, 0x17b7be43UL, 0x60b08ed5UL,
+    0xd6d6a3e8UL, 0xa1d1937eUL, 0x38d8c2c4UL, 0x4fdff252UL, 0xd1bb67f1UL,
+    0xa6bc5767UL, 0x3fb506ddUL, 0x48b2364bUL, 0xd80d2bdaUL, 0xaf0a1b4cUL,
+    0x36034af6UL, 0x41047a60UL, 0xdf60efc3UL, 0xa867df55UL, 0x316e8eefUL,
+    0x4669be79UL, 0xcb61b38cUL, 0xbc66831aUL, 0x256fd2a0UL, 0x5268e236UL,
+    0xcc0c7795UL, 0xbb0b4703UL, 0x220216b9UL, 0x5505262fUL, 0xc5ba3bbeUL,
+    0xb2bd0b28UL, 0x2bb45a92UL, 0x5cb36a04UL, 0xc2d7ffa7UL, 0xb5d0cf31UL,
+    0x2cd99e8bUL, 0x5bdeae1dUL, 0x9b64c2b0UL, 0xec63f226UL, 0x756aa39cUL,
+    0x026d930aUL, 0x9c0906a9UL, 0xeb0e363fUL, 0x72076785UL, 0x05005713UL,
+    0x95bf4a82UL, 0xe2b87a14UL, 0x7bb12baeUL, 0x0cb61b38UL, 0x92d28e9bUL,
+    0xe5d5be0dUL, 0x7cdcefb7UL, 0x0bdbdf21UL, 0x86d3d2d4UL, 0xf1d4e242UL,
+    0x68ddb3f8UL, 0x1fda836eUL, 0x81be16cdUL, 0xf6b9265bUL, 0x6fb077e1UL,
+    0x18b74777UL, 0x88085ae6UL, 0xff0f6a70UL, 0x66063bcaUL, 0x11010b5cUL,
+    0x8f659effUL, 0xf862ae69UL, 0x616bffd3UL, 0x166ccf45UL, 0xa00ae278UL,
+    0xd70dd2eeUL, 0x4e048354UL, 0x3903b3c2UL, 0xa7672661UL, 0xd06016f7UL,
+    0x4969474dUL, 0x3e6e77dbUL, 0xaed16a4aUL, 0xd9d65adcUL, 0x40df0b66UL,
+    0x37d83bf0UL, 0xa9bcae53UL, 0xdebb9ec5UL, 0x47b2cf7fUL, 0x30b5ffe9UL,
+    0xbdbdf21cUL, 0xcabac28aUL, 0x53b39330UL, 0x24b4a3a6UL, 0xbad03605UL,
+    0xcdd70693UL, 0x54de5729UL, 0x23d967bfUL, 0xb3667a2eUL, 0xc4614ab8UL,
+    0x5d681b02UL, 0x2a6f2b94UL, 0xb40bbe37UL, 0xc30c8ea1UL, 0x5a05df1bUL,
+    0x2d02ef8dUL
+#ifdef BYFOUR
+  },
+  {
+    0x00000000UL, 0x191b3141UL, 0x32366282UL, 0x2b2d53c3UL, 0x646cc504UL,
+    0x7d77f445UL, 0x565aa786UL, 0x4f4196c7UL, 0xc8d98a08UL, 0xd1c2bb49UL,
+    0xfaefe88aUL, 0xe3f4d9cbUL, 0xacb54f0cUL, 0xb5ae7e4dUL, 0x9e832d8eUL,
+    0x87981ccfUL, 0x4ac21251UL, 0x53d92310UL, 0x78f470d3UL, 0x61ef4192UL,
+    0x2eaed755UL, 0x37b5e614UL, 0x1c98b5d7UL, 0x05838496UL, 0x821b9859UL,
+    0x9b00a918UL, 0xb02dfadbUL, 0xa936cb9aUL, 0xe6775d5dUL, 0xff6c6c1cUL,
+    0xd4413fdfUL, 0xcd5a0e9eUL, 0x958424a2UL, 0x8c9f15e3UL, 0xa7b24620UL,
+    0xbea97761UL, 0xf1e8e1a6UL, 0xe8f3d0e7UL, 0xc3de8324UL, 0xdac5b265UL,
+    0x5d5daeaaUL, 0x44469febUL, 0x6f6bcc28UL, 0x7670fd69UL, 0x39316baeUL,
+    0x202a5aefUL, 0x0b07092cUL, 0x121c386dUL, 0xdf4636f3UL, 0xc65d07b2UL,
+    0xed705471UL, 0xf46b6530UL, 0xbb2af3f7UL, 0xa231c2b6UL, 0x891c9175UL,
+    0x9007a034UL, 0x179fbcfbUL, 0x0e848dbaUL, 0x25a9de79UL, 0x3cb2ef38UL,
+    0x73f379ffUL, 0x6ae848beUL, 0x41c51b7dUL, 0x58de2a3cUL, 0xf0794f05UL,
+    0xe9627e44UL, 0xc24f2d87UL, 0xdb541cc6UL, 0x94158a01UL, 0x8d0ebb40UL,
+    0xa623e883UL, 0xbf38d9c2UL, 0x38a0c50dUL, 0x21bbf44cUL, 0x0a96a78fUL,
+    0x138d96ceUL, 0x5ccc0009UL, 0x45d73148UL, 0x6efa628bUL, 0x77e153caUL,
+    0xbabb5d54UL, 0xa3a06c15UL, 0x888d3fd6UL, 0x91960e97UL, 0xded79850UL,
+    0xc7cca911UL, 0xece1fad2UL, 0xf5facb93UL, 0x7262d75cUL, 0x6b79e61dUL,
+    0x4054b5deUL, 0x594f849fUL, 0x160e1258UL, 0x0f152319UL, 0x243870daUL,
+    0x3d23419bUL, 0x65fd6ba7UL, 0x7ce65ae6UL, 0x57cb0925UL, 0x4ed03864UL,
+    0x0191aea3UL, 0x188a9fe2UL, 0x33a7cc21UL, 0x2abcfd60UL, 0xad24e1afUL,
+    0xb43fd0eeUL, 0x9f12832dUL, 0x8609b26cUL, 0xc94824abUL, 0xd05315eaUL,
+    0xfb7e4629UL, 0xe2657768UL, 0x2f3f79f6UL, 0x362448b7UL, 0x1d091b74UL,
+    0x04122a35UL, 0x4b53bcf2UL, 0x52488db3UL, 0x7965de70UL, 0x607eef31UL,
+    0xe7e6f3feUL, 0xfefdc2bfUL, 0xd5d0917cUL, 0xcccba03dUL, 0x838a36faUL,
+    0x9a9107bbUL, 0xb1bc5478UL, 0xa8a76539UL, 0x3b83984bUL, 0x2298a90aUL,
+    0x09b5fac9UL, 0x10aecb88UL, 0x5fef5d4fUL, 0x46f46c0eUL, 0x6dd93fcdUL,
+    0x74c20e8cUL, 0xf35a1243UL, 0xea412302UL, 0xc16c70c1UL, 0xd8774180UL,
+    0x9736d747UL, 0x8e2de606UL, 0xa500b5c5UL, 0xbc1b8484UL, 0x71418a1aUL,
+    0x685abb5bUL, 0x4377e898UL, 0x5a6cd9d9UL, 0x152d4f1eUL, 0x0c367e5fUL,
+    0x271b2d9cUL, 0x3e001cddUL, 0xb9980012UL, 0xa0833153UL, 0x8bae6290UL,
+    0x92b553d1UL, 0xddf4c516UL, 0xc4eff457UL, 0xefc2a794UL, 0xf6d996d5UL,
+    0xae07bce9UL, 0xb71c8da8UL, 0x9c31de6bUL, 0x852aef2aUL, 0xca6b79edUL,
+    0xd37048acUL, 0xf85d1b6fUL, 0xe1462a2eUL, 0x66de36e1UL, 0x7fc507a0UL,
+    0x54e85463UL, 0x4df36522UL, 0x02b2f3e5UL, 0x1ba9c2a4UL, 0x30849167UL,
+    0x299fa026UL, 0xe4c5aeb8UL, 0xfdde9ff9UL, 0xd6f3cc3aUL, 0xcfe8fd7bUL,
+    0x80a96bbcUL, 0x99b25afdUL, 0xb29f093eUL, 0xab84387fUL, 0x2c1c24b0UL,
+    0x350715f1UL, 0x1e2a4632UL, 0x07317773UL, 0x4870e1b4UL, 0x516bd0f5UL,
+    0x7a468336UL, 0x635db277UL, 0xcbfad74eUL, 0xd2e1e60fUL, 0xf9ccb5ccUL,
+    0xe0d7848dUL, 0xaf96124aUL, 0xb68d230bUL, 0x9da070c8UL, 0x84bb4189UL,
+    0x03235d46UL, 0x1a386c07UL, 0x31153fc4UL, 0x280e0e85UL, 0x674f9842UL,
+    0x7e54a903UL, 0x5579fac0UL, 0x4c62cb81UL, 0x8138c51fUL, 0x9823f45eUL,
+    0xb30ea79dUL, 0xaa1596dcUL, 0xe554001bUL, 0xfc4f315aUL, 0xd7626299UL,
+    0xce7953d8UL, 0x49e14f17UL, 0x50fa7e56UL, 0x7bd72d95UL, 0x62cc1cd4UL,
+    0x2d8d8a13UL, 0x3496bb52UL, 0x1fbbe891UL, 0x06a0d9d0UL, 0x5e7ef3ecUL,
+    0x4765c2adUL, 0x6c48916eUL, 0x7553a02fUL, 0x3a1236e8UL, 0x230907a9UL,
+    0x0824546aUL, 0x113f652bUL, 0x96a779e4UL, 0x8fbc48a5UL, 0xa4911b66UL,
+    0xbd8a2a27UL, 0xf2cbbce0UL, 0xebd08da1UL, 0xc0fdde62UL, 0xd9e6ef23UL,
+    0x14bce1bdUL, 0x0da7d0fcUL, 0x268a833fUL, 0x3f91b27eUL, 0x70d024b9UL,
+    0x69cb15f8UL, 0x42e6463bUL, 0x5bfd777aUL, 0xdc656bb5UL, 0xc57e5af4UL,
+    0xee530937UL, 0xf7483876UL, 0xb809aeb1UL, 0xa1129ff0UL, 0x8a3fcc33UL,
+    0x9324fd72UL
+  },
+  {
+    0x00000000UL, 0x01c26a37UL, 0x0384d46eUL, 0x0246be59UL, 0x0709a8dcUL,
+    0x06cbc2ebUL, 0x048d7cb2UL, 0x054f1685UL, 0x0e1351b8UL, 0x0fd13b8fUL,
+    0x0d9785d6UL, 0x0c55efe1UL, 0x091af964UL, 0x08d89353UL, 0x0a9e2d0aUL,
+    0x0b5c473dUL, 0x1c26a370UL, 0x1de4c947UL, 0x1fa2771eUL, 0x1e601d29UL,
+    0x1b2f0bacUL, 0x1aed619bUL, 0x18abdfc2UL, 0x1969b5f5UL, 0x1235f2c8UL,
+    0x13f798ffUL, 0x11b126a6UL, 0x10734c91UL, 0x153c5a14UL, 0x14fe3023UL,
+    0x16b88e7aUL, 0x177ae44dUL, 0x384d46e0UL, 0x398f2cd7UL, 0x3bc9928eUL,
+    0x3a0bf8b9UL, 0x3f44ee3cUL, 0x3e86840bUL, 0x3cc03a52UL, 0x3d025065UL,
+    0x365e1758UL, 0x379c7d6fUL, 0x35dac336UL, 0x3418a901UL, 0x3157bf84UL,
+    0x3095d5b3UL, 0x32d36beaUL, 0x331101ddUL, 0x246be590UL, 0x25a98fa7UL,
+    0x27ef31feUL, 0x262d5bc9UL, 0x23624d4cUL, 0x22a0277bUL, 0x20e69922UL,
+    0x2124f315UL, 0x2a78b428UL, 0x2bbade1fUL, 0x29fc6046UL, 0x283e0a71UL,
+    0x2d711cf4UL, 0x2cb376c3UL, 0x2ef5c89aUL, 0x2f37a2adUL, 0x709a8dc0UL,
+    0x7158e7f7UL, 0x731e59aeUL, 0x72dc3399UL, 0x7793251cUL, 0x76514f2bUL,
+    0x7417f172UL, 0x75d59b45UL, 0x7e89dc78UL, 0x7f4bb64fUL, 0x7d0d0816UL,
+    0x7ccf6221UL, 0x798074a4UL, 0x78421e93UL, 0x7a04a0caUL, 0x7bc6cafdUL,
+    0x6cbc2eb0UL, 0x6d7e4487UL, 0x6f38fadeUL, 0x6efa90e9UL, 0x6bb5866cUL,
+    0x6a77ec5bUL, 0x68315202UL, 0x69f33835UL, 0x62af7f08UL, 0x636d153fUL,
+    0x612bab66UL, 0x60e9c151UL, 0x65a6d7d4UL, 0x6464bde3UL, 0x662203baUL,
+    0x67e0698dUL, 0x48d7cb20UL, 0x4915a117UL, 0x4b531f4eUL, 0x4a917579UL,
+    0x4fde63fcUL, 0x4e1c09cbUL, 0x4c5ab792UL, 0x4d98dda5UL, 0x46c49a98UL,
+    0x4706f0afUL, 0x45404ef6UL, 0x448224c1UL, 0x41cd3244UL, 0x400f5873UL,
+    0x4249e62aUL, 0x438b8c1dUL, 0x54f16850UL, 0x55330267UL, 0x5775bc3eUL,
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+    0xb853f606UL, 0xb9919c31UL, 0xbcde8ab4UL, 0xbd1ce083UL, 0xbf5a5edaUL,
+    0xbe9834edUL
+  },
+  {
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+    0xde0506f1UL
+  },
+  {
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+    0x021b685dUL, 0x942b6f2aUL, 0x37be0bb4UL, 0xa18e0cc3UL, 0x1bdf055aUL,
+    0x8def022dUL
+  },
+  {
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+    0xbc6ba980UL, 0xfd5ab299UL, 0x3e099fb2UL, 0x7f3884abUL, 0xb0241c2cUL,
+    0xf1150735UL, 0x32462a1eUL, 0x73773107UL, 0xb4e17048UL, 0xf5d06b51UL,
+    0x3683467aUL, 0x77b25d63UL, 0x4ed7facbUL, 0x0fe6e1d2UL, 0xccb5ccf9UL,
+    0x8d84d7e0UL, 0x4a1296afUL, 0x0b238db6UL, 0xc870a09dUL, 0x8941bb84UL,
+    0x465d2303UL, 0x076c381aUL, 0xc43f1531UL, 0x850e0e28UL, 0x42984f67UL,
+    0x03a9547eUL, 0xc0fa7955UL, 0x81cb624cUL, 0x1fc53881UL, 0x5ef42398UL,
+    0x9da70eb3UL, 0xdc9615aaUL, 0x1b0054e5UL, 0x5a314ffcUL, 0x996262d7UL,
+    0xd85379ceUL, 0x174fe149UL, 0x567efa50UL, 0x952dd77bUL, 0xd41ccc62UL,
+    0x138a8d2dUL, 0x52bb9634UL, 0x91e8bb1fUL, 0xd0d9a006UL, 0xecf37e5eUL,
+    0xadc26547UL, 0x6e91486cUL, 0x2fa05375UL, 0xe836123aUL, 0xa9070923UL,
+    0x6a542408UL, 0x2b653f11UL, 0xe479a796UL, 0xa548bc8fUL, 0x661b91a4UL,
+    0x272a8abdUL, 0xe0bccbf2UL, 0xa18dd0ebUL, 0x62defdc0UL, 0x23efe6d9UL,
+    0xbde1bc14UL, 0xfcd0a70dUL, 0x3f838a26UL, 0x7eb2913fUL, 0xb924d070UL,
+    0xf815cb69UL, 0x3b46e642UL, 0x7a77fd5bUL, 0xb56b65dcUL, 0xf45a7ec5UL,
+    0x370953eeUL, 0x763848f7UL, 0xb1ae09b8UL, 0xf09f12a1UL, 0x33cc3f8aUL,
+    0x72fd2493UL
+  },
+  {
+    0x00000000UL, 0x376ac201UL, 0x6ed48403UL, 0x59be4602UL, 0xdca80907UL,
+    0xebc2cb06UL, 0xb27c8d04UL, 0x85164f05UL, 0xb851130eUL, 0x8f3bd10fUL,
+    0xd685970dUL, 0xe1ef550cUL, 0x64f91a09UL, 0x5393d808UL, 0x0a2d9e0aUL,
+    0x3d475c0bUL, 0x70a3261cUL, 0x47c9e41dUL, 0x1e77a21fUL, 0x291d601eUL,
+    0xac0b2f1bUL, 0x9b61ed1aUL, 0xc2dfab18UL, 0xf5b56919UL, 0xc8f23512UL,
+    0xff98f713UL, 0xa626b111UL, 0x914c7310UL, 0x145a3c15UL, 0x2330fe14UL,
+    0x7a8eb816UL, 0x4de47a17UL, 0xe0464d38UL, 0xd72c8f39UL, 0x8e92c93bUL,
+    0xb9f80b3aUL, 0x3cee443fUL, 0x0b84863eUL, 0x523ac03cUL, 0x6550023dUL,
+    0x58175e36UL, 0x6f7d9c37UL, 0x36c3da35UL, 0x01a91834UL, 0x84bf5731UL,
+    0xb3d59530UL, 0xea6bd332UL, 0xdd011133UL, 0x90e56b24UL, 0xa78fa925UL,
+    0xfe31ef27UL, 0xc95b2d26UL, 0x4c4d6223UL, 0x7b27a022UL, 0x2299e620UL,
+    0x15f32421UL, 0x28b4782aUL, 0x1fdeba2bUL, 0x4660fc29UL, 0x710a3e28UL,
+    0xf41c712dUL, 0xc376b32cUL, 0x9ac8f52eUL, 0xada2372fUL, 0xc08d9a70UL,
+    0xf7e75871UL, 0xae591e73UL, 0x9933dc72UL, 0x1c259377UL, 0x2b4f5176UL,
+    0x72f11774UL, 0x459bd575UL, 0x78dc897eUL, 0x4fb64b7fUL, 0x16080d7dUL,
+    0x2162cf7cUL, 0xa4748079UL, 0x931e4278UL, 0xcaa0047aUL, 0xfdcac67bUL,
+    0xb02ebc6cUL, 0x87447e6dUL, 0xdefa386fUL, 0xe990fa6eUL, 0x6c86b56bUL,
+    0x5bec776aUL, 0x02523168UL, 0x3538f369UL, 0x087faf62UL, 0x3f156d63UL,
+    0x66ab2b61UL, 0x51c1e960UL, 0xd4d7a665UL, 0xe3bd6464UL, 0xba032266UL,
+    0x8d69e067UL, 0x20cbd748UL, 0x17a11549UL, 0x4e1f534bUL, 0x7975914aUL,
+    0xfc63de4fUL, 0xcb091c4eUL, 0x92b75a4cUL, 0xa5dd984dUL, 0x989ac446UL,
+    0xaff00647UL, 0xf64e4045UL, 0xc1248244UL, 0x4432cd41UL, 0x73580f40UL,
+    0x2ae64942UL, 0x1d8c8b43UL, 0x5068f154UL, 0x67023355UL, 0x3ebc7557UL,
+    0x09d6b756UL, 0x8cc0f853UL, 0xbbaa3a52UL, 0xe2147c50UL, 0xd57ebe51UL,
+    0xe839e25aUL, 0xdf53205bUL, 0x86ed6659UL, 0xb187a458UL, 0x3491eb5dUL,
+    0x03fb295cUL, 0x5a456f5eUL, 0x6d2fad5fUL, 0x801b35e1UL, 0xb771f7e0UL,
+    0xeecfb1e2UL, 0xd9a573e3UL, 0x5cb33ce6UL, 0x6bd9fee7UL, 0x3267b8e5UL,
+    0x050d7ae4UL, 0x384a26efUL, 0x0f20e4eeUL, 0x569ea2ecUL, 0x61f460edUL,
+    0xe4e22fe8UL, 0xd388ede9UL, 0x8a36abebUL, 0xbd5c69eaUL, 0xf0b813fdUL,
+    0xc7d2d1fcUL, 0x9e6c97feUL, 0xa90655ffUL, 0x2c101afaUL, 0x1b7ad8fbUL,
+    0x42c49ef9UL, 0x75ae5cf8UL, 0x48e900f3UL, 0x7f83c2f2UL, 0x263d84f0UL,
+    0x115746f1UL, 0x944109f4UL, 0xa32bcbf5UL, 0xfa958df7UL, 0xcdff4ff6UL,
+    0x605d78d9UL, 0x5737bad8UL, 0x0e89fcdaUL, 0x39e33edbUL, 0xbcf571deUL,
+    0x8b9fb3dfUL, 0xd221f5ddUL, 0xe54b37dcUL, 0xd80c6bd7UL, 0xef66a9d6UL,
+    0xb6d8efd4UL, 0x81b22dd5UL, 0x04a462d0UL, 0x33cea0d1UL, 0x6a70e6d3UL,
+    0x5d1a24d2UL, 0x10fe5ec5UL, 0x27949cc4UL, 0x7e2adac6UL, 0x494018c7UL,
+    0xcc5657c2UL, 0xfb3c95c3UL, 0xa282d3c1UL, 0x95e811c0UL, 0xa8af4dcbUL,
+    0x9fc58fcaUL, 0xc67bc9c8UL, 0xf1110bc9UL, 0x740744ccUL, 0x436d86cdUL,
+    0x1ad3c0cfUL, 0x2db902ceUL, 0x4096af91UL, 0x77fc6d90UL, 0x2e422b92UL,
+    0x1928e993UL, 0x9c3ea696UL, 0xab546497UL, 0xf2ea2295UL, 0xc580e094UL,
+    0xf8c7bc9fUL, 0xcfad7e9eUL, 0x9613389cUL, 0xa179fa9dUL, 0x246fb598UL,
+    0x13057799UL, 0x4abb319bUL, 0x7dd1f39aUL, 0x3035898dUL, 0x075f4b8cUL,
+    0x5ee10d8eUL, 0x698bcf8fUL, 0xec9d808aUL, 0xdbf7428bUL, 0x82490489UL,
+    0xb523c688UL, 0x88649a83UL, 0xbf0e5882UL, 0xe6b01e80UL, 0xd1dadc81UL,
+    0x54cc9384UL, 0x63a65185UL, 0x3a181787UL, 0x0d72d586UL, 0xa0d0e2a9UL,
+    0x97ba20a8UL, 0xce0466aaUL, 0xf96ea4abUL, 0x7c78ebaeUL, 0x4b1229afUL,
+    0x12ac6fadUL, 0x25c6adacUL, 0x1881f1a7UL, 0x2feb33a6UL, 0x765575a4UL,
+    0x413fb7a5UL, 0xc429f8a0UL, 0xf3433aa1UL, 0xaafd7ca3UL, 0x9d97bea2UL,
+    0xd073c4b5UL, 0xe71906b4UL, 0xbea740b6UL, 0x89cd82b7UL, 0x0cdbcdb2UL,
+    0x3bb10fb3UL, 0x620f49b1UL, 0x55658bb0UL, 0x6822d7bbUL, 0x5f4815baUL,
+    0x06f653b8UL, 0x319c91b9UL, 0xb48adebcUL, 0x83e01cbdUL, 0xda5e5abfUL,
+    0xed3498beUL
+  },
+  {
+    0x00000000UL, 0x6567bcb8UL, 0x8bc809aaUL, 0xeeafb512UL, 0x5797628fUL,
+    0x32f0de37UL, 0xdc5f6b25UL, 0xb938d79dUL, 0xef28b4c5UL, 0x8a4f087dUL,
+    0x64e0bd6fUL, 0x018701d7UL, 0xb8bfd64aUL, 0xddd86af2UL, 0x3377dfe0UL,
+    0x56106358UL, 0x9f571950UL, 0xfa30a5e8UL, 0x149f10faUL, 0x71f8ac42UL,
+    0xc8c07bdfUL, 0xada7c767UL, 0x43087275UL, 0x266fcecdUL, 0x707fad95UL,
+    0x1518112dUL, 0xfbb7a43fUL, 0x9ed01887UL, 0x27e8cf1aUL, 0x428f73a2UL,
+    0xac20c6b0UL, 0xc9477a08UL, 0x3eaf32a0UL, 0x5bc88e18UL, 0xb5673b0aUL,
+    0xd00087b2UL, 0x6938502fUL, 0x0c5fec97UL, 0xe2f05985UL, 0x8797e53dUL,
+    0xd1878665UL, 0xb4e03addUL, 0x5a4f8fcfUL, 0x3f283377UL, 0x8610e4eaUL,
+    0xe3775852UL, 0x0dd8ed40UL, 0x68bf51f8UL, 0xa1f82bf0UL, 0xc49f9748UL,
+    0x2a30225aUL, 0x4f579ee2UL, 0xf66f497fUL, 0x9308f5c7UL, 0x7da740d5UL,
+    0x18c0fc6dUL, 0x4ed09f35UL, 0x2bb7238dUL, 0xc518969fUL, 0xa07f2a27UL,
+    0x1947fdbaUL, 0x7c204102UL, 0x928ff410UL, 0xf7e848a8UL, 0x3d58149bUL,
+    0x583fa823UL, 0xb6901d31UL, 0xd3f7a189UL, 0x6acf7614UL, 0x0fa8caacUL,
+    0xe1077fbeUL, 0x8460c306UL, 0xd270a05eUL, 0xb7171ce6UL, 0x59b8a9f4UL,
+    0x3cdf154cUL, 0x85e7c2d1UL, 0xe0807e69UL, 0x0e2fcb7bUL, 0x6b4877c3UL,
+    0xa20f0dcbUL, 0xc768b173UL, 0x29c70461UL, 0x4ca0b8d9UL, 0xf5986f44UL,
+    0x90ffd3fcUL, 0x7e5066eeUL, 0x1b37da56UL, 0x4d27b90eUL, 0x284005b6UL,
+    0xc6efb0a4UL, 0xa3880c1cUL, 0x1ab0db81UL, 0x7fd76739UL, 0x9178d22bUL,
+    0xf41f6e93UL, 0x03f7263bUL, 0x66909a83UL, 0x883f2f91UL, 0xed589329UL,
+    0x546044b4UL, 0x3107f80cUL, 0xdfa84d1eUL, 0xbacff1a6UL, 0xecdf92feUL,
+    0x89b82e46UL, 0x67179b54UL, 0x027027ecUL, 0xbb48f071UL, 0xde2f4cc9UL,
+    0x3080f9dbUL, 0x55e74563UL, 0x9ca03f6bUL, 0xf9c783d3UL, 0x176836c1UL,
+    0x720f8a79UL, 0xcb375de4UL, 0xae50e15cUL, 0x40ff544eUL, 0x2598e8f6UL,
+    0x73888baeUL, 0x16ef3716UL, 0xf8408204UL, 0x9d273ebcUL, 0x241fe921UL,
+    0x41785599UL, 0xafd7e08bUL, 0xcab05c33UL, 0x3bb659edUL, 0x5ed1e555UL,
+    0xb07e5047UL, 0xd519ecffUL, 0x6c213b62UL, 0x094687daUL, 0xe7e932c8UL,
+    0x828e8e70UL, 0xd49eed28UL, 0xb1f95190UL, 0x5f56e482UL, 0x3a31583aUL,
+    0x83098fa7UL, 0xe66e331fUL, 0x08c1860dUL, 0x6da63ab5UL, 0xa4e140bdUL,
+    0xc186fc05UL, 0x2f294917UL, 0x4a4ef5afUL, 0xf3762232UL, 0x96119e8aUL,
+    0x78be2b98UL, 0x1dd99720UL, 0x4bc9f478UL, 0x2eae48c0UL, 0xc001fdd2UL,
+    0xa566416aUL, 0x1c5e96f7UL, 0x79392a4fUL, 0x97969f5dUL, 0xf2f123e5UL,
+    0x05196b4dUL, 0x607ed7f5UL, 0x8ed162e7UL, 0xebb6de5fUL, 0x528e09c2UL,
+    0x37e9b57aUL, 0xd9460068UL, 0xbc21bcd0UL, 0xea31df88UL, 0x8f566330UL,
+    0x61f9d622UL, 0x049e6a9aUL, 0xbda6bd07UL, 0xd8c101bfUL, 0x366eb4adUL,
+    0x53090815UL, 0x9a4e721dUL, 0xff29cea5UL, 0x11867bb7UL, 0x74e1c70fUL,
+    0xcdd91092UL, 0xa8beac2aUL, 0x46111938UL, 0x2376a580UL, 0x7566c6d8UL,
+    0x10017a60UL, 0xfeaecf72UL, 0x9bc973caUL, 0x22f1a457UL, 0x479618efUL,
+    0xa939adfdUL, 0xcc5e1145UL, 0x06ee4d76UL, 0x6389f1ceUL, 0x8d2644dcUL,
+    0xe841f864UL, 0x51792ff9UL, 0x341e9341UL, 0xdab12653UL, 0xbfd69aebUL,
+    0xe9c6f9b3UL, 0x8ca1450bUL, 0x620ef019UL, 0x07694ca1UL, 0xbe519b3cUL,
+    0xdb362784UL, 0x35999296UL, 0x50fe2e2eUL, 0x99b95426UL, 0xfcdee89eUL,
+    0x12715d8cUL, 0x7716e134UL, 0xce2e36a9UL, 0xab498a11UL, 0x45e63f03UL,
+    0x208183bbUL, 0x7691e0e3UL, 0x13f65c5bUL, 0xfd59e949UL, 0x983e55f1UL,
+    0x2106826cUL, 0x44613ed4UL, 0xaace8bc6UL, 0xcfa9377eUL, 0x38417fd6UL,
+    0x5d26c36eUL, 0xb389767cUL, 0xd6eecac4UL, 0x6fd61d59UL, 0x0ab1a1e1UL,
+    0xe41e14f3UL, 0x8179a84bUL, 0xd769cb13UL, 0xb20e77abUL, 0x5ca1c2b9UL,
+    0x39c67e01UL, 0x80fea99cUL, 0xe5991524UL, 0x0b36a036UL, 0x6e511c8eUL,
+    0xa7166686UL, 0xc271da3eUL, 0x2cde6f2cUL, 0x49b9d394UL, 0xf0810409UL,
+    0x95e6b8b1UL, 0x7b490da3UL, 0x1e2eb11bUL, 0x483ed243UL, 0x2d596efbUL,
+    0xc3f6dbe9UL, 0xa6916751UL, 0x1fa9b0ccUL, 0x7ace0c74UL, 0x9461b966UL,
+    0xf10605deUL
+#endif
+  }
+};
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/deflate.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/deflate.c
new file mode 100755
index 0000000..29ce1f6
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/deflate.c
@@ -0,0 +1,1736 @@
+/* deflate.c -- compress data using the deflation algorithm
+ * Copyright (C) 1995-2005 Jean-loup Gailly.
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/*
+ *  ALGORITHM
+ *
+ *      The "deflation" process depends on being able to identify portions
+ *      of the input text which are identical to earlier input (within a
+ *      sliding window trailing behind the input currently being processed).
+ *
+ *      The most straightforward technique turns out to be the fastest for
+ *      most input files: try all possible matches and select the longest.
+ *      The key feature of this algorithm is that insertions into the string
+ *      dictionary are very simple and thus fast, and deletions are avoided
+ *      completely. Insertions are performed at each input character, whereas
+ *      string matches are performed only when the previous match ends. So it
+ *      is preferable to spend more time in matches to allow very fast string
+ *      insertions and avoid deletions. The matching algorithm for small
+ *      strings is inspired from that of Rabin & Karp. A brute force approach
+ *      is used to find longer strings when a small match has been found.
+ *      A similar algorithm is used in comic (by Jan-Mark Wams) and freeze
+ *      (by Leonid Broukhis).
+ *         A previous version of this file used a more sophisticated algorithm
+ *      (by Fiala and Greene) which is guaranteed to run in linear amortized
+ *      time, but has a larger average cost, uses more memory and is patented.
+ *      However the F&G algorithm may be faster for some highly redundant
+ *      files if the parameter max_chain_length (described below) is too large.
+ *
+ *  ACKNOWLEDGEMENTS
+ *
+ *      The idea of lazy evaluation of matches is due to Jan-Mark Wams, and
+ *      I found it in 'freeze' written by Leonid Broukhis.
+ *      Thanks to many people for bug reports and testing.
+ *
+ *  REFERENCES
+ *
+ *      Deutsch, L.P.,"DEFLATE Compressed Data Format Specification".
+ *      Available in http://www.ietf.org/rfc/rfc1951.txt
+ *
+ *      A description of the Rabin and Karp algorithm is given in the book
+ *         "Algorithms" by R. Sedgewick, Addison-Wesley, p252.
+ *
+ *      Fiala,E.R., and Greene,D.H.
+ *         Data Compression with Finite Windows, Comm.ACM, 32,4 (1989) 490-595
+ *
+ */
+
+/* @(#) $Id$ */
+
+#include "deflate.h"
+
+const char deflate_copyright[] =
+   " deflate 1.2.3 Copyright 1995-2005 Jean-loup Gailly ";
+/*
+  If you use the zlib library in a product, an acknowledgment is welcome
+  in the documentation of your product. If for some reason you cannot
+  include such an acknowledgment, I would appreciate that you keep this
+  copyright string in the executable of your product.
+ */
+
+/* ===========================================================================
+ *  Function prototypes.
+ */
+typedef enum {
+    need_more,      /* block not completed, need more input or more output */
+    block_done,     /* block flush performed */
+    finish_started, /* finish started, need only more output at next deflate */
+    finish_done     /* finish done, accept no more input or output */
+} block_state;
+
+typedef block_state (*compress_func) OF((deflate_state *s, int flush));
+/* Compression function. Returns the block state after the call. */
+
+local void fill_window    OF((deflate_state *s));
+local block_state deflate_stored OF((deflate_state *s, int flush));
+local block_state deflate_fast   OF((deflate_state *s, int flush));
+#ifndef FASTEST
+local block_state deflate_slow   OF((deflate_state *s, int flush));
+#endif
+local void lm_init        OF((deflate_state *s));
+local void putShortMSB    OF((deflate_state *s, uInt b));
+local void flush_pending  OF((z_streamp strm));
+local int read_buf        OF((z_streamp strm, Bytef *buf, unsigned size));
+#ifndef FASTEST
+#ifdef ASMV
+      void match_init OF((void)); /* asm code initialization */
+      uInt longest_match  OF((deflate_state *s, IPos cur_match));
+#else
+local uInt longest_match  OF((deflate_state *s, IPos cur_match));
+#endif
+#endif
+local uInt longest_match_fast OF((deflate_state *s, IPos cur_match));
+
+#ifdef DEBUG
+local  void check_match OF((deflate_state *s, IPos start, IPos match,
+                            int length));
+#endif
+
+/* ===========================================================================
+ * Local data
+ */
+
+#define NIL 0
+/* Tail of hash chains */
+
+#ifndef TOO_FAR
+#  define TOO_FAR 4096
+#endif
+/* Matches of length 3 are discarded if their distance exceeds TOO_FAR */
+
+#define MIN_LOOKAHEAD (MAX_MATCH+MIN_MATCH+1)
+/* Minimum amount of lookahead, except at the end of the input file.
+ * See deflate.c for comments about the MIN_MATCH+1.
+ */
+
+/* Values for max_lazy_match, good_match and max_chain_length, depending on
+ * the desired pack level (0..9). The values given below have been tuned to
+ * exclude worst case performance for pathological files. Better values may be
+ * found for specific files.
+ */
+typedef struct config_s {
+   ush good_length; /* reduce lazy search above this match length */
+   ush max_lazy;    /* do not perform lazy search above this match length */
+   ush nice_length; /* quit search above this match length */
+   ush max_chain;
+   compress_func func;
+} config;
+
+#ifdef FASTEST
+local const config configuration_table[2] = {
+/*      good lazy nice chain */
+/* 0 */ {0,    0,  0,    0, deflate_stored},  /* store only */
+/* 1 */ {4,    4,  8,    4, deflate_fast}}; /* max speed, no lazy matches */
+#else
+local const config configuration_table[10] = {
+/*      good lazy nice chain */
+/* 0 */ {0,    0,  0,    0, deflate_stored},  /* store only */
+/* 1 */ {4,    4,  8,    4, deflate_fast}, /* max speed, no lazy matches */
+/* 2 */ {4,    5, 16,    8, deflate_fast},
+/* 3 */ {4,    6, 32,   32, deflate_fast},
+
+/* 4 */ {4,    4, 16,   16, deflate_slow},  /* lazy matches */
+/* 5 */ {8,   16, 32,   32, deflate_slow},
+/* 6 */ {8,   16, 128, 128, deflate_slow},
+/* 7 */ {8,   32, 128, 256, deflate_slow},
+/* 8 */ {32, 128, 258, 1024, deflate_slow},
+/* 9 */ {32, 258, 258, 4096, deflate_slow}}; /* max compression */
+#endif
+
+/* Note: the deflate() code requires max_lazy >= MIN_MATCH and max_chain >= 4
+ * For deflate_fast() (levels <= 3) good is ignored and lazy has a different
+ * meaning.
+ */
+
+#define EQUAL 0
+/* result of memcmp for equal strings */
+
+#ifndef NO_DUMMY_DECL
+struct static_tree_desc_s {int dummy;}; /* for buggy compilers */
+#endif
+
+/* ===========================================================================
+ * Update a hash value with the given input byte
+ * IN  assertion: all calls to to UPDATE_HASH are made with consecutive
+ *    input characters, so that a running hash key can be computed from the
+ *    previous key instead of complete recalculation each time.
+ */
+#define UPDATE_HASH(s,h,c) (h = (((h)<<s->hash_shift) ^ (c)) & s->hash_mask)
+
+
+/* ===========================================================================
+ * Insert string str in the dictionary and set match_head to the previous head
+ * of the hash chain (the most recent string with same hash key). Return
+ * the previous length of the hash chain.
+ * If this file is compiled with -DFASTEST, the compression level is forced
+ * to 1, and no hash chains are maintained.
+ * IN  assertion: all calls to to INSERT_STRING are made with consecutive
+ *    input characters and the first MIN_MATCH bytes of str are valid
+ *    (except for the last MIN_MATCH-1 bytes of the input file).
+ */
+#ifdef FASTEST
+#define INSERT_STRING(s, str, match_head) \
+   (UPDATE_HASH(s, s->ins_h, s->window[(str) + (MIN_MATCH-1)]), \
+    match_head = s->head[s->ins_h], \
+    s->head[s->ins_h] = (Pos)(str))
+#else
+#define INSERT_STRING(s, str, match_head) \
+   (UPDATE_HASH(s, s->ins_h, s->window[(str) + (MIN_MATCH-1)]), \
+    match_head = s->prev[(str) & s->w_mask] = s->head[s->ins_h], \
+    s->head[s->ins_h] = (Pos)(str))
+#endif
+
+/* ===========================================================================
+ * Initialize the hash table (avoiding 64K overflow for 16 bit systems).
+ * prev[] will be initialized on the fly.
+ */
+#define CLEAR_HASH(s) \
+    s->head[s->hash_size-1] = NIL; \
+    zmemzero((Bytef *)s->head, (unsigned)(s->hash_size-1)*sizeof(*s->head));
+
+/* ========================================================================= */
+int ZEXPORT deflateInit_(strm, level, version, stream_size)
+    z_streamp strm;
+    int level;
+    const char *version;
+    int stream_size;
+{
+    return deflateInit2_(strm, level, Z_DEFLATED, MAX_WBITS, DEF_MEM_LEVEL,
+                         Z_DEFAULT_STRATEGY, version, stream_size);
+    /* To do: ignore strm->next_in if we use it as window */
+}
+
+/* ========================================================================= */
+int ZEXPORT deflateInit2_(strm, level, method, windowBits, memLevel, strategy,
+                  version, stream_size)
+    z_streamp strm;
+    int  level;
+    int  method;
+    int  windowBits;
+    int  memLevel;
+    int  strategy;
+    const char *version;
+    int stream_size;
+{
+    deflate_state *s;
+    int wrap = 1;
+    static const char my_version[] = ZLIB_VERSION;
+
+    ushf *overlay;
+    /* We overlay pending_buf and d_buf+l_buf. This works since the average
+     * output size for (length,distance) codes is <= 24 bits.
+     */
+
+    if (version == Z_NULL || version[0] != my_version[0] ||
+        stream_size != sizeof(z_stream)) {
+        return Z_VERSION_ERROR;
+    }
+    if (strm == Z_NULL) return Z_STREAM_ERROR;
+
+    strm->msg = Z_NULL;
+    if (strm->zalloc == (alloc_func)0) {
+        strm->zalloc = zcalloc;
+        strm->opaque = (voidpf)0;
+    }
+    if (strm->zfree == (free_func)0) strm->zfree = zcfree;
+
+#ifdef FASTEST
+    if (level != 0) level = 1;
+#else
+    if (level == Z_DEFAULT_COMPRESSION) level = 6;
+#endif
+
+    if (windowBits < 0) { /* suppress zlib wrapper */
+        wrap = 0;
+        windowBits = -windowBits;
+    }
+#ifdef GZIP
+    else if (windowBits > 15) {
+        wrap = 2;       /* write gzip wrapper instead */
+        windowBits -= 16;
+    }
+#endif
+    if (memLevel < 1 || memLevel > MAX_MEM_LEVEL || method != Z_DEFLATED ||
+        windowBits < 8 || windowBits > 15 || level < 0 || level > 9 ||
+        strategy < 0 || strategy > Z_FIXED) {
+        return Z_STREAM_ERROR;
+    }
+    if (windowBits == 8) windowBits = 9;  /* until 256-byte window bug fixed */
+    s = (deflate_state *) ZALLOC(strm, 1, sizeof(deflate_state));
+    if (s == Z_NULL) return Z_MEM_ERROR;
+    strm->state = (struct internal_state FAR *)s;
+    s->strm = strm;
+
+    s->wrap = wrap;
+    s->gzhead = Z_NULL;
+    s->w_bits = windowBits;
+    s->w_size = 1 << s->w_bits;
+    s->w_mask = s->w_size - 1;
+
+    s->hash_bits = memLevel + 7;
+    s->hash_size = 1 << s->hash_bits;
+    s->hash_mask = s->hash_size - 1;
+    s->hash_shift =  ((s->hash_bits+MIN_MATCH-1)/MIN_MATCH);
+
+    s->window = (Bytef *) ZALLOC(strm, s->w_size, 2*sizeof(Byte));
+    s->prev   = (Posf *)  ZALLOC(strm, s->w_size, sizeof(Pos));
+    s->head   = (Posf *)  ZALLOC(strm, s->hash_size, sizeof(Pos));
+
+    s->lit_bufsize = 1 << (memLevel + 6); /* 16K elements by default */
+
+    overlay = (ushf *) ZALLOC(strm, s->lit_bufsize, sizeof(ush)+2);
+    s->pending_buf = (uchf *) overlay;
+    s->pending_buf_size = (ulg)s->lit_bufsize * (sizeof(ush)+2L);
+
+    if (s->window == Z_NULL || s->prev == Z_NULL || s->head == Z_NULL ||
+        s->pending_buf == Z_NULL) {
+        s->status = FINISH_STATE;
+        strm->msg = (char*)ERR_MSG(Z_MEM_ERROR);
+        deflateEnd (strm);
+        return Z_MEM_ERROR;
+    }
+    s->d_buf = overlay + s->lit_bufsize/sizeof(ush);
+    s->l_buf = s->pending_buf + (1+sizeof(ush))*s->lit_bufsize;
+
+    s->level = level;
+    s->strategy = strategy;
+    s->method = (Byte)method;
+
+    return deflateReset(strm);
+}
+
+/* ========================================================================= */
+int ZEXPORT deflateSetDictionary (strm, dictionary, dictLength)
+    z_streamp strm;
+    const Bytef *dictionary;
+    uInt  dictLength;
+{
+    deflate_state *s;
+    uInt length = dictLength;
+    uInt n;
+    IPos hash_head = 0;
+
+    if (strm == Z_NULL || strm->state == Z_NULL || dictionary == Z_NULL ||
+        strm->state->wrap == 2 ||
+        (strm->state->wrap == 1 && strm->state->status != INIT_STATE))
+        return Z_STREAM_ERROR;
+
+    s = strm->state;
+    if (s->wrap)
+        strm->adler = adler32(strm->adler, dictionary, dictLength);
+
+    if (length < MIN_MATCH) return Z_OK;
+    if (length > MAX_DIST(s)) {
+        length = MAX_DIST(s);
+        dictionary += dictLength - length; /* use the tail of the dictionary */
+    }
+    zmemcpy(s->window, dictionary, length);
+    s->strstart = length;
+    s->block_start = (long)length;
+
+    /* Insert all strings in the hash table (except for the last two bytes).
+     * s->lookahead stays null, so s->ins_h will be recomputed at the next
+     * call of fill_window.
+     */
+    s->ins_h = s->window[0];
+    UPDATE_HASH(s, s->ins_h, s->window[1]);
+    for (n = 0; n <= length - MIN_MATCH; n++) {
+        INSERT_STRING(s, n, hash_head);
+    }
+    if (hash_head) hash_head = 0;  /* to make compiler happy */
+    return Z_OK;
+}
+
+/* ========================================================================= */
+int ZEXPORT deflateReset (strm)
+    z_streamp strm;
+{
+    deflate_state *s;
+
+    if (strm == Z_NULL || strm->state == Z_NULL ||
+        strm->zalloc == (alloc_func)0 || strm->zfree == (free_func)0) {
+        return Z_STREAM_ERROR;
+    }
+
+    strm->total_in = strm->total_out = 0;
+    strm->msg = Z_NULL; /* use zfree if we ever allocate msg dynamically */
+    strm->data_type = Z_UNKNOWN;
+
+    s = (deflate_state *)strm->state;
+    s->pending = 0;
+    s->pending_out = s->pending_buf;
+
+    if (s->wrap < 0) {
+        s->wrap = -s->wrap; /* was made negative by deflate(..., Z_FINISH); */
+    }
+    s->status = s->wrap ? INIT_STATE : BUSY_STATE;
+    strm->adler =
+#ifdef GZIP
+        s->wrap == 2 ? crc32(0L, Z_NULL, 0) :
+#endif
+        adler32(0L, Z_NULL, 0);
+    s->last_flush = Z_NO_FLUSH;
+
+    _tr_init(s);
+    lm_init(s);
+
+    return Z_OK;
+}
+
+/* ========================================================================= */
+int ZEXPORT deflateSetHeader (strm, head)
+    z_streamp strm;
+    gz_headerp head;
+{
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+    if (strm->state->wrap != 2) return Z_STREAM_ERROR;
+    strm->state->gzhead = head;
+    return Z_OK;
+}
+
+/* ========================================================================= */
+int ZEXPORT deflatePrime (strm, bits, value)
+    z_streamp strm;
+    int bits;
+    int value;
+{
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+    strm->state->bi_valid = bits;
+    strm->state->bi_buf = (ush)(value & ((1 << bits) - 1));
+    return Z_OK;
+}
+
+/* ========================================================================= */
+int ZEXPORT deflateParams(strm, level, strategy)
+    z_streamp strm;
+    int level;
+    int strategy;
+{
+    deflate_state *s;
+    compress_func func;
+    int err = Z_OK;
+
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+    s = strm->state;
+
+#ifdef FASTEST
+    if (level != 0) level = 1;
+#else
+    if (level == Z_DEFAULT_COMPRESSION) level = 6;
+#endif
+    if (level < 0 || level > 9 || strategy < 0 || strategy > Z_FIXED) {
+        return Z_STREAM_ERROR;
+    }
+    func = configuration_table[s->level].func;
+
+    if (func != configuration_table[level].func && strm->total_in != 0) {
+        /* Flush the last buffer: */
+        err = deflate(strm, Z_PARTIAL_FLUSH);
+    }
+    if (s->level != level) {
+        s->level = level;
+        s->max_lazy_match   = configuration_table[level].max_lazy;
+        s->good_match       = configuration_table[level].good_length;
+        s->nice_match       = configuration_table[level].nice_length;
+        s->max_chain_length = configuration_table[level].max_chain;
+    }
+    s->strategy = strategy;
+    return err;
+}
+
+/* ========================================================================= */
+int ZEXPORT deflateTune(strm, good_length, max_lazy, nice_length, max_chain)
+    z_streamp strm;
+    int good_length;
+    int max_lazy;
+    int nice_length;
+    int max_chain;
+{
+    deflate_state *s;
+
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+    s = strm->state;
+    s->good_match = good_length;
+    s->max_lazy_match = max_lazy;
+    s->nice_match = nice_length;
+    s->max_chain_length = max_chain;
+    return Z_OK;
+}
+
+/* =========================================================================
+ * For the default windowBits of 15 and memLevel of 8, this function returns
+ * a close to exact, as well as small, upper bound on the compressed size.
+ * They are coded as constants here for a reason--if the #define's are
+ * changed, then this function needs to be changed as well.  The return
+ * value for 15 and 8 only works for those exact settings.
+ *
+ * For any setting other than those defaults for windowBits and memLevel,
+ * the value returned is a conservative worst case for the maximum expansion
+ * resulting from using fixed blocks instead of stored blocks, which deflate
+ * can emit on compressed data for some combinations of the parameters.
+ *
+ * This function could be more sophisticated to provide closer upper bounds
+ * for every combination of windowBits and memLevel, as well as wrap.
+ * But even the conservative upper bound of about 14% expansion does not
+ * seem onerous for output buffer allocation.
+ */
+uLong ZEXPORT deflateBound(strm, sourceLen)
+    z_streamp strm;
+    uLong sourceLen;
+{
+    deflate_state *s;
+    uLong destLen;
+
+    /* conservative upper bound */
+    destLen = sourceLen +
+              ((sourceLen + 7) >> 3) + ((sourceLen + 63) >> 6) + 11;
+
+    /* if can't get parameters, return conservative bound */
+    if (strm == Z_NULL || strm->state == Z_NULL)
+        return destLen;
+
+    /* if not default parameters, return conservative bound */
+    s = strm->state;
+    if (s->w_bits != 15 || s->hash_bits != 8 + 7)
+        return destLen;
+
+    /* default settings: return tight bound for that case */
+    return compressBound(sourceLen);
+}
+
+/* =========================================================================
+ * Put a short in the pending buffer. The 16-bit value is put in MSB order.
+ * IN assertion: the stream state is correct and there is enough room in
+ * pending_buf.
+ */
+local void putShortMSB (s, b)
+    deflate_state *s;
+    uInt b;
+{
+    put_byte(s, (Byte)(b >> 8));
+    put_byte(s, (Byte)(b & 0xff));
+}
+
+/* =========================================================================
+ * Flush as much pending output as possible. All deflate() output goes
+ * through this function so some applications may wish to modify it
+ * to avoid allocating a large strm->next_out buffer and copying into it.
+ * (See also read_buf()).
+ */
+local void flush_pending(strm)
+    z_streamp strm;
+{
+    unsigned len = strm->state->pending;
+
+    if (len > strm->avail_out) len = strm->avail_out;
+    if (len == 0) return;
+
+    zmemcpy(strm->next_out, strm->state->pending_out, len);
+    strm->next_out  += len;
+    strm->state->pending_out  += len;
+    strm->total_out += len;
+    strm->avail_out  -= len;
+    strm->state->pending -= len;
+    if (strm->state->pending == 0) {
+        strm->state->pending_out = strm->state->pending_buf;
+    }
+}
+
+/* ========================================================================= */
+int ZEXPORT deflate (strm, flush)
+    z_streamp strm;
+    int flush;
+{
+    int old_flush; /* value of flush param for previous deflate call */
+    deflate_state *s;
+
+    if (strm == Z_NULL || strm->state == Z_NULL ||
+        flush > Z_FINISH || flush < 0) {
+        return Z_STREAM_ERROR;
+    }
+    s = strm->state;
+
+    if (strm->next_out == Z_NULL ||
+        (strm->next_in == Z_NULL && strm->avail_in != 0) ||
+        (s->status == FINISH_STATE && flush != Z_FINISH)) {
+        ERR_RETURN(strm, Z_STREAM_ERROR);
+    }
+    if (strm->avail_out == 0) ERR_RETURN(strm, Z_BUF_ERROR);
+
+    s->strm = strm; /* just in case */
+    old_flush = s->last_flush;
+    s->last_flush = flush;
+
+    /* Write the header */
+    if (s->status == INIT_STATE) {
+#ifdef GZIP
+        if (s->wrap == 2) {
+            strm->adler = crc32(0L, Z_NULL, 0);
+            put_byte(s, 31);
+            put_byte(s, 139);
+            put_byte(s, 8);
+            if (s->gzhead == NULL) {
+                put_byte(s, 0);
+                put_byte(s, 0);
+                put_byte(s, 0);
+                put_byte(s, 0);
+                put_byte(s, 0);
+                put_byte(s, s->level == 9 ? 2 :
+                            (s->strategy >= Z_HUFFMAN_ONLY || s->level < 2 ?
+                             4 : 0));
+                put_byte(s, OS_CODE);
+                s->status = BUSY_STATE;
+            }
+            else {
+                put_byte(s, (s->gzhead->text ? 1 : 0) +
+                            (s->gzhead->hcrc ? 2 : 0) +
+                            (s->gzhead->extra == Z_NULL ? 0 : 4) +
+                            (s->gzhead->name == Z_NULL ? 0 : 8) +
+                            (s->gzhead->comment == Z_NULL ? 0 : 16)
+                        );
+                put_byte(s, (Byte)(s->gzhead->time & 0xff));
+                put_byte(s, (Byte)((s->gzhead->time >> 8) & 0xff));
+                put_byte(s, (Byte)((s->gzhead->time >> 16) & 0xff));
+                put_byte(s, (Byte)((s->gzhead->time >> 24) & 0xff));
+                put_byte(s, s->level == 9 ? 2 :
+                            (s->strategy >= Z_HUFFMAN_ONLY || s->level < 2 ?
+                             4 : 0));
+                put_byte(s, s->gzhead->os & 0xff);
+                if (s->gzhead->extra != NULL) {
+                    put_byte(s, s->gzhead->extra_len & 0xff);
+                    put_byte(s, (s->gzhead->extra_len >> 8) & 0xff);
+                }
+                if (s->gzhead->hcrc)
+                    strm->adler = crc32(strm->adler, s->pending_buf,
+                                        s->pending);
+                s->gzindex = 0;
+                s->status = EXTRA_STATE;
+            }
+        }
+        else
+#endif
+        {
+            uInt header = (Z_DEFLATED + ((s->w_bits-8)<<4)) << 8;
+            uInt level_flags;
+
+            if (s->strategy >= Z_HUFFMAN_ONLY || s->level < 2)
+                level_flags = 0;
+            else if (s->level < 6)
+                level_flags = 1;
+            else if (s->level == 6)
+                level_flags = 2;
+            else
+                level_flags = 3;
+            header |= (level_flags << 6);
+            if (s->strstart != 0) header |= PRESET_DICT;
+            header += 31 - (header % 31);
+
+            s->status = BUSY_STATE;
+            putShortMSB(s, header);
+
+            /* Save the adler32 of the preset dictionary: */
+            if (s->strstart != 0) {
+                putShortMSB(s, (uInt)(strm->adler >> 16));
+                putShortMSB(s, (uInt)(strm->adler & 0xffff));
+            }
+            strm->adler = adler32(0L, Z_NULL, 0);
+        }
+    }
+#ifdef GZIP
+    if (s->status == EXTRA_STATE) {
+        if (s->gzhead->extra != NULL) {
+            uInt beg = s->pending;  /* start of bytes to update crc */
+
+            while (s->gzindex < (s->gzhead->extra_len & 0xffff)) {
+                if (s->pending == s->pending_buf_size) {
+                    if (s->gzhead->hcrc && s->pending > beg)
+                        strm->adler = crc32(strm->adler, s->pending_buf + beg,
+                                            s->pending - beg);
+                    flush_pending(strm);
+                    beg = s->pending;
+                    if (s->pending == s->pending_buf_size)
+                        break;
+                }
+                put_byte(s, s->gzhead->extra[s->gzindex]);
+                s->gzindex++;
+            }
+            if (s->gzhead->hcrc && s->pending > beg)
+                strm->adler = crc32(strm->adler, s->pending_buf + beg,
+                                    s->pending - beg);
+            if (s->gzindex == s->gzhead->extra_len) {
+                s->gzindex = 0;
+                s->status = NAME_STATE;
+            }
+        }
+        else
+            s->status = NAME_STATE;
+    }
+    if (s->status == NAME_STATE) {
+        if (s->gzhead->name != NULL) {
+            uInt beg = s->pending;  /* start of bytes to update crc */
+            int val;
+
+            do {
+                if (s->pending == s->pending_buf_size) {
+                    if (s->gzhead->hcrc && s->pending > beg)
+                        strm->adler = crc32(strm->adler, s->pending_buf + beg,
+                                            s->pending - beg);
+                    flush_pending(strm);
+                    beg = s->pending;
+                    if (s->pending == s->pending_buf_size) {
+                        val = 1;
+                        break;
+                    }
+                }
+                val = s->gzhead->name[s->gzindex++];
+                put_byte(s, val);
+            } while (val != 0);
+            if (s->gzhead->hcrc && s->pending > beg)
+                strm->adler = crc32(strm->adler, s->pending_buf + beg,
+                                    s->pending - beg);
+            if (val == 0) {
+                s->gzindex = 0;
+                s->status = COMMENT_STATE;
+            }
+        }
+        else
+            s->status = COMMENT_STATE;
+    }
+    if (s->status == COMMENT_STATE) {
+        if (s->gzhead->comment != NULL) {
+            uInt beg = s->pending;  /* start of bytes to update crc */
+            int val;
+
+            do {
+                if (s->pending == s->pending_buf_size) {
+                    if (s->gzhead->hcrc && s->pending > beg)
+                        strm->adler = crc32(strm->adler, s->pending_buf + beg,
+                                            s->pending - beg);
+                    flush_pending(strm);
+                    beg = s->pending;
+                    if (s->pending == s->pending_buf_size) {
+                        val = 1;
+                        break;
+                    }
+                }
+                val = s->gzhead->comment[s->gzindex++];
+                put_byte(s, val);
+            } while (val != 0);
+            if (s->gzhead->hcrc && s->pending > beg)
+                strm->adler = crc32(strm->adler, s->pending_buf + beg,
+                                    s->pending - beg);
+            if (val == 0)
+                s->status = HCRC_STATE;
+        }
+        else
+            s->status = HCRC_STATE;
+    }
+    if (s->status == HCRC_STATE) {
+        if (s->gzhead->hcrc) {
+            if (s->pending + 2 > s->pending_buf_size)
+                flush_pending(strm);
+            if (s->pending + 2 <= s->pending_buf_size) {
+                put_byte(s, (Byte)(strm->adler & 0xff));
+                put_byte(s, (Byte)((strm->adler >> 8) & 0xff));
+                strm->adler = crc32(0L, Z_NULL, 0);
+                s->status = BUSY_STATE;
+            }
+        }
+        else
+            s->status = BUSY_STATE;
+    }
+#endif
+
+    /* Flush as much pending output as possible */
+    if (s->pending != 0) {
+        flush_pending(strm);
+        if (strm->avail_out == 0) {
+            /* Since avail_out is 0, deflate will be called again with
+             * more output space, but possibly with both pending and
+             * avail_in equal to zero. There won't be anything to do,
+             * but this is not an error situation so make sure we
+             * return OK instead of BUF_ERROR at next call of deflate:
+             */
+            s->last_flush = -1;
+            return Z_OK;
+        }
+
+    /* Make sure there is something to do and avoid duplicate consecutive
+     * flushes. For repeated and useless calls with Z_FINISH, we keep
+     * returning Z_STREAM_END instead of Z_BUF_ERROR.
+     */
+    } else if (strm->avail_in == 0 && flush <= old_flush &&
+               flush != Z_FINISH) {
+        ERR_RETURN(strm, Z_BUF_ERROR);
+    }
+
+    /* User must not provide more input after the first FINISH: */
+    if (s->status == FINISH_STATE && strm->avail_in != 0) {
+        ERR_RETURN(strm, Z_BUF_ERROR);
+    }
+
+    /* Start a new block or continue the current one.
+     */
+    if (strm->avail_in != 0 || s->lookahead != 0 ||
+        (flush != Z_NO_FLUSH && s->status != FINISH_STATE)) {
+        block_state bstate;
+
+        bstate = (*(configuration_table[s->level].func))(s, flush);
+
+        if (bstate == finish_started || bstate == finish_done) {
+            s->status = FINISH_STATE;
+        }
+        if (bstate == need_more || bstate == finish_started) {
+            if (strm->avail_out == 0) {
+                s->last_flush = -1; /* avoid BUF_ERROR next call, see above */
+            }
+            return Z_OK;
+            /* If flush != Z_NO_FLUSH && avail_out == 0, the next call
+             * of deflate should use the same flush parameter to make sure
+             * that the flush is complete. So we don't have to output an
+             * empty block here, this will be done at next call. This also
+             * ensures that for a very small output buffer, we emit at most
+             * one empty block.
+             */
+        }
+        if (bstate == block_done) {
+            if (flush == Z_PARTIAL_FLUSH) {
+                _tr_align(s);
+            } else { /* FULL_FLUSH or SYNC_FLUSH */
+                _tr_stored_block(s, (char*)0, 0L, 0);
+                /* For a full flush, this empty block will be recognized
+                 * as a special marker by inflate_sync().
+                 */
+                if (flush == Z_FULL_FLUSH) {
+                    CLEAR_HASH(s);             /* forget history */
+                }
+            }
+            flush_pending(strm);
+            if (strm->avail_out == 0) {
+              s->last_flush = -1; /* avoid BUF_ERROR at next call, see above */
+              return Z_OK;
+            }
+        }
+    }
+    Assert(strm->avail_out > 0, "bug2");
+
+    if (flush != Z_FINISH) return Z_OK;
+    if (s->wrap <= 0) return Z_STREAM_END;
+
+    /* Write the trailer */
+#ifdef GZIP
+    if (s->wrap == 2) {
+        put_byte(s, (Byte)(strm->adler & 0xff));
+        put_byte(s, (Byte)((strm->adler >> 8) & 0xff));
+        put_byte(s, (Byte)((strm->adler >> 16) & 0xff));
+        put_byte(s, (Byte)((strm->adler >> 24) & 0xff));
+        put_byte(s, (Byte)(strm->total_in & 0xff));
+        put_byte(s, (Byte)((strm->total_in >> 8) & 0xff));
+        put_byte(s, (Byte)((strm->total_in >> 16) & 0xff));
+        put_byte(s, (Byte)((strm->total_in >> 24) & 0xff));
+    }
+    else
+#endif
+    {
+        putShortMSB(s, (uInt)(strm->adler >> 16));
+        putShortMSB(s, (uInt)(strm->adler & 0xffff));
+    }
+    flush_pending(strm);
+    /* If avail_out is zero, the application will call deflate again
+     * to flush the rest.
+     */
+    if (s->wrap > 0) s->wrap = -s->wrap; /* write the trailer only once! */
+    return s->pending != 0 ? Z_OK : Z_STREAM_END;
+}
+
+/* ========================================================================= */
+int ZEXPORT deflateEnd (strm)
+    z_streamp strm;
+{
+    int status;
+
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+
+    status = strm->state->status;
+    if (status != INIT_STATE &&
+        status != EXTRA_STATE &&
+        status != NAME_STATE &&
+        status != COMMENT_STATE &&
+        status != HCRC_STATE &&
+        status != BUSY_STATE &&
+        status != FINISH_STATE) {
+      return Z_STREAM_ERROR;
+    }
+
+    /* Deallocate in reverse order of allocations: */
+    TRY_FREE(strm, strm->state->pending_buf);
+    TRY_FREE(strm, strm->state->head);
+    TRY_FREE(strm, strm->state->prev);
+    TRY_FREE(strm, strm->state->window);
+
+    ZFREE(strm, strm->state);
+    strm->state = Z_NULL;
+
+    return status == BUSY_STATE ? Z_DATA_ERROR : Z_OK;
+}
+
+/* =========================================================================
+ * Copy the source state to the destination state.
+ * To simplify the source, this is not supported for 16-bit MSDOS (which
+ * doesn't have enough memory anyway to duplicate compression states).
+ */
+int ZEXPORT deflateCopy (dest, source)
+    z_streamp dest;
+    z_streamp source;
+{
+#ifdef MAXSEG_64K
+    return Z_STREAM_ERROR;
+#else
+    deflate_state *ds;
+    deflate_state *ss;
+    ushf *overlay;
+
+
+    if (source == Z_NULL || dest == Z_NULL || source->state == Z_NULL) {
+        return Z_STREAM_ERROR;
+    }
+
+    ss = source->state;
+
+    zmemcpy(dest, source, sizeof(z_stream));
+
+    ds = (deflate_state *) ZALLOC(dest, 1, sizeof(deflate_state));
+    if (ds == Z_NULL) return Z_MEM_ERROR;
+    dest->state = (struct internal_state FAR *) ds;
+    zmemcpy(ds, ss, sizeof(deflate_state));
+    ds->strm = dest;
+
+    ds->window = (Bytef *) ZALLOC(dest, ds->w_size, 2*sizeof(Byte));
+    ds->prev   = (Posf *)  ZALLOC(dest, ds->w_size, sizeof(Pos));
+    ds->head   = (Posf *)  ZALLOC(dest, ds->hash_size, sizeof(Pos));
+    overlay = (ushf *) ZALLOC(dest, ds->lit_bufsize, sizeof(ush)+2);
+    ds->pending_buf = (uchf *) overlay;
+
+    if (ds->window == Z_NULL || ds->prev == Z_NULL || ds->head == Z_NULL ||
+        ds->pending_buf == Z_NULL) {
+        deflateEnd (dest);
+        return Z_MEM_ERROR;
+    }
+    /* following zmemcpy do not work for 16-bit MSDOS */
+    zmemcpy(ds->window, ss->window, ds->w_size * 2 * sizeof(Byte));
+    zmemcpy(ds->prev, ss->prev, ds->w_size * sizeof(Pos));
+    zmemcpy(ds->head, ss->head, ds->hash_size * sizeof(Pos));
+    zmemcpy(ds->pending_buf, ss->pending_buf, (uInt)ds->pending_buf_size);
+
+    ds->pending_out = ds->pending_buf + (ss->pending_out - ss->pending_buf);
+    ds->d_buf = overlay + ds->lit_bufsize/sizeof(ush);
+    ds->l_buf = ds->pending_buf + (1+sizeof(ush))*ds->lit_bufsize;
+
+    ds->l_desc.dyn_tree = ds->dyn_ltree;
+    ds->d_desc.dyn_tree = ds->dyn_dtree;
+    ds->bl_desc.dyn_tree = ds->bl_tree;
+
+    return Z_OK;
+#endif /* MAXSEG_64K */
+}
+
+/* ===========================================================================
+ * Read a new buffer from the current input stream, update the adler32
+ * and total number of bytes read.  All deflate() input goes through
+ * this function so some applications may wish to modify it to avoid
+ * allocating a large strm->next_in buffer and copying from it.
+ * (See also flush_pending()).
+ */
+local int read_buf(strm, buf, size)
+    z_streamp strm;
+    Bytef *buf;
+    unsigned size;
+{
+    unsigned len = strm->avail_in;
+
+    if (len > size) len = size;
+    if (len == 0) return 0;
+
+    strm->avail_in  -= len;
+
+    if (strm->state->wrap == 1) {
+        strm->adler = adler32(strm->adler, strm->next_in, len);
+    }
+#ifdef GZIP
+    else if (strm->state->wrap == 2) {
+        strm->adler = crc32(strm->adler, strm->next_in, len);
+    }
+#endif
+    zmemcpy(buf, strm->next_in, len);
+    strm->next_in  += len;
+    strm->total_in += len;
+
+    return (int)len;
+}
+
+/* ===========================================================================
+ * Initialize the "longest match" routines for a new zlib stream
+ */
+local void lm_init (s)
+    deflate_state *s;
+{
+    s->window_size = (ulg)2L*s->w_size;
+
+    CLEAR_HASH(s);
+
+    /* Set the default configuration parameters:
+     */
+    s->max_lazy_match   = configuration_table[s->level].max_lazy;
+    s->good_match       = configuration_table[s->level].good_length;
+    s->nice_match       = configuration_table[s->level].nice_length;
+    s->max_chain_length = configuration_table[s->level].max_chain;
+
+    s->strstart = 0;
+    s->block_start = 0L;
+    s->lookahead = 0;
+    s->match_length = s->prev_length = MIN_MATCH-1;
+    s->match_available = 0;
+    s->ins_h = 0;
+#ifndef FASTEST
+#ifdef ASMV
+    match_init(); /* initialize the asm code */
+#endif
+#endif
+}
+
+#ifndef FASTEST
+/* ===========================================================================
+ * Set match_start to the longest match starting at the given string and
+ * return its length. Matches shorter or equal to prev_length are discarded,
+ * in which case the result is equal to prev_length and match_start is
+ * garbage.
+ * IN assertions: cur_match is the head of the hash chain for the current
+ *   string (strstart) and its distance is <= MAX_DIST, and prev_length >= 1
+ * OUT assertion: the match length is not greater than s->lookahead.
+ */
+#ifndef ASMV
+/* For 80x86 and 680x0, an optimized version will be provided in match.asm or
+ * match.S. The code will be functionally equivalent.
+ */
+local uInt longest_match(s, cur_match)
+    deflate_state *s;
+    IPos cur_match;                             /* current match */
+{
+    unsigned chain_length = s->max_chain_length;/* max hash chain length */
+    register Bytef *scan = s->window + s->strstart; /* current string */
+    register Bytef *match;                       /* matched string */
+    register int len;                           /* length of current match */
+    int best_len = s->prev_length;              /* best match length so far */
+    int nice_match = s->nice_match;             /* stop if match long enough */
+    IPos limit = s->strstart > (IPos)MAX_DIST(s) ?
+        s->strstart - (IPos)MAX_DIST(s) : NIL;
+    /* Stop when cur_match becomes <= limit. To simplify the code,
+     * we prevent matches with the string of window index 0.
+     */
+    Posf *prev = s->prev;
+    uInt wmask = s->w_mask;
+
+#ifdef UNALIGNED_OK
+    /* Compare two bytes at a time. Note: this is not always beneficial.
+     * Try with and without -DUNALIGNED_OK to check.
+     */
+    register Bytef *strend = s->window + s->strstart + MAX_MATCH - 1;
+    register ush scan_start = *(ushf*)scan;
+    register ush scan_end   = *(ushf*)(scan+best_len-1);
+#else
+    register Bytef *strend = s->window + s->strstart + MAX_MATCH;
+    register Byte scan_end1  = scan[best_len-1];
+    register Byte scan_end   = scan[best_len];
+#endif
+
+    /* The code is optimized for HASH_BITS >= 8 and MAX_MATCH-2 multiple of 16.
+     * It is easy to get rid of this optimization if necessary.
+     */
+    Assert(s->hash_bits >= 8 && MAX_MATCH == 258, "Code too clever");
+
+    /* Do not waste too much time if we already have a good match: */
+    if (s->prev_length >= s->good_match) {
+        chain_length >>= 2;
+    }
+    /* Do not look for matches beyond the end of the input. This is necessary
+     * to make deflate deterministic.
+     */
+    if ((uInt)nice_match > s->lookahead) nice_match = s->lookahead;
+
+    Assert((ulg)s->strstart <= s->window_size-MIN_LOOKAHEAD, "need lookahead");
+
+    do {
+        Assert(cur_match < s->strstart, "no future");
+        match = s->window + cur_match;
+
+        /* Skip to next match if the match length cannot increase
+         * or if the match length is less than 2.  Note that the checks below
+         * for insufficient lookahead only occur occasionally for performance
+         * reasons.  Therefore uninitialized memory will be accessed, and
+         * conditional jumps will be made that depend on those values.
+         * However the length of the match is limited to the lookahead, so
+         * the output of deflate is not affected by the uninitialized values.
+         */
+#if (defined(UNALIGNED_OK) && MAX_MATCH == 258)
+        /* This code assumes sizeof(unsigned short) == 2. Do not use
+         * UNALIGNED_OK if your compiler uses a different size.
+         */
+        if (*(ushf*)(match+best_len-1) != scan_end ||
+            *(ushf*)match != scan_start) continue;
+
+        /* It is not necessary to compare scan[2] and match[2] since they are
+         * always equal when the other bytes match, given that the hash keys
+         * are equal and that HASH_BITS >= 8. Compare 2 bytes at a time at
+         * strstart+3, +5, ... up to strstart+257. We check for insufficient
+         * lookahead only every 4th comparison; the 128th check will be made
+         * at strstart+257. If MAX_MATCH-2 is not a multiple of 8, it is
+         * necessary to put more guard bytes at the end of the window, or
+         * to check more often for insufficient lookahead.
+         */
+        Assert(scan[2] == match[2], "scan[2]?");
+        scan++, match++;
+        do {
+        } while (*(ushf*)(scan+=2) == *(ushf*)(match+=2) &&
+                 *(ushf*)(scan+=2) == *(ushf*)(match+=2) &&
+                 *(ushf*)(scan+=2) == *(ushf*)(match+=2) &&
+                 *(ushf*)(scan+=2) == *(ushf*)(match+=2) &&
+                 scan < strend);
+        /* The funny "do {}" generates better code on most compilers */
+
+        /* Here, scan <= window+strstart+257 */
+        Assert(scan <= s->window+(unsigned)(s->window_size-1), "wild scan");
+        if (*scan == *match) scan++;
+
+        len = (MAX_MATCH - 1) - (int)(strend-scan);
+        scan = strend - (MAX_MATCH-1);
+
+#else /* UNALIGNED_OK */
+
+        if (match[best_len]   != scan_end  ||
+            match[best_len-1] != scan_end1 ||
+            *match            != *scan     ||
+            *++match          != scan[1])      continue;
+
+        /* The check at best_len-1 can be removed because it will be made
+         * again later. (This heuristic is not always a win.)
+         * It is not necessary to compare scan[2] and match[2] since they
+         * are always equal when the other bytes match, given that
+         * the hash keys are equal and that HASH_BITS >= 8.
+         */
+        scan += 2, match++;
+        Assert(*scan == *match, "match[2]?");
+
+        /* We check for insufficient lookahead only every 8th comparison;
+         * the 256th check will be made at strstart+258.
+         */
+        do {
+        } while (*++scan == *++match && *++scan == *++match &&
+                 *++scan == *++match && *++scan == *++match &&
+                 *++scan == *++match && *++scan == *++match &&
+                 *++scan == *++match && *++scan == *++match &&
+                 scan < strend);
+
+        Assert(scan <= s->window+(unsigned)(s->window_size-1), "wild scan");
+
+        len = MAX_MATCH - (int)(strend - scan);
+        scan = strend - MAX_MATCH;
+
+#endif /* UNALIGNED_OK */
+
+        if (len > best_len) {
+            s->match_start = cur_match;
+            best_len = len;
+            if (len >= nice_match) break;
+#ifdef UNALIGNED_OK
+            scan_end = *(ushf*)(scan+best_len-1);
+#else
+            scan_end1  = scan[best_len-1];
+            scan_end   = scan[best_len];
+#endif
+        }
+    } while ((cur_match = prev[cur_match & wmask]) > limit
+             && --chain_length != 0);
+
+    if ((uInt)best_len <= s->lookahead) return (uInt)best_len;
+    return s->lookahead;
+}
+#endif /* ASMV */
+#endif /* FASTEST */
+
+/* ---------------------------------------------------------------------------
+ * Optimized version for level == 1 or strategy == Z_RLE only
+ */
+local uInt longest_match_fast(s, cur_match)
+    deflate_state *s;
+    IPos cur_match;                             /* current match */
+{
+    register Bytef *scan = s->window + s->strstart; /* current string */
+    register Bytef *match;                       /* matched string */
+    register int len;                           /* length of current match */
+    register Bytef *strend = s->window + s->strstart + MAX_MATCH;
+
+    /* The code is optimized for HASH_BITS >= 8 and MAX_MATCH-2 multiple of 16.
+     * It is easy to get rid of this optimization if necessary.
+     */
+    Assert(s->hash_bits >= 8 && MAX_MATCH == 258, "Code too clever");
+
+    Assert((ulg)s->strstart <= s->window_size-MIN_LOOKAHEAD, "need lookahead");
+
+    Assert(cur_match < s->strstart, "no future");
+
+    match = s->window + cur_match;
+
+    /* Return failure if the match length is less than 2:
+     */
+    if (match[0] != scan[0] || match[1] != scan[1]) return MIN_MATCH-1;
+
+    /* The check at best_len-1 can be removed because it will be made
+     * again later. (This heuristic is not always a win.)
+     * It is not necessary to compare scan[2] and match[2] since they
+     * are always equal when the other bytes match, given that
+     * the hash keys are equal and that HASH_BITS >= 8.
+     */
+    scan += 2, match += 2;
+    Assert(*scan == *match, "match[2]?");
+
+    /* We check for insufficient lookahead only every 8th comparison;
+     * the 256th check will be made at strstart+258.
+     */
+    do {
+    } while (*++scan == *++match && *++scan == *++match &&
+             *++scan == *++match && *++scan == *++match &&
+             *++scan == *++match && *++scan == *++match &&
+             *++scan == *++match && *++scan == *++match &&
+             scan < strend);
+
+    Assert(scan <= s->window+(unsigned)(s->window_size-1), "wild scan");
+
+    len = MAX_MATCH - (int)(strend - scan);
+
+    if (len < MIN_MATCH) return MIN_MATCH - 1;
+
+    s->match_start = cur_match;
+    return (uInt)len <= s->lookahead ? (uInt)len : s->lookahead;
+}
+
+#ifdef DEBUG
+/* ===========================================================================
+ * Check that the match at match_start is indeed a match.
+ */
+local void check_match(s, start, match, length)
+    deflate_state *s;
+    IPos start, match;
+    int length;
+{
+    /* check that the match is indeed a match */
+    if (zmemcmp(s->window + match,
+                s->window + start, length) != EQUAL) {
+        fprintf(stderr, " start %u, match %u, length %d\n",
+                start, match, length);
+        do {
+            fprintf(stderr, "%c%c", s->window[match++], s->window[start++]);
+        } while (--length != 0);
+        z_error("invalid match");
+    }
+    if (z_verbose > 1) {
+        fprintf(stderr,"\\[%d,%d]", start-match, length);
+        do { putc(s->window[start++], stderr); } while (--length != 0);
+    }
+}
+#else
+#  define check_match(s, start, match, length)
+#endif /* DEBUG */
+
+/* ===========================================================================
+ * Fill the window when the lookahead becomes insufficient.
+ * Updates strstart and lookahead.
+ *
+ * IN assertion: lookahead < MIN_LOOKAHEAD
+ * OUT assertions: strstart <= window_size-MIN_LOOKAHEAD
+ *    At least one byte has been read, or avail_in == 0; reads are
+ *    performed for at least two bytes (required for the zip translate_eol
+ *    option -- not supported here).
+ */
+local void fill_window(s)
+    deflate_state *s;
+{
+    register unsigned n, m;
+    register Posf *p;
+    unsigned more;    /* Amount of free space at the end of the window. */
+    uInt wsize = s->w_size;
+
+    do {
+        more = (unsigned)(s->window_size -(ulg)s->lookahead -(ulg)s->strstart);
+
+        /* Deal with !@#$% 64K limit: */
+        if (sizeof(int) <= 2) {
+            if (more == 0 && s->strstart == 0 && s->lookahead == 0) {
+                more = wsize;
+
+            } else if (more == (unsigned)(-1)) {
+                /* Very unlikely, but possible on 16 bit machine if
+                 * strstart == 0 && lookahead == 1 (input done a byte at time)
+                 */
+                more--;
+            }
+        }
+
+        /* If the window is almost full and there is insufficient lookahead,
+         * move the upper half to the lower one to make room in the upper half.
+         */
+        if (s->strstart >= wsize+MAX_DIST(s)) {
+
+            zmemcpy(s->window, s->window+wsize, (unsigned)wsize);
+            s->match_start -= wsize;
+            s->strstart    -= wsize; /* we now have strstart >= MAX_DIST */
+            s->block_start -= (long) wsize;
+
+            /* Slide the hash table (could be avoided with 32 bit values
+               at the expense of memory usage). We slide even when level == 0
+               to keep the hash table consistent if we switch back to level > 0
+               later. (Using level 0 permanently is not an optimal usage of
+               zlib, so we don't care about this pathological case.)
+             */
+            /* %%% avoid this when Z_RLE */
+            n = s->hash_size;
+            p = &s->head[n];
+            do {
+                m = *--p;
+                *p = (Pos)(m >= wsize ? m-wsize : NIL);
+            } while (--n);
+
+            n = wsize;
+#ifndef FASTEST
+            p = &s->prev[n];
+            do {
+                m = *--p;
+                *p = (Pos)(m >= wsize ? m-wsize : NIL);
+                /* If n is not on any hash chain, prev[n] is garbage but
+                 * its value will never be used.
+                 */
+            } while (--n);
+#endif
+            more += wsize;
+        }
+        if (s->strm->avail_in == 0) return;
+
+        /* If there was no sliding:
+         *    strstart <= WSIZE+MAX_DIST-1 && lookahead <= MIN_LOOKAHEAD - 1 &&
+         *    more == window_size - lookahead - strstart
+         * => more >= window_size - (MIN_LOOKAHEAD-1 + WSIZE + MAX_DIST-1)
+         * => more >= window_size - 2*WSIZE + 2
+         * In the BIG_MEM or MMAP case (not yet supported),
+         *   window_size == input_size + MIN_LOOKAHEAD  &&
+         *   strstart + s->lookahead <= input_size => more >= MIN_LOOKAHEAD.
+         * Otherwise, window_size == 2*WSIZE so more >= 2.
+         * If there was sliding, more >= WSIZE. So in all cases, more >= 2.
+         */
+        Assert(more >= 2, "more < 2");
+
+        n = read_buf(s->strm, s->window + s->strstart + s->lookahead, more);
+        s->lookahead += n;
+
+        /* Initialize the hash value now that we have some input: */
+        if (s->lookahead >= MIN_MATCH) {
+            s->ins_h = s->window[s->strstart];
+            UPDATE_HASH(s, s->ins_h, s->window[s->strstart+1]);
+#if MIN_MATCH != 3
+            Call UPDATE_HASH() MIN_MATCH-3 more times
+#endif
+        }
+        /* If the whole input has less than MIN_MATCH bytes, ins_h is garbage,
+         * but this is not important since only literal bytes will be emitted.
+         */
+
+    } while (s->lookahead < MIN_LOOKAHEAD && s->strm->avail_in != 0);
+}
+
+/* ===========================================================================
+ * Flush the current block, with given end-of-file flag.
+ * IN assertion: strstart is set to the end of the current match.
+ */
+#define FLUSH_BLOCK_ONLY(s, eof) { \
+   _tr_flush_block(s, (s->block_start >= 0L ? \
+                   (charf *)&s->window[(unsigned)s->block_start] : \
+                   (charf *)Z_NULL), \
+                (ulg)((long)s->strstart - s->block_start), \
+                (eof)); \
+   s->block_start = s->strstart; \
+   flush_pending(s->strm); \
+   Tracev((stderr,"[FLUSH]")); \
+}
+
+/* Same but force premature exit if necessary. */
+#define FLUSH_BLOCK(s, eof) { \
+   FLUSH_BLOCK_ONLY(s, eof); \
+   if (s->strm->avail_out == 0) return (eof) ? finish_started : need_more; \
+}
+
+/* ===========================================================================
+ * Copy without compression as much as possible from the input stream, return
+ * the current block state.
+ * This function does not insert new strings in the dictionary since
+ * uncompressible data is probably not useful. This function is used
+ * only for the level=0 compression option.
+ * NOTE: this function should be optimized to avoid extra copying from
+ * window to pending_buf.
+ */
+local block_state deflate_stored(s, flush)
+    deflate_state *s;
+    int flush;
+{
+    /* Stored blocks are limited to 0xffff bytes, pending_buf is limited
+     * to pending_buf_size, and each stored block has a 5 byte header:
+     */
+    ulg max_block_size = 0xffff;
+    ulg max_start;
+
+    if (max_block_size > s->pending_buf_size - 5) {
+        max_block_size = s->pending_buf_size - 5;
+    }
+
+    /* Copy as much as possible from input to output: */
+    for (;;) {
+        /* Fill the window as much as possible: */
+        if (s->lookahead <= 1) {
+
+            Assert(s->strstart < s->w_size+MAX_DIST(s) ||
+                   s->block_start >= (long)s->w_size, "slide too late");
+
+            fill_window(s);
+            if (s->lookahead == 0 && flush == Z_NO_FLUSH) return need_more;
+
+            if (s->lookahead == 0) break; /* flush the current block */
+        }
+        Assert(s->block_start >= 0L, "block gone");
+
+        s->strstart += s->lookahead;
+        s->lookahead = 0;
+
+        /* Emit a stored block if pending_buf will be full: */
+        max_start = s->block_start + max_block_size;
+        if (s->strstart == 0 || (ulg)s->strstart >= max_start) {
+            /* strstart == 0 is possible when wraparound on 16-bit machine */
+            s->lookahead = (uInt)(s->strstart - max_start);
+            s->strstart = (uInt)max_start;
+            FLUSH_BLOCK(s, 0);
+        }
+        /* Flush if we may have to slide, otherwise block_start may become
+         * negative and the data will be gone:
+         */
+        if (s->strstart - (uInt)s->block_start >= MAX_DIST(s)) {
+            FLUSH_BLOCK(s, 0);
+        }
+    }
+    FLUSH_BLOCK(s, flush == Z_FINISH);
+    return flush == Z_FINISH ? finish_done : block_done;
+}
+
+/* ===========================================================================
+ * Compress as much as possible from the input stream, return the current
+ * block state.
+ * This function does not perform lazy evaluation of matches and inserts
+ * new strings in the dictionary only for unmatched strings or for short
+ * matches. It is used only for the fast compression options.
+ */
+local block_state deflate_fast(s, flush)
+    deflate_state *s;
+    int flush;
+{
+    IPos hash_head = NIL; /* head of the hash chain */
+    int bflush;           /* set if current block must be flushed */
+
+    for (;;) {
+        /* Make sure that we always have enough lookahead, except
+         * at the end of the input file. We need MAX_MATCH bytes
+         * for the next match, plus MIN_MATCH bytes to insert the
+         * string following the next match.
+         */
+        if (s->lookahead < MIN_LOOKAHEAD) {
+            fill_window(s);
+            if (s->lookahead < MIN_LOOKAHEAD && flush == Z_NO_FLUSH) {
+                return need_more;
+            }
+            if (s->lookahead == 0) break; /* flush the current block */
+        }
+
+        /* Insert the string window[strstart .. strstart+2] in the
+         * dictionary, and set hash_head to the head of the hash chain:
+         */
+        if (s->lookahead >= MIN_MATCH) {
+            INSERT_STRING(s, s->strstart, hash_head);
+        }
+
+        /* Find the longest match, discarding those <= prev_length.
+         * At this point we have always match_length < MIN_MATCH
+         */
+        if (hash_head != NIL && s->strstart - hash_head <= MAX_DIST(s)) {
+            /* To simplify the code, we prevent matches with the string
+             * of window index 0 (in particular we have to avoid a match
+             * of the string with itself at the start of the input file).
+             */
+#ifdef FASTEST
+            if ((s->strategy != Z_HUFFMAN_ONLY && s->strategy != Z_RLE) ||
+                (s->strategy == Z_RLE && s->strstart - hash_head == 1)) {
+                s->match_length = longest_match_fast (s, hash_head);
+            }
+#else
+            if (s->strategy != Z_HUFFMAN_ONLY && s->strategy != Z_RLE) {
+                s->match_length = longest_match (s, hash_head);
+            } else if (s->strategy == Z_RLE && s->strstart - hash_head == 1) {
+                s->match_length = longest_match_fast (s, hash_head);
+            }
+#endif
+            /* longest_match() or longest_match_fast() sets match_start */
+        }
+        if (s->match_length >= MIN_MATCH) {
+            check_match(s, s->strstart, s->match_start, s->match_length);
+
+            _tr_tally_dist(s, s->strstart - s->match_start,
+                           s->match_length - MIN_MATCH, bflush);
+
+            s->lookahead -= s->match_length;
+
+            /* Insert new strings in the hash table only if the match length
+             * is not too large. This saves time but degrades compression.
+             */
+#ifndef FASTEST
+            if (s->match_length <= s->max_insert_length &&
+                s->lookahead >= MIN_MATCH) {
+                s->match_length--; /* string at strstart already in table */
+                do {
+                    s->strstart++;
+                    INSERT_STRING(s, s->strstart, hash_head);
+                    /* strstart never exceeds WSIZE-MAX_MATCH, so there are
+                     * always MIN_MATCH bytes ahead.
+                     */
+                } while (--s->match_length != 0);
+                s->strstart++;
+            } else
+#endif
+            {
+                s->strstart += s->match_length;
+                s->match_length = 0;
+                s->ins_h = s->window[s->strstart];
+                UPDATE_HASH(s, s->ins_h, s->window[s->strstart+1]);
+#if MIN_MATCH != 3
+                Call UPDATE_HASH() MIN_MATCH-3 more times
+#endif
+                /* If lookahead < MIN_MATCH, ins_h is garbage, but it does not
+                 * matter since it will be recomputed at next deflate call.
+                 */
+            }
+        } else {
+            /* No match, output a literal byte */
+            Tracevv((stderr,"%c", s->window[s->strstart]));
+            _tr_tally_lit (s, s->window[s->strstart], bflush);
+            s->lookahead--;
+            s->strstart++;
+        }
+        if (bflush) FLUSH_BLOCK(s, 0);
+    }
+    FLUSH_BLOCK(s, flush == Z_FINISH);
+    return flush == Z_FINISH ? finish_done : block_done;
+}
+
+#ifndef FASTEST
+/* ===========================================================================
+ * Same as above, but achieves better compression. We use a lazy
+ * evaluation for matches: a match is finally adopted only if there is
+ * no better match at the next window position.
+ */
+local block_state deflate_slow(s, flush)
+    deflate_state *s;
+    int flush;
+{
+    IPos hash_head = NIL;    /* head of hash chain */
+    int bflush;              /* set if current block must be flushed */
+
+    /* Process the input block. */
+    for (;;) {
+        /* Make sure that we always have enough lookahead, except
+         * at the end of the input file. We need MAX_MATCH bytes
+         * for the next match, plus MIN_MATCH bytes to insert the
+         * string following the next match.
+         */
+        if (s->lookahead < MIN_LOOKAHEAD) {
+            fill_window(s);
+            if (s->lookahead < MIN_LOOKAHEAD && flush == Z_NO_FLUSH) {
+                return need_more;
+            }
+            if (s->lookahead == 0) break; /* flush the current block */
+        }
+
+        /* Insert the string window[strstart .. strstart+2] in the
+         * dictionary, and set hash_head to the head of the hash chain:
+         */
+        if (s->lookahead >= MIN_MATCH) {
+            INSERT_STRING(s, s->strstart, hash_head);
+        }
+
+        /* Find the longest match, discarding those <= prev_length.
+         */
+        s->prev_length = s->match_length, s->prev_match = s->match_start;
+        s->match_length = MIN_MATCH-1;
+
+        if (hash_head != NIL && s->prev_length < s->max_lazy_match &&
+            s->strstart - hash_head <= MAX_DIST(s)) {
+            /* To simplify the code, we prevent matches with the string
+             * of window index 0 (in particular we have to avoid a match
+             * of the string with itself at the start of the input file).
+             */
+            if (s->strategy != Z_HUFFMAN_ONLY && s->strategy != Z_RLE) {
+                s->match_length = longest_match (s, hash_head);
+            } else if (s->strategy == Z_RLE && s->strstart - hash_head == 1) {
+                s->match_length = longest_match_fast (s, hash_head);
+            }
+            /* longest_match() or longest_match_fast() sets match_start */
+
+            if (s->match_length <= 5 && (s->strategy == Z_FILTERED
+#if TOO_FAR <= 32767
+                || (s->match_length == MIN_MATCH &&
+                    s->strstart - s->match_start > TOO_FAR)
+#endif
+                )) {
+
+                /* If prev_match is also MIN_MATCH, match_start is garbage
+                 * but we will ignore the current match anyway.
+                 */
+                s->match_length = MIN_MATCH-1;
+            }
+        }
+        /* If there was a match at the previous step and the current
+         * match is not better, output the previous match:
+         */
+        if (s->prev_length >= MIN_MATCH && s->match_length <= s->prev_length) {
+            uInt max_insert = s->strstart + s->lookahead - MIN_MATCH;
+            /* Do not insert strings in hash table beyond this. */
+
+            check_match(s, s->strstart-1, s->prev_match, s->prev_length);
+
+            _tr_tally_dist(s, s->strstart -1 - s->prev_match,
+                           s->prev_length - MIN_MATCH, bflush);
+
+            /* Insert in hash table all strings up to the end of the match.
+             * strstart-1 and strstart are already inserted. If there is not
+             * enough lookahead, the last two strings are not inserted in
+             * the hash table.
+             */
+            s->lookahead -= s->prev_length-1;
+            s->prev_length -= 2;
+            do {
+                if (++s->strstart <= max_insert) {
+                    INSERT_STRING(s, s->strstart, hash_head);
+                }
+            } while (--s->prev_length != 0);
+            s->match_available = 0;
+            s->match_length = MIN_MATCH-1;
+            s->strstart++;
+
+            if (bflush) FLUSH_BLOCK(s, 0);
+
+        } else if (s->match_available) {
+            /* If there was no match at the previous position, output a
+             * single literal. If there was a match but the current match
+             * is longer, truncate the previous match to a single literal.
+             */
+            Tracevv((stderr,"%c", s->window[s->strstart-1]));
+            _tr_tally_lit(s, s->window[s->strstart-1], bflush);
+            if (bflush) {
+                FLUSH_BLOCK_ONLY(s, 0);
+            }
+            s->strstart++;
+            s->lookahead--;
+            if (s->strm->avail_out == 0) return need_more;
+        } else {
+            /* There is no previous match to compare with, wait for
+             * the next step to decide.
+             */
+            s->match_available = 1;
+            s->strstart++;
+            s->lookahead--;
+        }
+    }
+    Assert (flush != Z_NO_FLUSH, "no flush?");
+    if (s->match_available) {
+        Tracevv((stderr,"%c", s->window[s->strstart-1]));
+        _tr_tally_lit(s, s->window[s->strstart-1], bflush);
+        s->match_available = 0;
+    }
+    FLUSH_BLOCK(s, flush == Z_FINISH);
+    return flush == Z_FINISH ? finish_done : block_done;
+}
+#endif /* FASTEST */
+
+#if 0
+/* ===========================================================================
+ * For Z_RLE, simply look for runs of bytes, generate matches only of distance
+ * one.  Do not maintain a hash table.  (It will be regenerated if this run of
+ * deflate switches away from Z_RLE.)
+ */
+local block_state deflate_rle(s, flush)
+    deflate_state *s;
+    int flush;
+{
+    int bflush;         /* set if current block must be flushed */
+    uInt run;           /* length of run */
+    uInt max;           /* maximum length of run */
+    uInt prev;          /* byte at distance one to match */
+    Bytef *scan;        /* scan for end of run */
+
+    for (;;) {
+        /* Make sure that we always have enough lookahead, except
+         * at the end of the input file. We need MAX_MATCH bytes
+         * for the longest encodable run.
+         */
+        if (s->lookahead < MAX_MATCH) {
+            fill_window(s);
+            if (s->lookahead < MAX_MATCH && flush == Z_NO_FLUSH) {
+                return need_more;
+            }
+            if (s->lookahead == 0) break; /* flush the current block */
+        }
+
+        /* See how many times the previous byte repeats */
+        run = 0;
+        if (s->strstart > 0) {      /* if there is a previous byte, that is */
+            max = s->lookahead < MAX_MATCH ? s->lookahead : MAX_MATCH;
+            scan = s->window + s->strstart - 1;
+            prev = *scan++;
+            do {
+                if (*scan++ != prev)
+                    break;
+            } while (++run < max);
+        }
+
+        /* Emit match if have run of MIN_MATCH or longer, else emit literal */
+        if (run >= MIN_MATCH) {
+            check_match(s, s->strstart, s->strstart - 1, run);
+            _tr_tally_dist(s, 1, run - MIN_MATCH, bflush);
+            s->lookahead -= run;
+            s->strstart += run;
+        } else {
+            /* No match, output a literal byte */
+            Tracevv((stderr,"%c", s->window[s->strstart]));
+            _tr_tally_lit (s, s->window[s->strstart], bflush);
+            s->lookahead--;
+            s->strstart++;
+        }
+        if (bflush) FLUSH_BLOCK(s, 0);
+    }
+    FLUSH_BLOCK(s, flush == Z_FINISH);
+    return flush == Z_FINISH ? finish_done : block_done;
+}
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/deflate.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/deflate.h
new file mode 100755
index 0000000..05a5ab3
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/deflate.h
@@ -0,0 +1,331 @@
+/* deflate.h -- internal compression state
+ * Copyright (C) 1995-2004 Jean-loup Gailly
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* WARNING: this file should *not* be used by applications. It is
+   part of the implementation of the compression library and is
+   subject to change. Applications should only use zlib.h.
+ */
+
+/* @(#) $Id$ */
+
+#ifndef DEFLATE_H
+#define DEFLATE_H
+
+#include "zutil.h"
+
+/* define NO_GZIP when compiling if you want to disable gzip header and
+   trailer creation by deflate().  NO_GZIP would be used to avoid linking in
+   the crc code when it is not needed.  For shared libraries, gzip encoding
+   should be left enabled. */
+#ifndef NO_GZIP
+#  define GZIP
+#endif
+
+/* ===========================================================================
+ * Internal compression state.
+ */
+
+#define LENGTH_CODES 29
+/* number of length codes, not counting the special END_BLOCK code */
+
+#define LITERALS  256
+/* number of literal bytes 0..255 */
+
+#define L_CODES (LITERALS+1+LENGTH_CODES)
+/* number of Literal or Length codes, including the END_BLOCK code */
+
+#define D_CODES   30
+/* number of distance codes */
+
+#define BL_CODES  19
+/* number of codes used to transfer the bit lengths */
+
+#define HEAP_SIZE (2*L_CODES+1)
+/* maximum heap size */
+
+#define MAX_BITS 15
+/* All codes must not exceed MAX_BITS bits */
+
+#define INIT_STATE    42
+#define EXTRA_STATE   69
+#define NAME_STATE    73
+#define COMMENT_STATE 91
+#define HCRC_STATE   103
+#define BUSY_STATE   113
+#define FINISH_STATE 666
+/* Stream status */
+
+
+/* Data structure describing a single value and its code string. */
+typedef struct ct_data_s {
+    union {
+        ush  freq;       /* frequency count */
+        ush  code;       /* bit string */
+    } fc;
+    union {
+        ush  dad;        /* father node in Huffman tree */
+        ush  len;        /* length of bit string */
+    } dl;
+} FAR ct_data;
+
+#define Freq fc.freq
+#define Code fc.code
+#define Dad  dl.dad
+#define Len  dl.len
+
+typedef struct static_tree_desc_s  static_tree_desc;
+
+typedef struct tree_desc_s {
+    ct_data *dyn_tree;           /* the dynamic tree */
+    int     max_code;            /* largest code with non zero frequency */
+    static_tree_desc *stat_desc; /* the corresponding static tree */
+} FAR tree_desc;
+
+typedef ush Pos;
+typedef Pos FAR Posf;
+typedef unsigned IPos;
+
+/* A Pos is an index in the character window. We use short instead of int to
+ * save space in the various tables. IPos is used only for parameter passing.
+ */
+
+typedef struct internal_state {
+    z_streamp strm;      /* pointer back to this zlib stream */
+    int   status;        /* as the name implies */
+    Bytef *pending_buf;  /* output still pending */
+    ulg   pending_buf_size; /* size of pending_buf */
+    Bytef *pending_out;  /* next pending byte to output to the stream */
+    uInt   pending;      /* nb of bytes in the pending buffer */
+    int   wrap;          /* bit 0 true for zlib, bit 1 true for gzip */
+    gz_headerp  gzhead;  /* gzip header information to write */
+    uInt   gzindex;      /* where in extra, name, or comment */
+    Byte  method;        /* STORED (for zip only) or DEFLATED */
+    int   last_flush;    /* value of flush param for previous deflate call */
+
+                /* used by deflate.c: */
+
+    uInt  w_size;        /* LZ77 window size (32K by default) */
+    uInt  w_bits;        /* log2(w_size)  (8..16) */
+    uInt  w_mask;        /* w_size - 1 */
+
+    Bytef *window;
+    /* Sliding window. Input bytes are read into the second half of the window,
+     * and move to the first half later to keep a dictionary of at least wSize
+     * bytes. With this organization, matches are limited to a distance of
+     * wSize-MAX_MATCH bytes, but this ensures that IO is always
+     * performed with a length multiple of the block size. Also, it limits
+     * the window size to 64K, which is quite useful on MSDOS.
+     * To do: use the user input buffer as sliding window.
+     */
+
+    ulg window_size;
+    /* Actual size of window: 2*wSize, except when the user input buffer
+     * is directly used as sliding window.
+     */
+
+    Posf *prev;
+    /* Link to older string with same hash index. To limit the size of this
+     * array to 64K, this link is maintained only for the last 32K strings.
+     * An index in this array is thus a window index modulo 32K.
+     */
+
+    Posf *head; /* Heads of the hash chains or NIL. */
+
+    uInt  ins_h;          /* hash index of string to be inserted */
+    uInt  hash_size;      /* number of elements in hash table */
+    uInt  hash_bits;      /* log2(hash_size) */
+    uInt  hash_mask;      /* hash_size-1 */
+
+    uInt  hash_shift;
+    /* Number of bits by which ins_h must be shifted at each input
+     * step. It must be such that after MIN_MATCH steps, the oldest
+     * byte no longer takes part in the hash key, that is:
+     *   hash_shift * MIN_MATCH >= hash_bits
+     */
+
+    long block_start;
+    /* Window position at the beginning of the current output block. Gets
+     * negative when the window is moved backwards.
+     */
+
+    uInt match_length;           /* length of best match */
+    IPos prev_match;             /* previous match */
+    int match_available;         /* set if previous match exists */
+    uInt strstart;               /* start of string to insert */
+    uInt match_start;            /* start of matching string */
+    uInt lookahead;              /* number of valid bytes ahead in window */
+
+    uInt prev_length;
+    /* Length of the best match at previous step. Matches not greater than this
+     * are discarded. This is used in the lazy match evaluation.
+     */
+
+    uInt max_chain_length;
+    /* To speed up deflation, hash chains are never searched beyond this
+     * length.  A higher limit improves compression ratio but degrades the
+     * speed.
+     */
+
+    uInt max_lazy_match;
+    /* Attempt to find a better match only when the current match is strictly
+     * smaller than this value. This mechanism is used only for compression
+     * levels >= 4.
+     */
+#   define max_insert_length  max_lazy_match
+    /* Insert new strings in the hash table only if the match length is not
+     * greater than this length. This saves time but degrades compression.
+     * max_insert_length is used only for compression levels <= 3.
+     */
+
+    int level;    /* compression level (1..9) */
+    int strategy; /* favor or force Huffman coding*/
+
+    uInt good_match;
+    /* Use a faster search when the previous match is longer than this */
+
+    int nice_match; /* Stop searching when current match exceeds this */
+
+                /* used by trees.c: */
+    /* Didn't use ct_data typedef below to supress compiler warning */
+    struct ct_data_s dyn_ltree[HEAP_SIZE];   /* literal and length tree */
+    struct ct_data_s dyn_dtree[2*D_CODES+1]; /* distance tree */
+    struct ct_data_s bl_tree[2*BL_CODES+1];  /* Huffman tree for bit lengths */
+
+    struct tree_desc_s l_desc;               /* desc. for literal tree */
+    struct tree_desc_s d_desc;               /* desc. for distance tree */
+    struct tree_desc_s bl_desc;              /* desc. for bit length tree */
+
+    ush bl_count[MAX_BITS+1];
+    /* number of codes at each bit length for an optimal tree */
+
+    int heap[2*L_CODES+1];      /* heap used to build the Huffman trees */
+    int heap_len;               /* number of elements in the heap */
+    int heap_max;               /* element of largest frequency */
+    /* The sons of heap[n] are heap[2*n] and heap[2*n+1]. heap[0] is not used.
+     * The same heap array is used to build all trees.
+     */
+
+    uch depth[2*L_CODES+1];
+    /* Depth of each subtree used as tie breaker for trees of equal frequency
+     */
+
+    uchf *l_buf;          /* buffer for literals or lengths */
+
+    uInt  lit_bufsize;
+    /* Size of match buffer for literals/lengths.  There are 4 reasons for
+     * limiting lit_bufsize to 64K:
+     *   - frequencies can be kept in 16 bit counters
+     *   - if compression is not successful for the first block, all input
+     *     data is still in the window so we can still emit a stored block even
+     *     when input comes from standard input.  (This can also be done for
+     *     all blocks if lit_bufsize is not greater than 32K.)
+     *   - if compression is not successful for a file smaller than 64K, we can
+     *     even emit a stored file instead of a stored block (saving 5 bytes).
+     *     This is applicable only for zip (not gzip or zlib).
+     *   - creating new Huffman trees less frequently may not provide fast
+     *     adaptation to changes in the input data statistics. (Take for
+     *     example a binary file with poorly compressible code followed by
+     *     a highly compressible string table.) Smaller buffer sizes give
+     *     fast adaptation but have of course the overhead of transmitting
+     *     trees more frequently.
+     *   - I can't count above 4
+     */
+
+    uInt last_lit;      /* running index in l_buf */
+
+    ushf *d_buf;
+    /* Buffer for distances. To simplify the code, d_buf and l_buf have
+     * the same number of elements. To use different lengths, an extra flag
+     * array would be necessary.
+     */
+
+    ulg opt_len;        /* bit length of current block with optimal trees */
+    ulg static_len;     /* bit length of current block with static trees */
+    uInt matches;       /* number of string matches in current block */
+    int last_eob_len;   /* bit length of EOB code for last block */
+
+#ifdef DEBUG
+    ulg compressed_len; /* total bit length of compressed file mod 2^32 */
+    ulg bits_sent;      /* bit length of compressed data sent mod 2^32 */
+#endif
+
+    ush bi_buf;
+    /* Output buffer. bits are inserted starting at the bottom (least
+     * significant bits).
+     */
+    int bi_valid;
+    /* Number of valid bits in bi_buf.  All bits above the last valid bit
+     * are always zero.
+     */
+
+} FAR deflate_state;
+
+/* Output a byte on the stream.
+ * IN assertion: there is enough room in pending_buf.
+ */
+#define put_byte(s, c) {s->pending_buf[s->pending++] = (c);}
+
+
+#define MIN_LOOKAHEAD (MAX_MATCH+MIN_MATCH+1)
+/* Minimum amount of lookahead, except at the end of the input file.
+ * See deflate.c for comments about the MIN_MATCH+1.
+ */
+
+#define MAX_DIST(s)  ((s)->w_size-MIN_LOOKAHEAD)
+/* In order to simplify the code, particularly on 16 bit machines, match
+ * distances are limited to MAX_DIST instead of WSIZE.
+ */
+
+        /* in trees.c */
+void _tr_init         OF((deflate_state *s));
+int  _tr_tally        OF((deflate_state *s, unsigned dist, unsigned lc));
+void _tr_flush_block  OF((deflate_state *s, charf *buf, ulg stored_len,
+                          int eof));
+void _tr_align        OF((deflate_state *s));
+void _tr_stored_block OF((deflate_state *s, charf *buf, ulg stored_len,
+                          int eof));
+
+#define d_code(dist) \
+   ((dist) < 256 ? _dist_code[dist] : _dist_code[256+((dist)>>7)])
+/* Mapping from a distance to a distance code. dist is the distance - 1 and
+ * must not have side effects. _dist_code[256] and _dist_code[257] are never
+ * used.
+ */
+
+#ifndef DEBUG
+/* Inline versions of _tr_tally for speed: */
+
+#if defined(GEN_TREES_H) || !defined(STDC)
+  extern uch _length_code[];
+  extern uch _dist_code[];
+#else
+  extern const uch _length_code[];
+  extern const uch _dist_code[];
+#endif
+
+# define _tr_tally_lit(s, c, flush) \
+  { uch cc = (c); \
+    s->d_buf[s->last_lit] = 0; \
+    s->l_buf[s->last_lit++] = cc; \
+    s->dyn_ltree[cc].Freq++; \
+    flush = (s->last_lit == s->lit_bufsize-1); \
+   }
+# define _tr_tally_dist(s, distance, length, flush) \
+  { uch len = (length); \
+    ush dist = (distance); \
+    s->d_buf[s->last_lit] = dist; \
+    s->l_buf[s->last_lit++] = len; \
+    dist--; \
+    s->dyn_ltree[_length_code[len]+LITERALS+1].Freq++; \
+    s->dyn_dtree[d_code(dist)].Freq++; \
+    flush = (s->last_lit == s->lit_bufsize-1); \
+  }
+#else
+# define _tr_tally_lit(s, c, flush) flush = _tr_tally(s, 0, c)
+# define _tr_tally_dist(s, distance, length, flush) \
+              flush = _tr_tally(s, distance, length)
+#endif
+
+#endif /* DEFLATE_H */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/example.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/example.c
new file mode 100755
index 0000000..6c8a0ee
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/example.c
@@ -0,0 +1,565 @@
+/* example.c -- usage example of the zlib compression library
+ * Copyright (C) 1995-2004 Jean-loup Gailly.
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* @(#) $Id$ */
+
+#include <stdio.h>
+#include "zlib.h"
+
+#ifdef STDC
+#  include <string.h>
+#  include <stdlib.h>
+#endif
+
+#if defined(VMS) || defined(RISCOS)
+#  define TESTFILE "foo-gz"
+#else
+#  define TESTFILE "foo.gz"
+#endif
+
+#define CHECK_ERR(err, msg) { \
+    if (err != Z_OK) { \
+        fprintf(stderr, "%s error: %d\n", msg, err); \
+        exit(1); \
+    } \
+}
+
+const char hello[] = "hello, hello!";
+/* "hello world" would be more standard, but the repeated "hello"
+ * stresses the compression code better, sorry...
+ */
+
+const char dictionary[] = "hello";
+uLong dictId; /* Adler32 value of the dictionary */
+
+void test_compress      OF((Byte *compr, uLong comprLen,
+                            Byte *uncompr, uLong uncomprLen));
+void test_gzio          OF((const char *fname,
+                            Byte *uncompr, uLong uncomprLen));
+void test_deflate       OF((Byte *compr, uLong comprLen));
+void test_inflate       OF((Byte *compr, uLong comprLen,
+                            Byte *uncompr, uLong uncomprLen));
+void test_large_deflate OF((Byte *compr, uLong comprLen,
+                            Byte *uncompr, uLong uncomprLen));
+void test_large_inflate OF((Byte *compr, uLong comprLen,
+                            Byte *uncompr, uLong uncomprLen));
+void test_flush         OF((Byte *compr, uLong *comprLen));
+void test_sync          OF((Byte *compr, uLong comprLen,
+                            Byte *uncompr, uLong uncomprLen));
+void test_dict_deflate  OF((Byte *compr, uLong comprLen));
+void test_dict_inflate  OF((Byte *compr, uLong comprLen,
+                            Byte *uncompr, uLong uncomprLen));
+int  main               OF((int argc, char *argv[]));
+
+/* ===========================================================================
+ * Test compress() and uncompress()
+ */
+void test_compress(compr, comprLen, uncompr, uncomprLen)
+    Byte *compr, *uncompr;
+    uLong comprLen, uncomprLen;
+{
+    int err;
+    uLong len = (uLong)strlen(hello)+1;
+
+    err = compress(compr, &comprLen, (const Bytef*)hello, len);
+    CHECK_ERR(err, "compress");
+
+    strcpy((char*)uncompr, "garbage");
+
+    err = uncompress(uncompr, &uncomprLen, compr, comprLen);
+    CHECK_ERR(err, "uncompress");
+
+    if (strcmp((char*)uncompr, hello)) {
+        fprintf(stderr, "bad uncompress\n");
+        exit(1);
+    } else {
+        printf("uncompress(): %s\n", (char *)uncompr);
+    }
+}
+
+/* ===========================================================================
+ * Test read/write of .gz files
+ */
+void test_gzio(fname, uncompr, uncomprLen)
+    const char *fname; /* compressed file name */
+    Byte *uncompr;
+    uLong uncomprLen;
+{
+#ifdef NO_GZCOMPRESS
+    fprintf(stderr, "NO_GZCOMPRESS -- gz* functions cannot compress\n");
+#else
+    int err;
+    int len = (int)strlen(hello)+1;
+    gzFile file;
+    z_off_t pos;
+
+    file = gzopen(fname, "wb");
+    if (file == NULL) {
+        fprintf(stderr, "gzopen error\n");
+        exit(1);
+    }
+    gzputc(file, 'h');
+    if (gzputs(file, "ello") != 4) {
+        fprintf(stderr, "gzputs err: %s\n", gzerror(file, &err));
+        exit(1);
+    }
+    if (gzprintf(file, ", %s!", "hello") != 8) {
+        fprintf(stderr, "gzprintf err: %s\n", gzerror(file, &err));
+        exit(1);
+    }
+    gzseek(file, 1L, SEEK_CUR); /* add one zero byte */
+    gzclose(file);
+
+    file = gzopen(fname, "rb");
+    if (file == NULL) {
+        fprintf(stderr, "gzopen error\n");
+        exit(1);
+    }
+    strcpy((char*)uncompr, "garbage");
+
+    if (gzread(file, uncompr, (unsigned)uncomprLen) != len) {
+        fprintf(stderr, "gzread err: %s\n", gzerror(file, &err));
+        exit(1);
+    }
+    if (strcmp((char*)uncompr, hello)) {
+        fprintf(stderr, "bad gzread: %s\n", (char*)uncompr);
+        exit(1);
+    } else {
+        printf("gzread(): %s\n", (char*)uncompr);
+    }
+
+    pos = gzseek(file, -8L, SEEK_CUR);
+    if (pos != 6 || gztell(file) != pos) {
+        fprintf(stderr, "gzseek error, pos=%ld, gztell=%ld\n",
+                (long)pos, (long)gztell(file));
+        exit(1);
+    }
+
+    if (gzgetc(file) != ' ') {
+        fprintf(stderr, "gzgetc error\n");
+        exit(1);
+    }
+
+    if (gzungetc(' ', file) != ' ') {
+        fprintf(stderr, "gzungetc error\n");
+        exit(1);
+    }
+
+    gzgets(file, (char*)uncompr, (int)uncomprLen);
+    if (strlen((char*)uncompr) != 7) { /* " hello!" */
+        fprintf(stderr, "gzgets err after gzseek: %s\n", gzerror(file, &err));
+        exit(1);
+    }
+    if (strcmp((char*)uncompr, hello + 6)) {
+        fprintf(stderr, "bad gzgets after gzseek\n");
+        exit(1);
+    } else {
+        printf("gzgets() after gzseek: %s\n", (char*)uncompr);
+    }
+
+    gzclose(file);
+#endif
+}
+
+/* ===========================================================================
+ * Test deflate() with small buffers
+ */
+void test_deflate(compr, comprLen)
+    Byte *compr;
+    uLong comprLen;
+{
+    z_stream c_stream; /* compression stream */
+    int err;
+    uLong len = (uLong)strlen(hello)+1;
+
+    c_stream.zalloc = (alloc_func)0;
+    c_stream.zfree = (free_func)0;
+    c_stream.opaque = (voidpf)0;
+
+    err = deflateInit(&c_stream, Z_DEFAULT_COMPRESSION);
+    CHECK_ERR(err, "deflateInit");
+
+    c_stream.next_in  = (Bytef*)hello;
+    c_stream.next_out = compr;
+
+    while (c_stream.total_in != len && c_stream.total_out < comprLen) {
+        c_stream.avail_in = c_stream.avail_out = 1; /* force small buffers */
+        err = deflate(&c_stream, Z_NO_FLUSH);
+        CHECK_ERR(err, "deflate");
+    }
+    /* Finish the stream, still forcing small buffers: */
+    for (;;) {
+        c_stream.avail_out = 1;
+        err = deflate(&c_stream, Z_FINISH);
+        if (err == Z_STREAM_END) break;
+        CHECK_ERR(err, "deflate");
+    }
+
+    err = deflateEnd(&c_stream);
+    CHECK_ERR(err, "deflateEnd");
+}
+
+/* ===========================================================================
+ * Test inflate() with small buffers
+ */
+void test_inflate(compr, comprLen, uncompr, uncomprLen)
+    Byte *compr, *uncompr;
+    uLong comprLen, uncomprLen;
+{
+    int err;
+    z_stream d_stream; /* decompression stream */
+
+    strcpy((char*)uncompr, "garbage");
+
+    d_stream.zalloc = (alloc_func)0;
+    d_stream.zfree = (free_func)0;
+    d_stream.opaque = (voidpf)0;
+
+    d_stream.next_in  = compr;
+    d_stream.avail_in = 0;
+    d_stream.next_out = uncompr;
+
+    err = inflateInit(&d_stream);
+    CHECK_ERR(err, "inflateInit");
+
+    while (d_stream.total_out < uncomprLen && d_stream.total_in < comprLen) {
+        d_stream.avail_in = d_stream.avail_out = 1; /* force small buffers */
+        err = inflate(&d_stream, Z_NO_FLUSH);
+        if (err == Z_STREAM_END) break;
+        CHECK_ERR(err, "inflate");
+    }
+
+    err = inflateEnd(&d_stream);
+    CHECK_ERR(err, "inflateEnd");
+
+    if (strcmp((char*)uncompr, hello)) {
+        fprintf(stderr, "bad inflate\n");
+        exit(1);
+    } else {
+        printf("inflate(): %s\n", (char *)uncompr);
+    }
+}
+
+/* ===========================================================================
+ * Test deflate() with large buffers and dynamic change of compression level
+ */
+void test_large_deflate(compr, comprLen, uncompr, uncomprLen)
+    Byte *compr, *uncompr;
+    uLong comprLen, uncomprLen;
+{
+    z_stream c_stream; /* compression stream */
+    int err;
+
+    c_stream.zalloc = (alloc_func)0;
+    c_stream.zfree = (free_func)0;
+    c_stream.opaque = (voidpf)0;
+
+    err = deflateInit(&c_stream, Z_BEST_SPEED);
+    CHECK_ERR(err, "deflateInit");
+
+    c_stream.next_out = compr;
+    c_stream.avail_out = (uInt)comprLen;
+
+    /* At this point, uncompr is still mostly zeroes, so it should compress
+     * very well:
+     */
+    c_stream.next_in = uncompr;
+    c_stream.avail_in = (uInt)uncomprLen;
+    err = deflate(&c_stream, Z_NO_FLUSH);
+    CHECK_ERR(err, "deflate");
+    if (c_stream.avail_in != 0) {
+        fprintf(stderr, "deflate not greedy\n");
+        exit(1);
+    }
+
+    /* Feed in already compressed data and switch to no compression: */
+    deflateParams(&c_stream, Z_NO_COMPRESSION, Z_DEFAULT_STRATEGY);
+    c_stream.next_in = compr;
+    c_stream.avail_in = (uInt)comprLen/2;
+    err = deflate(&c_stream, Z_NO_FLUSH);
+    CHECK_ERR(err, "deflate");
+
+    /* Switch back to compressing mode: */
+    deflateParams(&c_stream, Z_BEST_COMPRESSION, Z_FILTERED);
+    c_stream.next_in = uncompr;
+    c_stream.avail_in = (uInt)uncomprLen;
+    err = deflate(&c_stream, Z_NO_FLUSH);
+    CHECK_ERR(err, "deflate");
+
+    err = deflate(&c_stream, Z_FINISH);
+    if (err != Z_STREAM_END) {
+        fprintf(stderr, "deflate should report Z_STREAM_END\n");
+        exit(1);
+    }
+    err = deflateEnd(&c_stream);
+    CHECK_ERR(err, "deflateEnd");
+}
+
+/* ===========================================================================
+ * Test inflate() with large buffers
+ */
+void test_large_inflate(compr, comprLen, uncompr, uncomprLen)
+    Byte *compr, *uncompr;
+    uLong comprLen, uncomprLen;
+{
+    int err;
+    z_stream d_stream; /* decompression stream */
+
+    strcpy((char*)uncompr, "garbage");
+
+    d_stream.zalloc = (alloc_func)0;
+    d_stream.zfree = (free_func)0;
+    d_stream.opaque = (voidpf)0;
+
+    d_stream.next_in  = compr;
+    d_stream.avail_in = (uInt)comprLen;
+
+    err = inflateInit(&d_stream);
+    CHECK_ERR(err, "inflateInit");
+
+    for (;;) {
+        d_stream.next_out = uncompr;            /* discard the output */
+        d_stream.avail_out = (uInt)uncomprLen;
+        err = inflate(&d_stream, Z_NO_FLUSH);
+        if (err == Z_STREAM_END) break;
+        CHECK_ERR(err, "large inflate");
+    }
+
+    err = inflateEnd(&d_stream);
+    CHECK_ERR(err, "inflateEnd");
+
+    if (d_stream.total_out != 2*uncomprLen + comprLen/2) {
+        fprintf(stderr, "bad large inflate: %ld\n", d_stream.total_out);
+        exit(1);
+    } else {
+        printf("large_inflate(): OK\n");
+    }
+}
+
+/* ===========================================================================
+ * Test deflate() with full flush
+ */
+void test_flush(compr, comprLen)
+    Byte *compr;
+    uLong *comprLen;
+{
+    z_stream c_stream; /* compression stream */
+    int err;
+    uInt len = (uInt)strlen(hello)+1;
+
+    c_stream.zalloc = (alloc_func)0;
+    c_stream.zfree = (free_func)0;
+    c_stream.opaque = (voidpf)0;
+
+    err = deflateInit(&c_stream, Z_DEFAULT_COMPRESSION);
+    CHECK_ERR(err, "deflateInit");
+
+    c_stream.next_in  = (Bytef*)hello;
+    c_stream.next_out = compr;
+    c_stream.avail_in = 3;
+    c_stream.avail_out = (uInt)*comprLen;
+    err = deflate(&c_stream, Z_FULL_FLUSH);
+    CHECK_ERR(err, "deflate");
+
+    compr[3]++; /* force an error in first compressed block */
+    c_stream.avail_in = len - 3;
+
+    err = deflate(&c_stream, Z_FINISH);
+    if (err != Z_STREAM_END) {
+        CHECK_ERR(err, "deflate");
+    }
+    err = deflateEnd(&c_stream);
+    CHECK_ERR(err, "deflateEnd");
+
+    *comprLen = c_stream.total_out;
+}
+
+/* ===========================================================================
+ * Test inflateSync()
+ */
+void test_sync(compr, comprLen, uncompr, uncomprLen)
+    Byte *compr, *uncompr;
+    uLong comprLen, uncomprLen;
+{
+    int err;
+    z_stream d_stream; /* decompression stream */
+
+    strcpy((char*)uncompr, "garbage");
+
+    d_stream.zalloc = (alloc_func)0;
+    d_stream.zfree = (free_func)0;
+    d_stream.opaque = (voidpf)0;
+
+    d_stream.next_in  = compr;
+    d_stream.avail_in = 2; /* just read the zlib header */
+
+    err = inflateInit(&d_stream);
+    CHECK_ERR(err, "inflateInit");
+
+    d_stream.next_out = uncompr;
+    d_stream.avail_out = (uInt)uncomprLen;
+
+    inflate(&d_stream, Z_NO_FLUSH);
+    CHECK_ERR(err, "inflate");
+
+    d_stream.avail_in = (uInt)comprLen-2;   /* read all compressed data */
+    err = inflateSync(&d_stream);           /* but skip the damaged part */
+    CHECK_ERR(err, "inflateSync");
+
+    err = inflate(&d_stream, Z_FINISH);
+    if (err != Z_DATA_ERROR) {
+        fprintf(stderr, "inflate should report DATA_ERROR\n");
+        /* Because of incorrect adler32 */
+        exit(1);
+    }
+    err = inflateEnd(&d_stream);
+    CHECK_ERR(err, "inflateEnd");
+
+    printf("after inflateSync(): hel%s\n", (char *)uncompr);
+}
+
+/* ===========================================================================
+ * Test deflate() with preset dictionary
+ */
+void test_dict_deflate(compr, comprLen)
+    Byte *compr;
+    uLong comprLen;
+{
+    z_stream c_stream; /* compression stream */
+    int err;
+
+    c_stream.zalloc = (alloc_func)0;
+    c_stream.zfree = (free_func)0;
+    c_stream.opaque = (voidpf)0;
+
+    err = deflateInit(&c_stream, Z_BEST_COMPRESSION);
+    CHECK_ERR(err, "deflateInit");
+
+    err = deflateSetDictionary(&c_stream,
+                               (const Bytef*)dictionary, sizeof(dictionary));
+    CHECK_ERR(err, "deflateSetDictionary");
+
+    dictId = c_stream.adler;
+    c_stream.next_out = compr;
+    c_stream.avail_out = (uInt)comprLen;
+
+    c_stream.next_in = (Bytef*)hello;
+    c_stream.avail_in = (uInt)strlen(hello)+1;
+
+    err = deflate(&c_stream, Z_FINISH);
+    if (err != Z_STREAM_END) {
+        fprintf(stderr, "deflate should report Z_STREAM_END\n");
+        exit(1);
+    }
+    err = deflateEnd(&c_stream);
+    CHECK_ERR(err, "deflateEnd");
+}
+
+/* ===========================================================================
+ * Test inflate() with a preset dictionary
+ */
+void test_dict_inflate(compr, comprLen, uncompr, uncomprLen)
+    Byte *compr, *uncompr;
+    uLong comprLen, uncomprLen;
+{
+    int err;
+    z_stream d_stream; /* decompression stream */
+
+    strcpy((char*)uncompr, "garbage");
+
+    d_stream.zalloc = (alloc_func)0;
+    d_stream.zfree = (free_func)0;
+    d_stream.opaque = (voidpf)0;
+
+    d_stream.next_in  = compr;
+    d_stream.avail_in = (uInt)comprLen;
+
+    err = inflateInit(&d_stream);
+    CHECK_ERR(err, "inflateInit");
+
+    d_stream.next_out = uncompr;
+    d_stream.avail_out = (uInt)uncomprLen;
+
+    for (;;) {
+        err = inflate(&d_stream, Z_NO_FLUSH);
+        if (err == Z_STREAM_END) break;
+        if (err == Z_NEED_DICT) {
+            if (d_stream.adler != dictId) {
+                fprintf(stderr, "unexpected dictionary");
+                exit(1);
+            }
+            err = inflateSetDictionary(&d_stream, (const Bytef*)dictionary,
+                                       sizeof(dictionary));
+        }
+        CHECK_ERR(err, "inflate with dict");
+    }
+
+    err = inflateEnd(&d_stream);
+    CHECK_ERR(err, "inflateEnd");
+
+    if (strcmp((char*)uncompr, hello)) {
+        fprintf(stderr, "bad inflate with dict\n");
+        exit(1);
+    } else {
+        printf("inflate with dictionary: %s\n", (char *)uncompr);
+    }
+}
+
+/* ===========================================================================
+ * Usage:  example [output.gz  [input.gz]]
+ */
+
+int main(argc, argv)
+    int argc;
+    char *argv[];
+{
+    Byte *compr, *uncompr;
+    uLong comprLen = 10000*sizeof(int); /* don't overflow on MSDOS */
+    uLong uncomprLen = comprLen;
+    static const char* myVersion = ZLIB_VERSION;
+
+    if (zlibVersion()[0] != myVersion[0]) {
+        fprintf(stderr, "incompatible zlib version\n");
+        exit(1);
+
+    } else if (strcmp(zlibVersion(), ZLIB_VERSION) != 0) {
+        fprintf(stderr, "warning: different zlib version\n");
+    }
+
+    printf("zlib version %s = 0x%04x, compile flags = 0x%lx\n",
+            ZLIB_VERSION, ZLIB_VERNUM, zlibCompileFlags());
+
+    compr    = (Byte*)calloc((uInt)comprLen, 1);
+    uncompr  = (Byte*)calloc((uInt)uncomprLen, 1);
+    /* compr and uncompr are cleared to avoid reading uninitialized
+     * data and to ensure that uncompr compresses well.
+     */
+    if (compr == Z_NULL || uncompr == Z_NULL) {
+        printf("out of memory\n");
+        exit(1);
+    }
+    test_compress(compr, comprLen, uncompr, uncomprLen);
+
+    test_gzio((argc > 1 ? argv[1] : TESTFILE),
+              uncompr, uncomprLen);
+
+    test_deflate(compr, comprLen);
+    test_inflate(compr, comprLen, uncompr, uncomprLen);
+
+    test_large_deflate(compr, comprLen, uncompr, uncomprLen);
+    test_large_inflate(compr, comprLen, uncompr, uncomprLen);
+
+    test_flush(compr, &comprLen);
+    test_sync(compr, comprLen, uncompr, uncomprLen);
+    comprLen = uncomprLen;
+
+    test_dict_deflate(compr, comprLen);
+    test_dict_inflate(compr, comprLen, uncompr, uncomprLen);
+
+    free(compr);
+    free(uncompr);
+
+    return 0;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/gzio.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/gzio.c
new file mode 100755
index 0000000..7e90f49
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/gzio.c
@@ -0,0 +1,1026 @@
+/* gzio.c -- IO on .gz files
+ * Copyright (C) 1995-2005 Jean-loup Gailly.
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ *
+ * Compile this file with -DNO_GZCOMPRESS to avoid the compression code.
+ */
+
+/* @(#) $Id$ */
+
+#include <stdio.h>
+
+#include "zutil.h"
+
+#ifdef NO_DEFLATE       /* for compatibility with old definition */
+#  define NO_GZCOMPRESS
+#endif
+
+#ifndef NO_DUMMY_DECL
+struct internal_state {int dummy;}; /* for buggy compilers */
+#endif
+
+#ifndef Z_BUFSIZE
+#  ifdef MAXSEG_64K
+#    define Z_BUFSIZE 4096 /* minimize memory usage for 16-bit DOS */
+#  else
+#    define Z_BUFSIZE 16384
+#  endif
+#endif
+#ifndef Z_PRINTF_BUFSIZE
+#  define Z_PRINTF_BUFSIZE 4096
+#endif
+
+#ifdef __MVS__
+#  pragma map (fdopen , "\174\174FDOPEN")
+   FILE *fdopen(int, const char *);
+#endif
+
+#ifndef STDC
+extern voidp  malloc OF((uInt size));
+extern void   free   OF((voidpf ptr));
+#endif
+
+#define ALLOC(size) malloc(size)
+#define TRYFREE(p) {if (p) free(p);}
+
+static int const gz_magic[2] = {0x1f, 0x8b}; /* gzip magic header */
+
+/* gzip flag byte */
+#define ASCII_FLAG   0x01 /* bit 0 set: file probably ascii text */
+#define HEAD_CRC     0x02 /* bit 1 set: header CRC present */
+#define EXTRA_FIELD  0x04 /* bit 2 set: extra field present */
+#define ORIG_NAME    0x08 /* bit 3 set: original file name present */
+#define COMMENT      0x10 /* bit 4 set: file comment present */
+#define RESERVED     0xE0 /* bits 5..7: reserved */
+
+typedef struct gz_stream {
+    z_stream stream;
+    int      z_err;   /* error code for last stream operation */
+    int      z_eof;   /* set if end of input file */
+    FILE     *file;   /* .gz file */
+    Byte     *inbuf;  /* input buffer */
+    Byte     *outbuf; /* output buffer */
+    uLong    crc;     /* crc32 of uncompressed data */
+    char     *msg;    /* error message */
+    char     *path;   /* path name for debugging only */
+    int      transparent; /* 1 if input file is not a .gz file */
+    char     mode;    /* 'w' or 'r' */
+    z_off_t  start;   /* start of compressed data in file (header skipped) */
+    z_off_t  in;      /* bytes into deflate or inflate */
+    z_off_t  out;     /* bytes out of deflate or inflate */
+    int      back;    /* one character push-back */
+    int      last;    /* true if push-back is last character */
+} gz_stream;
+
+
+local gzFile gz_open      OF((const char *path, const char *mode, int  fd));
+local int do_flush        OF((gzFile file, int flush));
+local int    get_byte     OF((gz_stream *s));
+local void   check_header OF((gz_stream *s));
+local int    destroy      OF((gz_stream *s));
+local void   putLong      OF((FILE *file, uLong x));
+local uLong  getLong      OF((gz_stream *s));
+
+/* ===========================================================================
+     Opens a gzip (.gz) file for reading or writing. The mode parameter
+   is as in fopen ("rb" or "wb"). The file is given either by file descriptor
+   or path name (if fd == -1).
+     gz_open returns NULL if the file could not be opened or if there was
+   insufficient memory to allocate the (de)compression state; errno
+   can be checked to distinguish the two cases (if errno is zero, the
+   zlib error is Z_MEM_ERROR).
+*/
+local gzFile gz_open (path, mode, fd)
+    const char *path;
+    const char *mode;
+    int  fd;
+{
+    int err;
+    int level = Z_DEFAULT_COMPRESSION; /* compression level */
+    int strategy = Z_DEFAULT_STRATEGY; /* compression strategy */
+    char *p = (char*)mode;
+    gz_stream *s;
+    char fmode[80]; /* copy of mode, without the compression level */
+    char *m = fmode;
+
+    if (!path || !mode) return Z_NULL;
+
+    s = (gz_stream *)ALLOC(sizeof(gz_stream));
+    if (!s) return Z_NULL;
+
+    s->stream.zalloc = (alloc_func)0;
+    s->stream.zfree = (free_func)0;
+    s->stream.opaque = (voidpf)0;
+    s->stream.next_in = s->inbuf = Z_NULL;
+    s->stream.next_out = s->outbuf = Z_NULL;
+    s->stream.avail_in = s->stream.avail_out = 0;
+    s->file = NULL;
+    s->z_err = Z_OK;
+    s->z_eof = 0;
+    s->in = 0;
+    s->out = 0;
+    s->back = EOF;
+    s->crc = crc32(0L, Z_NULL, 0);
+    s->msg = NULL;
+    s->transparent = 0;
+
+    s->path = (char*)ALLOC(strlen(path)+1);
+    if (s->path == NULL) {
+        return destroy(s), (gzFile)Z_NULL;
+    }
+    strcpy(s->path, path); /* do this early for debugging */
+
+    s->mode = '\0';
+    do {
+        if (*p == 'r') s->mode = 'r';
+        if (*p == 'w' || *p == 'a') s->mode = 'w';
+        if (*p >= '0' && *p <= '9') {
+            level = *p - '0';
+        } else if (*p == 'f') {
+          strategy = Z_FILTERED;
+        } else if (*p == 'h') {
+          strategy = Z_HUFFMAN_ONLY;
+        } else if (*p == 'R') {
+          strategy = Z_RLE;
+        } else {
+            *m++ = *p; /* copy the mode */
+        }
+    } while (*p++ && m != fmode + sizeof(fmode));
+    if (s->mode == '\0') return destroy(s), (gzFile)Z_NULL;
+
+    if (s->mode == 'w') {
+#ifdef NO_GZCOMPRESS
+        err = Z_STREAM_ERROR;
+#else
+        err = deflateInit2(&(s->stream), level,
+                           Z_DEFLATED, -MAX_WBITS, DEF_MEM_LEVEL, strategy);
+        /* windowBits is passed < 0 to suppress zlib header */
+
+        s->stream.next_out = s->outbuf = (Byte*)ALLOC(Z_BUFSIZE);
+#endif
+        if (err != Z_OK || s->outbuf == Z_NULL) {
+            return destroy(s), (gzFile)Z_NULL;
+        }
+    } else {
+        s->stream.next_in  = s->inbuf = (Byte*)ALLOC(Z_BUFSIZE);
+
+        err = inflateInit2(&(s->stream), -MAX_WBITS);
+        /* windowBits is passed < 0 to tell that there is no zlib header.
+         * Note that in this case inflate *requires* an extra "dummy" byte
+         * after the compressed stream in order to complete decompression and
+         * return Z_STREAM_END. Here the gzip CRC32 ensures that 4 bytes are
+         * present after the compressed stream.
+         */
+        if (err != Z_OK || s->inbuf == Z_NULL) {
+            return destroy(s), (gzFile)Z_NULL;
+        }
+    }
+    s->stream.avail_out = Z_BUFSIZE;
+
+    errno = 0;
+    s->file = fd < 0 ? F_OPEN(path, fmode) : (FILE*)fdopen(fd, fmode);
+
+    if (s->file == NULL) {
+        return destroy(s), (gzFile)Z_NULL;
+    }
+    if (s->mode == 'w') {
+        /* Write a very simple .gz header:
+         */
+        fprintf(s->file, "%c%c%c%c%c%c%c%c%c%c", gz_magic[0], gz_magic[1],
+             Z_DEFLATED, 0 /*flags*/, 0,0,0,0 /*time*/, 0 /*xflags*/, OS_CODE);
+        s->start = 10L;
+        /* We use 10L instead of ftell(s->file) to because ftell causes an
+         * fflush on some systems. This version of the library doesn't use
+         * start anyway in write mode, so this initialization is not
+         * necessary.
+         */
+    } else {
+        check_header(s); /* skip the .gz header */
+        s->start = ftell(s->file) - s->stream.avail_in;
+    }
+
+    return (gzFile)s;
+}
+
+/* ===========================================================================
+     Opens a gzip (.gz) file for reading or writing.
+*/
+gzFile ZEXPORT gzopen (path, mode)
+    const char *path;
+    const char *mode;
+{
+    return gz_open (path, mode, -1);
+}
+
+/* ===========================================================================
+     Associate a gzFile with the file descriptor fd. fd is not dup'ed here
+   to mimic the behavio(u)r of fdopen.
+*/
+gzFile ZEXPORT gzdopen (fd, mode)
+    int fd;
+    const char *mode;
+{
+    char name[46];      /* allow for up to 128-bit integers */
+
+    if (fd < 0) return (gzFile)Z_NULL;
+    sprintf(name, "<fd:%d>", fd); /* for debugging */
+
+    return gz_open (name, mode, fd);
+}
+
+/* ===========================================================================
+ * Update the compression level and strategy
+ */
+int ZEXPORT gzsetparams (file, level, strategy)
+    gzFile file;
+    int level;
+    int strategy;
+{
+    gz_stream *s = (gz_stream*)file;
+
+    if (s == NULL || s->mode != 'w') return Z_STREAM_ERROR;
+
+    /* Make room to allow flushing */
+    if (s->stream.avail_out == 0) {
+
+        s->stream.next_out = s->outbuf;
+        if (fwrite(s->outbuf, 1, Z_BUFSIZE, s->file) != Z_BUFSIZE) {
+            s->z_err = Z_ERRNO;
+        }
+        s->stream.avail_out = Z_BUFSIZE;
+    }
+
+    return deflateParams (&(s->stream), level, strategy);
+}
+
+/* ===========================================================================
+     Read a byte from a gz_stream; update next_in and avail_in. Return EOF
+   for end of file.
+   IN assertion: the stream s has been sucessfully opened for reading.
+*/
+local int get_byte(s)
+    gz_stream *s;
+{
+    if (s->z_eof) return EOF;
+    if (s->stream.avail_in == 0) {
+        errno = 0;
+        s->stream.avail_in = (uInt)fread(s->inbuf, 1, Z_BUFSIZE, s->file);
+        if (s->stream.avail_in == 0) {
+            s->z_eof = 1;
+            if (ferror(s->file)) s->z_err = Z_ERRNO;
+            return EOF;
+        }
+        s->stream.next_in = s->inbuf;
+    }
+    s->stream.avail_in--;
+    return *(s->stream.next_in)++;
+}
+
+/* ===========================================================================
+      Check the gzip header of a gz_stream opened for reading. Set the stream
+    mode to transparent if the gzip magic header is not present; set s->err
+    to Z_DATA_ERROR if the magic header is present but the rest of the header
+    is incorrect.
+    IN assertion: the stream s has already been created sucessfully;
+       s->stream.avail_in is zero for the first time, but may be non-zero
+       for concatenated .gz files.
+*/
+local void check_header(s)
+    gz_stream *s;
+{
+    int method; /* method byte */
+    int flags;  /* flags byte */
+    uInt len;
+    int c;
+
+    /* Assure two bytes in the buffer so we can peek ahead -- handle case
+       where first byte of header is at the end of the buffer after the last
+       gzip segment */
+    len = s->stream.avail_in;
+    if (len < 2) {
+        if (len) s->inbuf[0] = s->stream.next_in[0];
+        errno = 0;
+        len = (uInt)fread(s->inbuf + len, 1, Z_BUFSIZE >> len, s->file);
+        if (len == 0 && ferror(s->file)) s->z_err = Z_ERRNO;
+        s->stream.avail_in += len;
+        s->stream.next_in = s->inbuf;
+        if (s->stream.avail_in < 2) {
+            s->transparent = s->stream.avail_in;
+            return;
+        }
+    }
+
+    /* Peek ahead to check the gzip magic header */
+    if (s->stream.next_in[0] != gz_magic[0] ||
+        s->stream.next_in[1] != gz_magic[1]) {
+        s->transparent = 1;
+        return;
+    }
+    s->stream.avail_in -= 2;
+    s->stream.next_in += 2;
+
+    /* Check the rest of the gzip header */
+    method = get_byte(s);
+    flags = get_byte(s);
+    if (method != Z_DEFLATED || (flags & RESERVED) != 0) {
+        s->z_err = Z_DATA_ERROR;
+        return;
+    }
+
+    /* Discard time, xflags and OS code: */
+    for (len = 0; len < 6; len++) (void)get_byte(s);
+
+    if ((flags & EXTRA_FIELD) != 0) { /* skip the extra field */
+        len  =  (uInt)get_byte(s);
+        len += ((uInt)get_byte(s))<<8;
+        /* len is garbage if EOF but the loop below will quit anyway */
+        while (len-- != 0 && get_byte(s) != EOF) ;
+    }
+    if ((flags & ORIG_NAME) != 0) { /* skip the original file name */
+        while ((c = get_byte(s)) != 0 && c != EOF) ;
+    }
+    if ((flags & COMMENT) != 0) {   /* skip the .gz file comment */
+        while ((c = get_byte(s)) != 0 && c != EOF) ;
+    }
+    if ((flags & HEAD_CRC) != 0) {  /* skip the header crc */
+        for (len = 0; len < 2; len++) (void)get_byte(s);
+    }
+    s->z_err = s->z_eof ? Z_DATA_ERROR : Z_OK;
+}
+
+ /* ===========================================================================
+ * Cleanup then free the given gz_stream. Return a zlib error code.
+   Try freeing in the reverse order of allocations.
+ */
+local int destroy (s)
+    gz_stream *s;
+{
+    int err = Z_OK;
+
+    if (!s) return Z_STREAM_ERROR;
+
+    TRYFREE(s->msg);
+
+    if (s->stream.state != NULL) {
+        if (s->mode == 'w') {
+#ifdef NO_GZCOMPRESS
+            err = Z_STREAM_ERROR;
+#else
+            err = deflateEnd(&(s->stream));
+#endif
+        } else if (s->mode == 'r') {
+            err = inflateEnd(&(s->stream));
+        }
+    }
+    if (s->file != NULL && fclose(s->file)) {
+#ifdef ESPIPE
+        if (errno != ESPIPE) /* fclose is broken for pipes in HP/UX */
+#endif
+            err = Z_ERRNO;
+    }
+    if (s->z_err < 0) err = s->z_err;
+
+    TRYFREE(s->inbuf);
+    TRYFREE(s->outbuf);
+    TRYFREE(s->path);
+    TRYFREE(s);
+    return err;
+}
+
+/* ===========================================================================
+     Reads the given number of uncompressed bytes from the compressed file.
+   gzread returns the number of bytes actually read (0 for end of file).
+*/
+int ZEXPORT gzread (file, buf, len)
+    gzFile file;
+    voidp buf;
+    unsigned len;
+{
+    gz_stream *s = (gz_stream*)file;
+    Bytef *start = (Bytef*)buf; /* starting point for crc computation */
+    Byte  *next_out; /* == stream.next_out but not forced far (for MSDOS) */
+
+    if (s == NULL || s->mode != 'r') return Z_STREAM_ERROR;
+
+    if (s->z_err == Z_DATA_ERROR || s->z_err == Z_ERRNO) return -1;
+    if (s->z_err == Z_STREAM_END) return 0;  /* EOF */
+
+    next_out = (Byte*)buf;
+    s->stream.next_out = (Bytef*)buf;
+    s->stream.avail_out = len;
+
+    if (s->stream.avail_out && s->back != EOF) {
+        *next_out++ = s->back;
+        s->stream.next_out++;
+        s->stream.avail_out--;
+        s->back = EOF;
+        s->out++;
+        start++;
+        if (s->last) {
+            s->z_err = Z_STREAM_END;
+            return 1;
+        }
+    }
+
+    while (s->stream.avail_out != 0) {
+
+        if (s->transparent) {
+            /* Copy first the lookahead bytes: */
+            uInt n = s->stream.avail_in;
+            if (n > s->stream.avail_out) n = s->stream.avail_out;
+            if (n > 0) {
+                zmemcpy(s->stream.next_out, s->stream.next_in, n);
+                next_out += n;
+                s->stream.next_out = next_out;
+                s->stream.next_in   += n;
+                s->stream.avail_out -= n;
+                s->stream.avail_in  -= n;
+            }
+            if (s->stream.avail_out > 0) {
+                s->stream.avail_out -=
+                    (uInt)fread(next_out, 1, s->stream.avail_out, s->file);
+            }
+            len -= s->stream.avail_out;
+            s->in  += len;
+            s->out += len;
+            if (len == 0) s->z_eof = 1;
+            return (int)len;
+        }
+        if (s->stream.avail_in == 0 && !s->z_eof) {
+
+            errno = 0;
+            s->stream.avail_in = (uInt)fread(s->inbuf, 1, Z_BUFSIZE, s->file);
+            if (s->stream.avail_in == 0) {
+                s->z_eof = 1;
+                if (ferror(s->file)) {
+                    s->z_err = Z_ERRNO;
+                    break;
+                }
+            }
+            s->stream.next_in = s->inbuf;
+        }
+        s->in += s->stream.avail_in;
+        s->out += s->stream.avail_out;
+        s->z_err = inflate(&(s->stream), Z_NO_FLUSH);
+        s->in -= s->stream.avail_in;
+        s->out -= s->stream.avail_out;
+
+        if (s->z_err == Z_STREAM_END) {
+            /* Check CRC and original size */
+            s->crc = crc32(s->crc, start, (uInt)(s->stream.next_out - start));
+            start = s->stream.next_out;
+
+            if (getLong(s) != s->crc) {
+                s->z_err = Z_DATA_ERROR;
+            } else {
+                (void)getLong(s);
+                /* The uncompressed length returned by above getlong() may be
+                 * different from s->out in case of concatenated .gz files.
+                 * Check for such files:
+                 */
+                check_header(s);
+                if (s->z_err == Z_OK) {
+                    inflateReset(&(s->stream));
+                    s->crc = crc32(0L, Z_NULL, 0);
+                }
+            }
+        }
+        if (s->z_err != Z_OK || s->z_eof) break;
+    }
+    s->crc = crc32(s->crc, start, (uInt)(s->stream.next_out - start));
+
+    if (len == s->stream.avail_out &&
+        (s->z_err == Z_DATA_ERROR || s->z_err == Z_ERRNO))
+        return -1;
+    return (int)(len - s->stream.avail_out);
+}
+
+
+/* ===========================================================================
+      Reads one byte from the compressed file. gzgetc returns this byte
+   or -1 in case of end of file or error.
+*/
+int ZEXPORT gzgetc(file)
+    gzFile file;
+{
+    unsigned char c;
+
+    return gzread(file, &c, 1) == 1 ? c : -1;
+}
+
+
+/* ===========================================================================
+      Push one byte back onto the stream.
+*/
+int ZEXPORT gzungetc(c, file)
+    int c;
+    gzFile file;
+{
+    gz_stream *s = (gz_stream*)file;
+
+    if (s == NULL || s->mode != 'r' || c == EOF || s->back != EOF) return EOF;
+    s->back = c;
+    s->out--;
+    s->last = (s->z_err == Z_STREAM_END);
+    if (s->last) s->z_err = Z_OK;
+    s->z_eof = 0;
+    return c;
+}
+
+
+/* ===========================================================================
+      Reads bytes from the compressed file until len-1 characters are
+   read, or a newline character is read and transferred to buf, or an
+   end-of-file condition is encountered.  The string is then terminated
+   with a null character.
+      gzgets returns buf, or Z_NULL in case of error.
+
+      The current implementation is not optimized at all.
+*/
+char * ZEXPORT gzgets(file, buf, len)
+    gzFile file;
+    char *buf;
+    int len;
+{
+    char *b = buf;
+    if (buf == Z_NULL || len <= 0) return Z_NULL;
+
+    while (--len > 0 && gzread(file, buf, 1) == 1 && *buf++ != '\n') ;
+    *buf = '\0';
+    return b == buf && len > 0 ? Z_NULL : b;
+}
+
+
+#ifndef NO_GZCOMPRESS
+/* ===========================================================================
+     Writes the given number of uncompressed bytes into the compressed file.
+   gzwrite returns the number of bytes actually written (0 in case of error).
+*/
+int ZEXPORT gzwrite (file, buf, len)
+    gzFile file;
+    voidpc buf;
+    unsigned len;
+{
+    gz_stream *s = (gz_stream*)file;
+
+    if (s == NULL || s->mode != 'w') return Z_STREAM_ERROR;
+
+    s->stream.next_in = (Bytef*)buf;
+    s->stream.avail_in = len;
+
+    while (s->stream.avail_in != 0) {
+
+        if (s->stream.avail_out == 0) {
+
+            s->stream.next_out = s->outbuf;
+            if (fwrite(s->outbuf, 1, Z_BUFSIZE, s->file) != Z_BUFSIZE) {
+                s->z_err = Z_ERRNO;
+                break;
+            }
+            s->stream.avail_out = Z_BUFSIZE;
+        }
+        s->in += s->stream.avail_in;
+        s->out += s->stream.avail_out;
+        s->z_err = deflate(&(s->stream), Z_NO_FLUSH);
+        s->in -= s->stream.avail_in;
+        s->out -= s->stream.avail_out;
+        if (s->z_err != Z_OK) break;
+    }
+    s->crc = crc32(s->crc, (const Bytef *)buf, len);
+
+    return (int)(len - s->stream.avail_in);
+}
+
+
+/* ===========================================================================
+     Converts, formats, and writes the args to the compressed file under
+   control of the format string, as in fprintf. gzprintf returns the number of
+   uncompressed bytes actually written (0 in case of error).
+*/
+#ifdef STDC
+#include <stdarg.h>
+
+int ZEXPORTVA gzprintf (gzFile file, const char *format, /* args */ ...)
+{
+    char buf[Z_PRINTF_BUFSIZE];
+    va_list va;
+    int len;
+
+    buf[sizeof(buf) - 1] = 0;
+    va_start(va, format);
+#ifdef NO_vsnprintf
+#  ifdef HAS_vsprintf_void
+    (void)vsprintf(buf, format, va);
+    va_end(va);
+    for (len = 0; len < sizeof(buf); len++)
+        if (buf[len] == 0) break;
+#  else
+    len = vsprintf(buf, format, va);
+    va_end(va);
+#  endif
+#else
+#  ifdef HAS_vsnprintf_void
+    (void)vsnprintf(buf, sizeof(buf), format, va);
+    va_end(va);
+    len = strlen(buf);
+#  else
+    len = vsnprintf(buf, sizeof(buf), format, va);
+    va_end(va);
+#  endif
+#endif
+    if (len <= 0 || len >= (int)sizeof(buf) || buf[sizeof(buf) - 1] != 0)
+        return 0;
+    return gzwrite(file, buf, (unsigned)len);
+}
+#else /* not ANSI C */
+
+int ZEXPORTVA gzprintf (file, format, a1, a2, a3, a4, a5, a6, a7, a8, a9, a10,
+                       a11, a12, a13, a14, a15, a16, a17, a18, a19, a20)
+    gzFile file;
+    const char *format;
+    int a1, a2, a3, a4, a5, a6, a7, a8, a9, a10,
+        a11, a12, a13, a14, a15, a16, a17, a18, a19, a20;
+{
+    char buf[Z_PRINTF_BUFSIZE];
+    int len;
+
+    buf[sizeof(buf) - 1] = 0;
+#ifdef NO_snprintf
+#  ifdef HAS_sprintf_void
+    sprintf(buf, format, a1, a2, a3, a4, a5, a6, a7, a8,
+            a9, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a20);
+    for (len = 0; len < sizeof(buf); len++)
+        if (buf[len] == 0) break;
+#  else
+    len = sprintf(buf, format, a1, a2, a3, a4, a5, a6, a7, a8,
+                a9, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a20);
+#  endif
+#else
+#  ifdef HAS_snprintf_void
+    snprintf(buf, sizeof(buf), format, a1, a2, a3, a4, a5, a6, a7, a8,
+             a9, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a20);
+    len = strlen(buf);
+#  else
+    len = snprintf(buf, sizeof(buf), format, a1, a2, a3, a4, a5, a6, a7, a8,
+                 a9, a10, a11, a12, a13, a14, a15, a16, a17, a18, a19, a20);
+#  endif
+#endif
+    if (len <= 0 || len >= sizeof(buf) || buf[sizeof(buf) - 1] != 0)
+        return 0;
+    return gzwrite(file, buf, len);
+}
+#endif
+
+/* ===========================================================================
+      Writes c, converted to an unsigned char, into the compressed file.
+   gzputc returns the value that was written, or -1 in case of error.
+*/
+int ZEXPORT gzputc(file, c)
+    gzFile file;
+    int c;
+{
+    unsigned char cc = (unsigned char) c; /* required for big endian systems */
+
+    return gzwrite(file, &cc, 1) == 1 ? (int)cc : -1;
+}
+
+
+/* ===========================================================================
+      Writes the given null-terminated string to the compressed file, excluding
+   the terminating null character.
+      gzputs returns the number of characters written, or -1 in case of error.
+*/
+int ZEXPORT gzputs(file, s)
+    gzFile file;
+    const char *s;
+{
+    return gzwrite(file, (char*)s, (unsigned)strlen(s));
+}
+
+
+/* ===========================================================================
+     Flushes all pending output into the compressed file. The parameter
+   flush is as in the deflate() function.
+*/
+local int do_flush (file, flush)
+    gzFile file;
+    int flush;
+{
+    uInt len;
+    int done = 0;
+    gz_stream *s = (gz_stream*)file;
+
+    if (s == NULL || s->mode != 'w') return Z_STREAM_ERROR;
+
+    s->stream.avail_in = 0; /* should be zero already anyway */
+
+    for (;;) {
+        len = Z_BUFSIZE - s->stream.avail_out;
+
+        if (len != 0) {
+            if ((uInt)fwrite(s->outbuf, 1, len, s->file) != len) {
+                s->z_err = Z_ERRNO;
+                return Z_ERRNO;
+            }
+            s->stream.next_out = s->outbuf;
+            s->stream.avail_out = Z_BUFSIZE;
+        }
+        if (done) break;
+        s->out += s->stream.avail_out;
+        s->z_err = deflate(&(s->stream), flush);
+        s->out -= s->stream.avail_out;
+
+        /* Ignore the second of two consecutive flushes: */
+        if (len == 0 && s->z_err == Z_BUF_ERROR) s->z_err = Z_OK;
+
+        /* deflate has finished flushing only when it hasn't used up
+         * all the available space in the output buffer:
+         */
+        done = (s->stream.avail_out != 0 || s->z_err == Z_STREAM_END);
+
+        if (s->z_err != Z_OK && s->z_err != Z_STREAM_END) break;
+    }
+    return  s->z_err == Z_STREAM_END ? Z_OK : s->z_err;
+}
+
+int ZEXPORT gzflush (file, flush)
+     gzFile file;
+     int flush;
+{
+    gz_stream *s = (gz_stream*)file;
+    int err = do_flush (file, flush);
+
+    if (err) return err;
+    fflush(s->file);
+    return  s->z_err == Z_STREAM_END ? Z_OK : s->z_err;
+}
+#endif /* NO_GZCOMPRESS */
+
+/* ===========================================================================
+      Sets the starting position for the next gzread or gzwrite on the given
+   compressed file. The offset represents a number of bytes in the
+      gzseek returns the resulting offset location as measured in bytes from
+   the beginning of the uncompressed stream, or -1 in case of error.
+      SEEK_END is not implemented, returns error.
+      In this version of the library, gzseek can be extremely slow.
+*/
+z_off_t ZEXPORT gzseek (file, offset, whence)
+    gzFile file;
+    z_off_t offset;
+    int whence;
+{
+    gz_stream *s = (gz_stream*)file;
+
+    if (s == NULL || whence == SEEK_END ||
+        s->z_err == Z_ERRNO || s->z_err == Z_DATA_ERROR) {
+        return -1L;
+    }
+
+    if (s->mode == 'w') {
+#ifdef NO_GZCOMPRESS
+        return -1L;
+#else
+        if (whence == SEEK_SET) {
+            offset -= s->in;
+        }
+        if (offset < 0) return -1L;
+
+        /* At this point, offset is the number of zero bytes to write. */
+        if (s->inbuf == Z_NULL) {
+            s->inbuf = (Byte*)ALLOC(Z_BUFSIZE); /* for seeking */
+            if (s->inbuf == Z_NULL) return -1L;
+            zmemzero(s->inbuf, Z_BUFSIZE);
+        }
+        while (offset > 0)  {
+            uInt size = Z_BUFSIZE;
+            if (offset < Z_BUFSIZE) size = (uInt)offset;
+
+            size = gzwrite(file, s->inbuf, size);
+            if (size == 0) return -1L;
+
+            offset -= size;
+        }
+        return s->in;
+#endif
+    }
+    /* Rest of function is for reading only */
+
+    /* compute absolute position */
+    if (whence == SEEK_CUR) {
+        offset += s->out;
+    }
+    if (offset < 0) return -1L;
+
+    if (s->transparent) {
+        /* map to fseek */
+        s->back = EOF;
+        s->stream.avail_in = 0;
+        s->stream.next_in = s->inbuf;
+        if (fseek(s->file, offset, SEEK_SET) < 0) return -1L;
+
+        s->in = s->out = offset;
+        return offset;
+    }
+
+    /* For a negative seek, rewind and use positive seek */
+    if (offset >= s->out) {
+        offset -= s->out;
+    } else if (gzrewind(file) < 0) {
+        return -1L;
+    }
+    /* offset is now the number of bytes to skip. */
+
+    if (offset != 0 && s->outbuf == Z_NULL) {
+        s->outbuf = (Byte*)ALLOC(Z_BUFSIZE);
+        if (s->outbuf == Z_NULL) return -1L;
+    }
+    if (offset && s->back != EOF) {
+        s->back = EOF;
+        s->out++;
+        offset--;
+        if (s->last) s->z_err = Z_STREAM_END;
+    }
+    while (offset > 0)  {
+        int size = Z_BUFSIZE;
+        if (offset < Z_BUFSIZE) size = (int)offset;
+
+        size = gzread(file, s->outbuf, (uInt)size);
+        if (size <= 0) return -1L;
+        offset -= size;
+    }
+    return s->out;
+}
+
+/* ===========================================================================
+     Rewinds input file.
+*/
+int ZEXPORT gzrewind (file)
+    gzFile file;
+{
+    gz_stream *s = (gz_stream*)file;
+
+    if (s == NULL || s->mode != 'r') return -1;
+
+    s->z_err = Z_OK;
+    s->z_eof = 0;
+    s->back = EOF;
+    s->stream.avail_in = 0;
+    s->stream.next_in = s->inbuf;
+    s->crc = crc32(0L, Z_NULL, 0);
+    if (!s->transparent) (void)inflateReset(&s->stream);
+    s->in = 0;
+    s->out = 0;
+    return fseek(s->file, s->start, SEEK_SET);
+}
+
+/* ===========================================================================
+     Returns the starting position for the next gzread or gzwrite on the
+   given compressed file. This position represents a number of bytes in the
+   uncompressed data stream.
+*/
+z_off_t ZEXPORT gztell (file)
+    gzFile file;
+{
+    return gzseek(file, 0L, SEEK_CUR);
+}
+
+/* ===========================================================================
+     Returns 1 when EOF has previously been detected reading the given
+   input stream, otherwise zero.
+*/
+int ZEXPORT gzeof (file)
+    gzFile file;
+{
+    gz_stream *s = (gz_stream*)file;
+
+    /* With concatenated compressed files that can have embedded
+     * crc trailers, z_eof is no longer the only/best indicator of EOF
+     * on a gz_stream. Handle end-of-stream error explicitly here.
+     */
+    if (s == NULL || s->mode != 'r') return 0;
+    if (s->z_eof) return 1;
+    return s->z_err == Z_STREAM_END;
+}
+
+/* ===========================================================================
+     Returns 1 if reading and doing so transparently, otherwise zero.
+*/
+int ZEXPORT gzdirect (file)
+    gzFile file;
+{
+    gz_stream *s = (gz_stream*)file;
+
+    if (s == NULL || s->mode != 'r') return 0;
+    return s->transparent;
+}
+
+/* ===========================================================================
+   Outputs a long in LSB order to the given file
+*/
+local void putLong (file, x)
+    FILE *file;
+    uLong x;
+{
+    int n;
+    for (n = 0; n < 4; n++) {
+        fputc((int)(x & 0xff), file);
+        x >>= 8;
+    }
+}
+
+/* ===========================================================================
+   Reads a long in LSB order from the given gz_stream. Sets z_err in case
+   of error.
+*/
+local uLong getLong (s)
+    gz_stream *s;
+{
+    uLong x = (uLong)get_byte(s);
+    int c;
+
+    x += ((uLong)get_byte(s))<<8;
+    x += ((uLong)get_byte(s))<<16;
+    c = get_byte(s);
+    if (c == EOF) s->z_err = Z_DATA_ERROR;
+    x += ((uLong)c)<<24;
+    return x;
+}
+
+/* ===========================================================================
+     Flushes all pending output if necessary, closes the compressed file
+   and deallocates all the (de)compression state.
+*/
+int ZEXPORT gzclose (file)
+    gzFile file;
+{
+    gz_stream *s = (gz_stream*)file;
+
+    if (s == NULL) return Z_STREAM_ERROR;
+
+    if (s->mode == 'w') {
+#ifdef NO_GZCOMPRESS
+        return Z_STREAM_ERROR;
+#else
+        if (do_flush (file, Z_FINISH) != Z_OK)
+            return destroy((gz_stream*)file);
+
+        putLong (s->file, s->crc);
+        putLong (s->file, (uLong)(s->in & 0xffffffff));
+#endif
+    }
+    return destroy((gz_stream*)file);
+}
+
+#ifdef STDC
+#  define zstrerror(errnum) strerror(errnum)
+#else
+#  define zstrerror(errnum) ""
+#endif
+
+/* ===========================================================================
+     Returns the error message for the last error which occurred on the
+   given compressed file. errnum is set to zlib error number. If an
+   error occurred in the file system and not in the compression library,
+   errnum is set to Z_ERRNO and the application may consult errno
+   to get the exact error code.
+*/
+const char * ZEXPORT gzerror (file, errnum)
+    gzFile file;
+    int *errnum;
+{
+    char *m;
+    gz_stream *s = (gz_stream*)file;
+
+    if (s == NULL) {
+        *errnum = Z_STREAM_ERROR;
+        return (const char*)ERR_MSG(Z_STREAM_ERROR);
+    }
+    *errnum = s->z_err;
+    if (*errnum == Z_OK) return (const char*)"";
+
+    m = (char*)(*errnum == Z_ERRNO ? zstrerror(errno) : s->stream.msg);
+
+    if (m == NULL || *m == '\0') m = (char*)ERR_MSG(s->z_err);
+
+    TRYFREE(s->msg);
+    s->msg = (char*)ALLOC(strlen(s->path) + strlen(m) + 3);
+    if (s->msg == Z_NULL) return (const char*)ERR_MSG(Z_MEM_ERROR);
+    strcpy(s->msg, s->path);
+    strcat(s->msg, ": ");
+    strcat(s->msg, m);
+    return (const char*)s->msg;
+}
+
+/* ===========================================================================
+     Clear the error and end-of-file flags, and do the same for the real file.
+*/
+void ZEXPORT gzclearerr (file)
+    gzFile file;
+{
+    gz_stream *s = (gz_stream*)file;
+
+    if (s == NULL) return;
+    if (s->z_err != Z_STREAM_END) s->z_err = Z_OK;
+    s->z_eof = 0;
+    clearerr(s->file);
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/infback.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/infback.c
new file mode 100755
index 0000000..455dbc9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/infback.c
@@ -0,0 +1,623 @@
+/* infback.c -- inflate using a call-back interface
+ * Copyright (C) 1995-2005 Mark Adler
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/*
+   This code is largely copied from inflate.c.  Normally either infback.o or
+   inflate.o would be linked into an application--not both.  The interface
+   with inffast.c is retained so that optimized assembler-coded versions of
+   inflate_fast() can be used with either inflate.c or infback.c.
+ */
+
+#include "zutil.h"
+#include "inftrees.h"
+#include "inflate.h"
+#include "inffast.h"
+
+/* function prototypes */
+local void fixedtables OF((struct inflate_state FAR *state));
+
+/*
+   strm provides memory allocation functions in zalloc and zfree, or
+   Z_NULL to use the library memory allocation functions.
+
+   windowBits is in the range 8..15, and window is a user-supplied
+   window and output buffer that is 2**windowBits bytes.
+ */
+int ZEXPORT inflateBackInit_(strm, windowBits, window, version, stream_size)
+z_streamp strm;
+int windowBits;
+unsigned char FAR *window;
+const char *version;
+int stream_size;
+{
+    struct inflate_state FAR *state;
+
+    if (version == Z_NULL || version[0] != ZLIB_VERSION[0] ||
+        stream_size != (int)(sizeof(z_stream)))
+        return Z_VERSION_ERROR;
+    if (strm == Z_NULL || window == Z_NULL ||
+        windowBits < 8 || windowBits > 15)
+        return Z_STREAM_ERROR;
+    strm->msg = Z_NULL;                 /* in case we return an error */
+    if (strm->zalloc == (alloc_func)0) {
+        strm->zalloc = zcalloc;
+        strm->opaque = (voidpf)0;
+    }
+    if (strm->zfree == (free_func)0) strm->zfree = zcfree;
+    state = (struct inflate_state FAR *)ZALLOC(strm, 1,
+                                               sizeof(struct inflate_state));
+    if (state == Z_NULL) return Z_MEM_ERROR;
+    Tracev((stderr, "inflate: allocated\n"));
+    strm->state = (struct internal_state FAR *)state;
+    state->dmax = 32768U;
+    state->wbits = windowBits;
+    state->wsize = 1U << windowBits;
+    state->window = window;
+    state->write = 0;
+    state->whave = 0;
+    return Z_OK;
+}
+
+/*
+   Return state with length and distance decoding tables and index sizes set to
+   fixed code decoding.  Normally this returns fixed tables from inffixed.h.
+   If BUILDFIXED is defined, then instead this routine builds the tables the
+   first time it's called, and returns those tables the first time and
+   thereafter.  This reduces the size of the code by about 2K bytes, in
+   exchange for a little execution time.  However, BUILDFIXED should not be
+   used for threaded applications, since the rewriting of the tables and virgin
+   may not be thread-safe.
+ */
+local void fixedtables(state)
+struct inflate_state FAR *state;
+{
+#ifdef BUILDFIXED
+    static int virgin = 1;
+    static code *lenfix, *distfix;
+    static code fixed[544];
+
+    /* build fixed huffman tables if first call (may not be thread safe) */
+    if (virgin) {
+        unsigned sym, bits;
+        static code *next;
+
+        /* literal/length table */
+        sym = 0;
+        while (sym < 144) state->lens[sym++] = 8;
+        while (sym < 256) state->lens[sym++] = 9;
+        while (sym < 280) state->lens[sym++] = 7;
+        while (sym < 288) state->lens[sym++] = 8;
+        next = fixed;
+        lenfix = next;
+        bits = 9;
+        inflate_table(LENS, state->lens, 288, &(next), &(bits), state->work);
+
+        /* distance table */
+        sym = 0;
+        while (sym < 32) state->lens[sym++] = 5;
+        distfix = next;
+        bits = 5;
+        inflate_table(DISTS, state->lens, 32, &(next), &(bits), state->work);
+
+        /* do this just once */
+        virgin = 0;
+    }
+#else /* !BUILDFIXED */
+#   include "inffixed.h"
+#endif /* BUILDFIXED */
+    state->lencode = lenfix;
+    state->lenbits = 9;
+    state->distcode = distfix;
+    state->distbits = 5;
+}
+
+/* Macros for inflateBack(): */
+
+/* Load returned state from inflate_fast() */
+#define LOAD() \
+    do { \
+        put = strm->next_out; \
+        left = strm->avail_out; \
+        next = strm->next_in; \
+        have = strm->avail_in; \
+        hold = state->hold; \
+        bits = state->bits; \
+    } while (0)
+
+/* Set state from registers for inflate_fast() */
+#define RESTORE() \
+    do { \
+        strm->next_out = put; \
+        strm->avail_out = left; \
+        strm->next_in = next; \
+        strm->avail_in = have; \
+        state->hold = hold; \
+        state->bits = bits; \
+    } while (0)
+
+/* Clear the input bit accumulator */
+#define INITBITS() \
+    do { \
+        hold = 0; \
+        bits = 0; \
+    } while (0)
+
+/* Assure that some input is available.  If input is requested, but denied,
+   then return a Z_BUF_ERROR from inflateBack(). */
+#define PULL() \
+    do { \
+        if (have == 0) { \
+            have = in(in_desc, &next); \
+            if (have == 0) { \
+                next = Z_NULL; \
+                ret = Z_BUF_ERROR; \
+                goto inf_leave; \
+            } \
+        } \
+    } while (0)
+
+/* Get a byte of input into the bit accumulator, or return from inflateBack()
+   with an error if there is no input available. */
+#define PULLBYTE() \
+    do { \
+        PULL(); \
+        have--; \
+        hold += (unsigned long)(*next++) << bits; \
+        bits += 8; \
+    } while (0)
+
+/* Assure that there are at least n bits in the bit accumulator.  If there is
+   not enough available input to do that, then return from inflateBack() with
+   an error. */
+#define NEEDBITS(n) \
+    do { \
+        while (bits < (unsigned)(n)) \
+            PULLBYTE(); \
+    } while (0)
+
+/* Return the low n bits of the bit accumulator (n < 16) */
+#define BITS(n) \
+    ((unsigned)hold & ((1U << (n)) - 1))
+
+/* Remove n bits from the bit accumulator */
+#define DROPBITS(n) \
+    do { \
+        hold >>= (n); \
+        bits -= (unsigned)(n); \
+    } while (0)
+
+/* Remove zero to seven bits as needed to go to a byte boundary */
+#define BYTEBITS() \
+    do { \
+        hold >>= bits & 7; \
+        bits -= bits & 7; \
+    } while (0)
+
+/* Assure that some output space is available, by writing out the window
+   if it's full.  If the write fails, return from inflateBack() with a
+   Z_BUF_ERROR. */
+#define ROOM() \
+    do { \
+        if (left == 0) { \
+            put = state->window; \
+            left = state->wsize; \
+            state->whave = left; \
+            if (out(out_desc, put, left)) { \
+                ret = Z_BUF_ERROR; \
+                goto inf_leave; \
+            } \
+        } \
+    } while (0)
+
+/*
+   strm provides the memory allocation functions and window buffer on input,
+   and provides information on the unused input on return.  For Z_DATA_ERROR
+   returns, strm will also provide an error message.
+
+   in() and out() are the call-back input and output functions.  When
+   inflateBack() needs more input, it calls in().  When inflateBack() has
+   filled the window with output, or when it completes with data in the
+   window, it calls out() to write out the data.  The application must not
+   change the provided input until in() is called again or inflateBack()
+   returns.  The application must not change the window/output buffer until
+   inflateBack() returns.
+
+   in() and out() are called with a descriptor parameter provided in the
+   inflateBack() call.  This parameter can be a structure that provides the
+   information required to do the read or write, as well as accumulated
+   information on the input and output such as totals and check values.
+
+   in() should return zero on failure.  out() should return non-zero on
+   failure.  If either in() or out() fails, than inflateBack() returns a
+   Z_BUF_ERROR.  strm->next_in can be checked for Z_NULL to see whether it
+   was in() or out() that caused in the error.  Otherwise,  inflateBack()
+   returns Z_STREAM_END on success, Z_DATA_ERROR for an deflate format
+   error, or Z_MEM_ERROR if it could not allocate memory for the state.
+   inflateBack() can also return Z_STREAM_ERROR if the input parameters
+   are not correct, i.e. strm is Z_NULL or the state was not initialized.
+ */
+int ZEXPORT inflateBack(strm, in, in_desc, out, out_desc)
+z_streamp strm;
+in_func in;
+void FAR *in_desc;
+out_func out;
+void FAR *out_desc;
+{
+    struct inflate_state FAR *state;
+    unsigned char FAR *next;    /* next input */
+    unsigned char FAR *put;     /* next output */
+    unsigned have, left;        /* available input and output */
+    unsigned long hold;         /* bit buffer */
+    unsigned bits;              /* bits in bit buffer */
+    unsigned copy;              /* number of stored or match bytes to copy */
+    unsigned char FAR *from;    /* where to copy match bytes from */
+    code this;                  /* current decoding table entry */
+    code last;                  /* parent table entry */
+    unsigned len;               /* length to copy for repeats, bits to drop */
+    int ret;                    /* return code */
+    static const unsigned short order[19] = /* permutation of code lengths */
+        {16, 17, 18, 0, 8, 7, 9, 6, 10, 5, 11, 4, 12, 3, 13, 2, 14, 1, 15};
+
+    /* Check that the strm exists and that the state was initialized */
+    if (strm == Z_NULL || strm->state == Z_NULL)
+        return Z_STREAM_ERROR;
+    state = (struct inflate_state FAR *)strm->state;
+
+    /* Reset the state */
+    strm->msg = Z_NULL;
+    state->mode = TYPE;
+    state->last = 0;
+    state->whave = 0;
+    next = strm->next_in;
+    have = next != Z_NULL ? strm->avail_in : 0;
+    hold = 0;
+    bits = 0;
+    put = state->window;
+    left = state->wsize;
+
+    /* Inflate until end of block marked as last */
+    for (;;)
+        switch (state->mode) {
+        case TYPE:
+            /* determine and dispatch block type */
+            if (state->last) {
+                BYTEBITS();
+                state->mode = DONE;
+                break;
+            }
+            NEEDBITS(3);
+            state->last = BITS(1);
+            DROPBITS(1);
+            switch (BITS(2)) {
+            case 0:                             /* stored block */
+                Tracev((stderr, "inflate:     stored block%s\n",
+                        state->last ? " (last)" : ""));
+                state->mode = STORED;
+                break;
+            case 1:                             /* fixed block */
+                fixedtables(state);
+                Tracev((stderr, "inflate:     fixed codes block%s\n",
+                        state->last ? " (last)" : ""));
+                state->mode = LEN;              /* decode codes */
+                break;
+            case 2:                             /* dynamic block */
+                Tracev((stderr, "inflate:     dynamic codes block%s\n",
+                        state->last ? " (last)" : ""));
+                state->mode = TABLE;
+                break;
+            case 3:
+                strm->msg = (char *)"invalid block type";
+                state->mode = BAD;
+            }
+            DROPBITS(2);
+            break;
+
+        case STORED:
+            /* get and verify stored block length */
+            BYTEBITS();                         /* go to byte boundary */
+            NEEDBITS(32);
+            if ((hold & 0xffff) != ((hold >> 16) ^ 0xffff)) {
+                strm->msg = (char *)"invalid stored block lengths";
+                state->mode = BAD;
+                break;
+            }
+            state->length = (unsigned)hold & 0xffff;
+            Tracev((stderr, "inflate:       stored length %u\n",
+                    state->length));
+            INITBITS();
+
+            /* copy stored block from input to output */
+            while (state->length != 0) {
+                copy = state->length;
+                PULL();
+                ROOM();
+                if (copy > have) copy = have;
+                if (copy > left) copy = left;
+                zmemcpy(put, next, copy);
+                have -= copy;
+                next += copy;
+                left -= copy;
+                put += copy;
+                state->length -= copy;
+            }
+            Tracev((stderr, "inflate:       stored end\n"));
+            state->mode = TYPE;
+            break;
+
+        case TABLE:
+            /* get dynamic table entries descriptor */
+            NEEDBITS(14);
+            state->nlen = BITS(5) + 257;
+            DROPBITS(5);
+            state->ndist = BITS(5) + 1;
+            DROPBITS(5);
+            state->ncode = BITS(4) + 4;
+            DROPBITS(4);
+#ifndef PKZIP_BUG_WORKAROUND
+            if (state->nlen > 286 || state->ndist > 30) {
+                strm->msg = (char *)"too many length or distance symbols";
+                state->mode = BAD;
+                break;
+            }
+#endif
+            Tracev((stderr, "inflate:       table sizes ok\n"));
+
+            /* get code length code lengths (not a typo) */
+            state->have = 0;
+            while (state->have < state->ncode) {
+                NEEDBITS(3);
+                state->lens[order[state->have++]] = (unsigned short)BITS(3);
+                DROPBITS(3);
+            }
+            while (state->have < 19)
+                state->lens[order[state->have++]] = 0;
+            state->next = state->codes;
+            state->lencode = (code const FAR *)(state->next);
+            state->lenbits = 7;
+            ret = inflate_table(CODES, state->lens, 19, &(state->next),
+                                &(state->lenbits), state->work);
+            if (ret) {
+                strm->msg = (char *)"invalid code lengths set";
+                state->mode = BAD;
+                break;
+            }
+            Tracev((stderr, "inflate:       code lengths ok\n"));
+
+            /* get length and distance code code lengths */
+            state->have = 0;
+            while (state->have < state->nlen + state->ndist) {
+                for (;;) {
+                    this = state->lencode[BITS(state->lenbits)];
+                    if ((unsigned)(this.bits) <= bits) break;
+                    PULLBYTE();
+                }
+                if (this.val < 16) {
+                    NEEDBITS(this.bits);
+                    DROPBITS(this.bits);
+                    state->lens[state->have++] = this.val;
+                }
+                else {
+                    if (this.val == 16) {
+                        NEEDBITS(this.bits + 2);
+                        DROPBITS(this.bits);
+                        if (state->have == 0) {
+                            strm->msg = (char *)"invalid bit length repeat";
+                            state->mode = BAD;
+                            break;
+                        }
+                        len = (unsigned)(state->lens[state->have - 1]);
+                        copy = 3 + BITS(2);
+                        DROPBITS(2);
+                    }
+                    else if (this.val == 17) {
+                        NEEDBITS(this.bits + 3);
+                        DROPBITS(this.bits);
+                        len = 0;
+                        copy = 3 + BITS(3);
+                        DROPBITS(3);
+                    }
+                    else {
+                        NEEDBITS(this.bits + 7);
+                        DROPBITS(this.bits);
+                        len = 0;
+                        copy = 11 + BITS(7);
+                        DROPBITS(7);
+                    }
+                    if (state->have + copy > state->nlen + state->ndist) {
+                        strm->msg = (char *)"invalid bit length repeat";
+                        state->mode = BAD;
+                        break;
+                    }
+                    while (copy--)
+                        state->lens[state->have++] = (unsigned short)len;
+                }
+            }
+
+            /* handle error breaks in while */
+            if (state->mode == BAD) break;
+
+            /* build code tables */
+            state->next = state->codes;
+            state->lencode = (code const FAR *)(state->next);
+            state->lenbits = 9;
+            ret = inflate_table(LENS, state->lens, state->nlen, &(state->next),
+                                &(state->lenbits), state->work);
+            if (ret) {
+                strm->msg = (char *)"invalid literal/lengths set";
+                state->mode = BAD;
+                break;
+            }
+            state->distcode = (code const FAR *)(state->next);
+            state->distbits = 6;
+            ret = inflate_table(DISTS, state->lens + state->nlen, state->ndist,
+                            &(state->next), &(state->distbits), state->work);
+            if (ret) {
+                strm->msg = (char *)"invalid distances set";
+                state->mode = BAD;
+                break;
+            }
+            Tracev((stderr, "inflate:       codes ok\n"));
+            state->mode = LEN;
+
+        case LEN:
+            /* use inflate_fast() if we have enough input and output */
+            if (have >= 6 && left >= 258) {
+                RESTORE();
+                if (state->whave < state->wsize)
+                    state->whave = state->wsize - left;
+                inflate_fast(strm, state->wsize);
+                LOAD();
+                break;
+            }
+
+            /* get a literal, length, or end-of-block code */
+            for (;;) {
+                this = state->lencode[BITS(state->lenbits)];
+                if ((unsigned)(this.bits) <= bits) break;
+                PULLBYTE();
+            }
+            if (this.op && (this.op & 0xf0) == 0) {
+                last = this;
+                for (;;) {
+                    this = state->lencode[last.val +
+                            (BITS(last.bits + last.op) >> last.bits)];
+                    if ((unsigned)(last.bits + this.bits) <= bits) break;
+                    PULLBYTE();
+                }
+                DROPBITS(last.bits);
+            }
+            DROPBITS(this.bits);
+            state->length = (unsigned)this.val;
+
+            /* process literal */
+            if (this.op == 0) {
+                Tracevv((stderr, this.val >= 0x20 && this.val < 0x7f ?
+                        "inflate:         literal '%c'\n" :
+                        "inflate:         literal 0x%02x\n", this.val));
+                ROOM();
+                *put++ = (unsigned char)(state->length);
+                left--;
+                state->mode = LEN;
+                break;
+            }
+
+            /* process end of block */
+            if (this.op & 32) {
+                Tracevv((stderr, "inflate:         end of block\n"));
+                state->mode = TYPE;
+                break;
+            }
+
+            /* invalid code */
+            if (this.op & 64) {
+                strm->msg = (char *)"invalid literal/length code";
+                state->mode = BAD;
+                break;
+            }
+
+            /* length code -- get extra bits, if any */
+            state->extra = (unsigned)(this.op) & 15;
+            if (state->extra != 0) {
+                NEEDBITS(state->extra);
+                state->length += BITS(state->extra);
+                DROPBITS(state->extra);
+            }
+            Tracevv((stderr, "inflate:         length %u\n", state->length));
+
+            /* get distance code */
+            for (;;) {
+                this = state->distcode[BITS(state->distbits)];
+                if ((unsigned)(this.bits) <= bits) break;
+                PULLBYTE();
+            }
+            if ((this.op & 0xf0) == 0) {
+                last = this;
+                for (;;) {
+                    this = state->distcode[last.val +
+                            (BITS(last.bits + last.op) >> last.bits)];
+                    if ((unsigned)(last.bits + this.bits) <= bits) break;
+                    PULLBYTE();
+                }
+                DROPBITS(last.bits);
+            }
+            DROPBITS(this.bits);
+            if (this.op & 64) {
+                strm->msg = (char *)"invalid distance code";
+                state->mode = BAD;
+                break;
+            }
+            state->offset = (unsigned)this.val;
+
+            /* get distance extra bits, if any */
+            state->extra = (unsigned)(this.op) & 15;
+            if (state->extra != 0) {
+                NEEDBITS(state->extra);
+                state->offset += BITS(state->extra);
+                DROPBITS(state->extra);
+            }
+            if (state->offset > state->wsize - (state->whave < state->wsize ?
+                                                left : 0)) {
+                strm->msg = (char *)"invalid distance too far back";
+                state->mode = BAD;
+                break;
+            }
+            Tracevv((stderr, "inflate:         distance %u\n", state->offset));
+
+            /* copy match from window to output */
+            do {
+                ROOM();
+                copy = state->wsize - state->offset;
+                if (copy < left) {
+                    from = put + copy;
+                    copy = left - copy;
+                }
+                else {
+                    from = put - state->offset;
+                    copy = left;
+                }
+                if (copy > state->length) copy = state->length;
+                state->length -= copy;
+                left -= copy;
+                do {
+                    *put++ = *from++;
+                } while (--copy);
+            } while (state->length != 0);
+            break;
+
+        case DONE:
+            /* inflate stream terminated properly -- write leftover output */
+            ret = Z_STREAM_END;
+            if (left < state->wsize) {
+                if (out(out_desc, state->window, state->wsize - left))
+                    ret = Z_BUF_ERROR;
+            }
+            goto inf_leave;
+
+        case BAD:
+            ret = Z_DATA_ERROR;
+            goto inf_leave;
+
+        default:                /* can't happen, but makes compilers happy */
+            ret = Z_STREAM_ERROR;
+            goto inf_leave;
+        }
+
+    /* Return unused input */
+  inf_leave:
+    strm->next_in = next;
+    strm->avail_in = have;
+    return ret;
+}
+
+int ZEXPORT inflateBackEnd(strm)
+z_streamp strm;
+{
+    if (strm == Z_NULL || strm->state == Z_NULL || strm->zfree == (free_func)0)
+        return Z_STREAM_ERROR;
+    ZFREE(strm, strm->state);
+    strm->state = Z_NULL;
+    Tracev((stderr, "inflate: end\n"));
+    return Z_OK;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inffast.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inffast.c
new file mode 100755
index 0000000..bbee92e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inffast.c
@@ -0,0 +1,318 @@
+/* inffast.c -- fast decoding
+ * Copyright (C) 1995-2004 Mark Adler
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+#include "zutil.h"
+#include "inftrees.h"
+#include "inflate.h"
+#include "inffast.h"
+
+#ifndef ASMINF
+
+/* Allow machine dependent optimization for post-increment or pre-increment.
+   Based on testing to date,
+   Pre-increment preferred for:
+   - PowerPC G3 (Adler)
+   - MIPS R5000 (Randers-Pehrson)
+   Post-increment preferred for:
+   - none
+   No measurable difference:
+   - Pentium III (Anderson)
+   - M68060 (Nikl)
+ */
+#ifdef POSTINC
+#  define OFF 0
+#  define PUP(a) *(a)++
+#else
+#  define OFF 1
+#  define PUP(a) *++(a)
+#endif
+
+/*
+   Decode literal, length, and distance codes and write out the resulting
+   literal and match bytes until either not enough input or output is
+   available, an end-of-block is encountered, or a data error is encountered.
+   When large enough input and output buffers are supplied to inflate(), for
+   example, a 16K input buffer and a 64K output buffer, more than 95% of the
+   inflate execution time is spent in this routine.
+
+   Entry assumptions:
+
+        state->mode == LEN
+        strm->avail_in >= 6
+        strm->avail_out >= 258
+        start >= strm->avail_out
+        state->bits < 8
+
+   On return, state->mode is one of:
+
+        LEN -- ran out of enough output space or enough available input
+        TYPE -- reached end of block code, inflate() to interpret next block
+        BAD -- error in block data
+
+   Notes:
+
+    - The maximum input bits used by a length/distance pair is 15 bits for the
+      length code, 5 bits for the length extra, 15 bits for the distance code,
+      and 13 bits for the distance extra.  This totals 48 bits, or six bytes.
+      Therefore if strm->avail_in >= 6, then there is enough input to avoid
+      checking for available input while decoding.
+
+    - The maximum bytes that a single length/distance pair can output is 258
+      bytes, which is the maximum length that can be coded.  inflate_fast()
+      requires strm->avail_out >= 258 for each loop to avoid checking for
+      output space.
+ */
+void inflate_fast(strm, start)
+z_streamp strm;
+unsigned start;         /* inflate()'s starting value for strm->avail_out */
+{
+    struct inflate_state FAR *state;
+    unsigned char FAR *in;      /* local strm->next_in */
+    unsigned char FAR *last;    /* while in < last, enough input available */
+    unsigned char FAR *out;     /* local strm->next_out */
+    unsigned char FAR *beg;     /* inflate()'s initial strm->next_out */
+    unsigned char FAR *end;     /* while out < end, enough space available */
+#ifdef INFLATE_STRICT
+    unsigned dmax;              /* maximum distance from zlib header */
+#endif
+    unsigned wsize;             /* window size or zero if not using window */
+    unsigned whave;             /* valid bytes in the window */
+    unsigned write;             /* window write index */
+    unsigned char FAR *window;  /* allocated sliding window, if wsize != 0 */
+    unsigned long hold;         /* local strm->hold */
+    unsigned bits;              /* local strm->bits */
+    code const FAR *lcode;      /* local strm->lencode */
+    code const FAR *dcode;      /* local strm->distcode */
+    unsigned lmask;             /* mask for first level of length codes */
+    unsigned dmask;             /* mask for first level of distance codes */
+    code this;                  /* retrieved table entry */
+    unsigned op;                /* code bits, operation, extra bits, or */
+                                /*  window position, window bytes to copy */
+    unsigned len;               /* match length, unused bytes */
+    unsigned dist;              /* match distance */
+    unsigned char FAR *from;    /* where to copy match from */
+
+    /* copy state to local variables */
+    state = (struct inflate_state FAR *)strm->state;
+    in = strm->next_in - OFF;
+    last = in + (strm->avail_in - 5);
+    out = strm->next_out - OFF;
+    beg = out - (start - strm->avail_out);
+    end = out + (strm->avail_out - 257);
+#ifdef INFLATE_STRICT
+    dmax = state->dmax;
+#endif
+    wsize = state->wsize;
+    whave = state->whave;
+    write = state->write;
+    window = state->window;
+    hold = state->hold;
+    bits = state->bits;
+    lcode = state->lencode;
+    dcode = state->distcode;
+    lmask = (1U << state->lenbits) - 1;
+    dmask = (1U << state->distbits) - 1;
+
+    /* decode literals and length/distances until end-of-block or not enough
+       input data or output space */
+    do {
+        if (bits < 15) {
+            hold += (unsigned long)(PUP(in)) << bits;
+            bits += 8;
+            hold += (unsigned long)(PUP(in)) << bits;
+            bits += 8;
+        }
+        this = lcode[hold & lmask];
+      dolen:
+        op = (unsigned)(this.bits);
+        hold >>= op;
+        bits -= op;
+        op = (unsigned)(this.op);
+        if (op == 0) {                          /* literal */
+            Tracevv((stderr, this.val >= 0x20 && this.val < 0x7f ?
+                    "inflate:         literal '%c'\n" :
+                    "inflate:         literal 0x%02x\n", this.val));
+            PUP(out) = (unsigned char)(this.val);
+        }
+        else if (op & 16) {                     /* length base */
+            len = (unsigned)(this.val);
+            op &= 15;                           /* number of extra bits */
+            if (op) {
+                if (bits < op) {
+                    hold += (unsigned long)(PUP(in)) << bits;
+                    bits += 8;
+                }
+                len += (unsigned)hold & ((1U << op) - 1);
+                hold >>= op;
+                bits -= op;
+            }
+            Tracevv((stderr, "inflate:         length %u\n", len));
+            if (bits < 15) {
+                hold += (unsigned long)(PUP(in)) << bits;
+                bits += 8;
+                hold += (unsigned long)(PUP(in)) << bits;
+                bits += 8;
+            }
+            this = dcode[hold & dmask];
+          dodist:
+            op = (unsigned)(this.bits);
+            hold >>= op;
+            bits -= op;
+            op = (unsigned)(this.op);
+            if (op & 16) {                      /* distance base */
+                dist = (unsigned)(this.val);
+                op &= 15;                       /* number of extra bits */
+                if (bits < op) {
+                    hold += (unsigned long)(PUP(in)) << bits;
+                    bits += 8;
+                    if (bits < op) {
+                        hold += (unsigned long)(PUP(in)) << bits;
+                        bits += 8;
+                    }
+                }
+                dist += (unsigned)hold & ((1U << op) - 1);
+#ifdef INFLATE_STRICT
+                if (dist > dmax) {
+                    strm->msg = (char *)"invalid distance too far back";
+                    state->mode = BAD;
+                    break;
+                }
+#endif
+                hold >>= op;
+                bits -= op;
+                Tracevv((stderr, "inflate:         distance %u\n", dist));
+                op = (unsigned)(out - beg);     /* max distance in output */
+                if (dist > op) {                /* see if copy from window */
+                    op = dist - op;             /* distance back in window */
+                    if (op > whave) {
+                        strm->msg = (char *)"invalid distance too far back";
+                        state->mode = BAD;
+                        break;
+                    }
+                    from = window - OFF;
+                    if (write == 0) {           /* very common case */
+                        from += wsize - op;
+                        if (op < len) {         /* some from window */
+                            len -= op;
+                            do {
+                                PUP(out) = PUP(from);
+                            } while (--op);
+                            from = out - dist;  /* rest from output */
+                        }
+                    }
+                    else if (write < op) {      /* wrap around window */
+                        from += wsize + write - op;
+                        op -= write;
+                        if (op < len) {         /* some from end of window */
+                            len -= op;
+                            do {
+                                PUP(out) = PUP(from);
+                            } while (--op);
+                            from = window - OFF;
+                            if (write < len) {  /* some from start of window */
+                                op = write;
+                                len -= op;
+                                do {
+                                    PUP(out) = PUP(from);
+                                } while (--op);
+                                from = out - dist;      /* rest from output */
+                            }
+                        }
+                    }
+                    else {                      /* contiguous in window */
+                        from += write - op;
+                        if (op < len) {         /* some from window */
+                            len -= op;
+                            do {
+                                PUP(out) = PUP(from);
+                            } while (--op);
+                            from = out - dist;  /* rest from output */
+                        }
+                    }
+                    while (len > 2) {
+                        PUP(out) = PUP(from);
+                        PUP(out) = PUP(from);
+                        PUP(out) = PUP(from);
+                        len -= 3;
+                    }
+                    if (len) {
+                        PUP(out) = PUP(from);
+                        if (len > 1)
+                            PUP(out) = PUP(from);
+                    }
+                }
+                else {
+                    from = out - dist;          /* copy direct from output */
+                    do {                        /* minimum length is three */
+                        PUP(out) = PUP(from);
+                        PUP(out) = PUP(from);
+                        PUP(out) = PUP(from);
+                        len -= 3;
+                    } while (len > 2);
+                    if (len) {
+                        PUP(out) = PUP(from);
+                        if (len > 1)
+                            PUP(out) = PUP(from);
+                    }
+                }
+            }
+            else if ((op & 64) == 0) {          /* 2nd level distance code */
+                this = dcode[this.val + (hold & ((1U << op) - 1))];
+                goto dodist;
+            }
+            else {
+                strm->msg = (char *)"invalid distance code";
+                state->mode = BAD;
+                break;
+            }
+        }
+        else if ((op & 64) == 0) {              /* 2nd level length code */
+            this = lcode[this.val + (hold & ((1U << op) - 1))];
+            goto dolen;
+        }
+        else if (op & 32) {                     /* end-of-block */
+            Tracevv((stderr, "inflate:         end of block\n"));
+            state->mode = TYPE;
+            break;
+        }
+        else {
+            strm->msg = (char *)"invalid literal/length code";
+            state->mode = BAD;
+            break;
+        }
+    } while (in < last && out < end);
+
+    /* return unused bytes (on entry, bits < 8, so in won't go too far back) */
+    len = bits >> 3;
+    in -= len;
+    bits -= len << 3;
+    hold &= (1U << bits) - 1;
+
+    /* update state and return */
+    strm->next_in = in + OFF;
+    strm->next_out = out + OFF;
+    strm->avail_in = (unsigned)(in < last ? 5 + (last - in) : 5 - (in - last));
+    strm->avail_out = (unsigned)(out < end ?
+                                 257 + (end - out) : 257 - (out - end));
+    state->hold = hold;
+    state->bits = bits;
+    return;
+}
+
+/*
+   inflate_fast() speedups that turned out slower (on a PowerPC G3 750CXe):
+   - Using bit fields for code structure
+   - Different op definition to avoid & for extra bits (do & for table bits)
+   - Three separate decoding do-loops for direct, window, and write == 0
+   - Special case for distance > 1 copies to do overlapped load and store copy
+   - Explicit branch predictions (based on measured branch probabilities)
+   - Deferring match copy and interspersed it with decoding subsequent codes
+   - Swapping literal/length else
+   - Swapping window/direct else
+   - Larger unrolled copy loops (three is about right)
+   - Moving len -= 3 statement into middle of loop
+ */
+
+#endif /* !ASMINF */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inffast.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inffast.h
new file mode 100755
index 0000000..1e88d2d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inffast.h
@@ -0,0 +1,11 @@
+/* inffast.h -- header to use inffast.c
+ * Copyright (C) 1995-2003 Mark Adler
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* WARNING: this file should *not* be used by applications. It is
+   part of the implementation of the compression library and is
+   subject to change. Applications should only use zlib.h.
+ */
+
+void inflate_fast OF((z_streamp strm, unsigned start));
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inffixed.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inffixed.h
new file mode 100755
index 0000000..75ed4b5
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inffixed.h
@@ -0,0 +1,94 @@
+    /* inffixed.h -- table for decoding fixed codes
+     * Generated automatically by makefixed().
+     */
+
+    /* WARNING: this file should *not* be used by applications. It
+       is part of the implementation of the compression library and
+       is subject to change. Applications should only use zlib.h.
+     */
+
+    static const code lenfix[512] = {
+        {96,7,0},{0,8,80},{0,8,16},{20,8,115},{18,7,31},{0,8,112},{0,8,48},
+        {0,9,192},{16,7,10},{0,8,96},{0,8,32},{0,9,160},{0,8,0},{0,8,128},
+        {0,8,64},{0,9,224},{16,7,6},{0,8,88},{0,8,24},{0,9,144},{19,7,59},
+        {0,8,120},{0,8,56},{0,9,208},{17,7,17},{0,8,104},{0,8,40},{0,9,176},
+        {0,8,8},{0,8,136},{0,8,72},{0,9,240},{16,7,4},{0,8,84},{0,8,20},
+        {21,8,227},{19,7,43},{0,8,116},{0,8,52},{0,9,200},{17,7,13},{0,8,100},
+        {0,8,36},{0,9,168},{0,8,4},{0,8,132},{0,8,68},{0,9,232},{16,7,8},
+        {0,8,92},{0,8,28},{0,9,152},{20,7,83},{0,8,124},{0,8,60},{0,9,216},
+        {18,7,23},{0,8,108},{0,8,44},{0,9,184},{0,8,12},{0,8,140},{0,8,76},
+        {0,9,248},{16,7,3},{0,8,82},{0,8,18},{21,8,163},{19,7,35},{0,8,114},
+        {0,8,50},{0,9,196},{17,7,11},{0,8,98},{0,8,34},{0,9,164},{0,8,2},
+        {0,8,130},{0,8,66},{0,9,228},{16,7,7},{0,8,90},{0,8,26},{0,9,148},
+        {20,7,67},{0,8,122},{0,8,58},{0,9,212},{18,7,19},{0,8,106},{0,8,42},
+        {0,9,180},{0,8,10},{0,8,138},{0,8,74},{0,9,244},{16,7,5},{0,8,86},
+        {0,8,22},{64,8,0},{19,7,51},{0,8,118},{0,8,54},{0,9,204},{17,7,15},
+        {0,8,102},{0,8,38},{0,9,172},{0,8,6},{0,8,134},{0,8,70},{0,9,236},
+        {16,7,9},{0,8,94},{0,8,30},{0,9,156},{20,7,99},{0,8,126},{0,8,62},
+        {0,9,220},{18,7,27},{0,8,110},{0,8,46},{0,9,188},{0,8,14},{0,8,142},
+        {0,8,78},{0,9,252},{96,7,0},{0,8,81},{0,8,17},{21,8,131},{18,7,31},
+        {0,8,113},{0,8,49},{0,9,194},{16,7,10},{0,8,97},{0,8,33},{0,9,162},
+        {0,8,1},{0,8,129},{0,8,65},{0,9,226},{16,7,6},{0,8,89},{0,8,25},
+        {0,9,146},{19,7,59},{0,8,121},{0,8,57},{0,9,210},{17,7,17},{0,8,105},
+        {0,8,41},{0,9,178},{0,8,9},{0,8,137},{0,8,73},{0,9,242},{16,7,4},
+        {0,8,85},{0,8,21},{16,8,258},{19,7,43},{0,8,117},{0,8,53},{0,9,202},
+        {17,7,13},{0,8,101},{0,8,37},{0,9,170},{0,8,5},{0,8,133},{0,8,69},
+        {0,9,234},{16,7,8},{0,8,93},{0,8,29},{0,9,154},{20,7,83},{0,8,125},
+        {0,8,61},{0,9,218},{18,7,23},{0,8,109},{0,8,45},{0,9,186},{0,8,13},
+        {0,8,141},{0,8,77},{0,9,250},{16,7,3},{0,8,83},{0,8,19},{21,8,195},
+        {19,7,35},{0,8,115},{0,8,51},{0,9,198},{17,7,11},{0,8,99},{0,8,35},
+        {0,9,166},{0,8,3},{0,8,131},{0,8,67},{0,9,230},{16,7,7},{0,8,91},
+        {0,8,27},{0,9,150},{20,7,67},{0,8,123},{0,8,59},{0,9,214},{18,7,19},
+        {0,8,107},{0,8,43},{0,9,182},{0,8,11},{0,8,139},{0,8,75},{0,9,246},
+        {16,7,5},{0,8,87},{0,8,23},{64,8,0},{19,7,51},{0,8,119},{0,8,55},
+        {0,9,206},{17,7,15},{0,8,103},{0,8,39},{0,9,174},{0,8,7},{0,8,135},
+        {0,8,71},{0,9,238},{16,7,9},{0,8,95},{0,8,31},{0,9,158},{20,7,99},
+        {0,8,127},{0,8,63},{0,9,222},{18,7,27},{0,8,111},{0,8,47},{0,9,190},
+        {0,8,15},{0,8,143},{0,8,79},{0,9,254},{96,7,0},{0,8,80},{0,8,16},
+        {20,8,115},{18,7,31},{0,8,112},{0,8,48},{0,9,193},{16,7,10},{0,8,96},
+        {0,8,32},{0,9,161},{0,8,0},{0,8,128},{0,8,64},{0,9,225},{16,7,6},
+        {0,8,88},{0,8,24},{0,9,145},{19,7,59},{0,8,120},{0,8,56},{0,9,209},
+        {17,7,17},{0,8,104},{0,8,40},{0,9,177},{0,8,8},{0,8,136},{0,8,72},
+        {0,9,241},{16,7,4},{0,8,84},{0,8,20},{21,8,227},{19,7,43},{0,8,116},
+        {0,8,52},{0,9,201},{17,7,13},{0,8,100},{0,8,36},{0,9,169},{0,8,4},
+        {0,8,132},{0,8,68},{0,9,233},{16,7,8},{0,8,92},{0,8,28},{0,9,153},
+        {20,7,83},{0,8,124},{0,8,60},{0,9,217},{18,7,23},{0,8,108},{0,8,44},
+        {0,9,185},{0,8,12},{0,8,140},{0,8,76},{0,9,249},{16,7,3},{0,8,82},
+        {0,8,18},{21,8,163},{19,7,35},{0,8,114},{0,8,50},{0,9,197},{17,7,11},
+        {0,8,98},{0,8,34},{0,9,165},{0,8,2},{0,8,130},{0,8,66},{0,9,229},
+        {16,7,7},{0,8,90},{0,8,26},{0,9,149},{20,7,67},{0,8,122},{0,8,58},
+        {0,9,213},{18,7,19},{0,8,106},{0,8,42},{0,9,181},{0,8,10},{0,8,138},
+        {0,8,74},{0,9,245},{16,7,5},{0,8,86},{0,8,22},{64,8,0},{19,7,51},
+        {0,8,118},{0,8,54},{0,9,205},{17,7,15},{0,8,102},{0,8,38},{0,9,173},
+        {0,8,6},{0,8,134},{0,8,70},{0,9,237},{16,7,9},{0,8,94},{0,8,30},
+        {0,9,157},{20,7,99},{0,8,126},{0,8,62},{0,9,221},{18,7,27},{0,8,110},
+        {0,8,46},{0,9,189},{0,8,14},{0,8,142},{0,8,78},{0,9,253},{96,7,0},
+        {0,8,81},{0,8,17},{21,8,131},{18,7,31},{0,8,113},{0,8,49},{0,9,195},
+        {16,7,10},{0,8,97},{0,8,33},{0,9,163},{0,8,1},{0,8,129},{0,8,65},
+        {0,9,227},{16,7,6},{0,8,89},{0,8,25},{0,9,147},{19,7,59},{0,8,121},
+        {0,8,57},{0,9,211},{17,7,17},{0,8,105},{0,8,41},{0,9,179},{0,8,9},
+        {0,8,137},{0,8,73},{0,9,243},{16,7,4},{0,8,85},{0,8,21},{16,8,258},
+        {19,7,43},{0,8,117},{0,8,53},{0,9,203},{17,7,13},{0,8,101},{0,8,37},
+        {0,9,171},{0,8,5},{0,8,133},{0,8,69},{0,9,235},{16,7,8},{0,8,93},
+        {0,8,29},{0,9,155},{20,7,83},{0,8,125},{0,8,61},{0,9,219},{18,7,23},
+        {0,8,109},{0,8,45},{0,9,187},{0,8,13},{0,8,141},{0,8,77},{0,9,251},
+        {16,7,3},{0,8,83},{0,8,19},{21,8,195},{19,7,35},{0,8,115},{0,8,51},
+        {0,9,199},{17,7,11},{0,8,99},{0,8,35},{0,9,167},{0,8,3},{0,8,131},
+        {0,8,67},{0,9,231},{16,7,7},{0,8,91},{0,8,27},{0,9,151},{20,7,67},
+        {0,8,123},{0,8,59},{0,9,215},{18,7,19},{0,8,107},{0,8,43},{0,9,183},
+        {0,8,11},{0,8,139},{0,8,75},{0,9,247},{16,7,5},{0,8,87},{0,8,23},
+        {64,8,0},{19,7,51},{0,8,119},{0,8,55},{0,9,207},{17,7,15},{0,8,103},
+        {0,8,39},{0,9,175},{0,8,7},{0,8,135},{0,8,71},{0,9,239},{16,7,9},
+        {0,8,95},{0,8,31},{0,9,159},{20,7,99},{0,8,127},{0,8,63},{0,9,223},
+        {18,7,27},{0,8,111},{0,8,47},{0,9,191},{0,8,15},{0,8,143},{0,8,79},
+        {0,9,255}
+    };
+
+    static const code distfix[32] = {
+        {16,5,1},{23,5,257},{19,5,17},{27,5,4097},{17,5,5},{25,5,1025},
+        {21,5,65},{29,5,16385},{16,5,3},{24,5,513},{20,5,33},{28,5,8193},
+        {18,5,9},{26,5,2049},{22,5,129},{64,5,0},{16,5,2},{23,5,385},
+        {19,5,25},{27,5,6145},{17,5,7},{25,5,1537},{21,5,97},{29,5,24577},
+        {16,5,4},{24,5,769},{20,5,49},{28,5,12289},{18,5,13},{26,5,3073},
+        {22,5,193},{64,5,0}
+    };
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inflate.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inflate.c
new file mode 100755
index 0000000..792fdee
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inflate.c
@@ -0,0 +1,1368 @@
+/* inflate.c -- zlib decompression
+ * Copyright (C) 1995-2005 Mark Adler
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/*
+ * Change history:
+ *
+ * 1.2.beta0    24 Nov 2002
+ * - First version -- complete rewrite of inflate to simplify code, avoid
+ *   creation of window when not needed, minimize use of window when it is
+ *   needed, make inffast.c even faster, implement gzip decoding, and to
+ *   improve code readability and style over the previous zlib inflate code
+ *
+ * 1.2.beta1    25 Nov 2002
+ * - Use pointers for available input and output checking in inffast.c
+ * - Remove input and output counters in inffast.c
+ * - Change inffast.c entry and loop from avail_in >= 7 to >= 6
+ * - Remove unnecessary second byte pull from length extra in inffast.c
+ * - Unroll direct copy to three copies per loop in inffast.c
+ *
+ * 1.2.beta2    4 Dec 2002
+ * - Change external routine names to reduce potential conflicts
+ * - Correct filename to inffixed.h for fixed tables in inflate.c
+ * - Make hbuf[] unsigned char to match parameter type in inflate.c
+ * - Change strm->next_out[-state->offset] to *(strm->next_out - state->offset)
+ *   to avoid negation problem on Alphas (64 bit) in inflate.c
+ *
+ * 1.2.beta3    22 Dec 2002
+ * - Add comments on state->bits assertion in inffast.c
+ * - Add comments on op field in inftrees.h
+ * - Fix bug in reuse of allocated window after inflateReset()
+ * - Remove bit fields--back to byte structure for speed
+ * - Remove distance extra == 0 check in inflate_fast()--only helps for lengths
+ * - Change post-increments to pre-increments in inflate_fast(), PPC biased?
+ * - Add compile time option, POSTINC, to use post-increments instead (Intel?)
+ * - Make MATCH copy in inflate() much faster for when inflate_fast() not used
+ * - Use local copies of stream next and avail values, as well as local bit
+ *   buffer and bit count in inflate()--for speed when inflate_fast() not used
+ *
+ * 1.2.beta4    1 Jan 2003
+ * - Split ptr - 257 statements in inflate_table() to avoid compiler warnings
+ * - Move a comment on output buffer sizes from inffast.c to inflate.c
+ * - Add comments in inffast.c to introduce the inflate_fast() routine
+ * - Rearrange window copies in inflate_fast() for speed and simplification
+ * - Unroll last copy for window match in inflate_fast()
+ * - Use local copies of window variables in inflate_fast() for speed
+ * - Pull out common write == 0 case for speed in inflate_fast()
+ * - Make op and len in inflate_fast() unsigned for consistency
+ * - Add FAR to lcode and dcode declarations in inflate_fast()
+ * - Simplified bad distance check in inflate_fast()
+ * - Added inflateBackInit(), inflateBack(), and inflateBackEnd() in new
+ *   source file infback.c to provide a call-back interface to inflate for
+ *   programs like gzip and unzip -- uses window as output buffer to avoid
+ *   window copying
+ *
+ * 1.2.beta5    1 Jan 2003
+ * - Improved inflateBack() interface to allow the caller to provide initial
+ *   input in strm.
+ * - Fixed stored blocks bug in inflateBack()
+ *
+ * 1.2.beta6    4 Jan 2003
+ * - Added comments in inffast.c on effectiveness of POSTINC
+ * - Typecasting all around to reduce compiler warnings
+ * - Changed loops from while (1) or do {} while (1) to for (;;), again to
+ *   make compilers happy
+ * - Changed type of window in inflateBackInit() to unsigned char *
+ *
+ * 1.2.beta7    27 Jan 2003
+ * - Changed many types to unsigned or unsigned short to avoid warnings
+ * - Added inflateCopy() function
+ *
+ * 1.2.0        9 Mar 2003
+ * - Changed inflateBack() interface to provide separate opaque descriptors
+ *   for the in() and out() functions
+ * - Changed inflateBack() argument and in_func typedef to swap the length
+ *   and buffer address return values for the input function
+ * - Check next_in and next_out for Z_NULL on entry to inflate()
+ *
+ * The history for versions after 1.2.0 are in ChangeLog in zlib distribution.
+ */
+
+#include "zutil.h"
+#include "inftrees.h"
+#include "inflate.h"
+#include "inffast.h"
+
+#ifdef MAKEFIXED
+#  ifndef BUILDFIXED
+#    define BUILDFIXED
+#  endif
+#endif
+
+/* function prototypes */
+local void fixedtables OF((struct inflate_state FAR *state));
+local int updatewindow OF((z_streamp strm, unsigned out));
+#ifdef BUILDFIXED
+   void makefixed OF((void));
+#endif
+local unsigned syncsearch OF((unsigned FAR *have, unsigned char FAR *buf,
+                              unsigned len));
+
+int ZEXPORT inflateReset(strm)
+z_streamp strm;
+{
+    struct inflate_state FAR *state;
+
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+    state = (struct inflate_state FAR *)strm->state;
+    strm->total_in = strm->total_out = state->total = 0;
+    strm->msg = Z_NULL;
+    strm->adler = 1;        /* to support ill-conceived Java test suite */
+    state->mode = HEAD;
+    state->last = 0;
+    state->havedict = 0;
+    state->dmax = 32768U;
+    state->head = Z_NULL;
+    state->wsize = 0;
+    state->whave = 0;
+    state->write = 0;
+    state->hold = 0;
+    state->bits = 0;
+    state->lencode = state->distcode = state->next = state->codes;
+    Tracev((stderr, "inflate: reset\n"));
+    return Z_OK;
+}
+
+int ZEXPORT inflatePrime(strm, bits, value)
+z_streamp strm;
+int bits;
+int value;
+{
+    struct inflate_state FAR *state;
+
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+    state = (struct inflate_state FAR *)strm->state;
+    if (bits > 16 || state->bits + bits > 32) return Z_STREAM_ERROR;
+    value &= (1L << bits) - 1;
+    state->hold += value << state->bits;
+    state->bits += bits;
+    return Z_OK;
+}
+
+int ZEXPORT inflateInit2_(strm, windowBits, version, stream_size)
+z_streamp strm;
+int windowBits;
+const char *version;
+int stream_size;
+{
+    struct inflate_state FAR *state;
+
+    if (version == Z_NULL || version[0] != ZLIB_VERSION[0] ||
+        stream_size != (int)(sizeof(z_stream)))
+        return Z_VERSION_ERROR;
+    if (strm == Z_NULL) return Z_STREAM_ERROR;
+    strm->msg = Z_NULL;                 /* in case we return an error */
+    if (strm->zalloc == (alloc_func)0) {
+        strm->zalloc = zcalloc;
+        strm->opaque = (voidpf)0;
+    }
+    if (strm->zfree == (free_func)0) strm->zfree = zcfree;
+    state = (struct inflate_state FAR *)
+            ZALLOC(strm, 1, sizeof(struct inflate_state));
+    if (state == Z_NULL) return Z_MEM_ERROR;
+    Tracev((stderr, "inflate: allocated\n"));
+    strm->state = (struct internal_state FAR *)state;
+    if (windowBits < 0) {
+        state->wrap = 0;
+        windowBits = -windowBits;
+    }
+    else {
+        state->wrap = (windowBits >> 4) + 1;
+#ifdef GUNZIP
+        if (windowBits < 48) windowBits &= 15;
+#endif
+    }
+    if (windowBits < 8 || windowBits > 15) {
+        ZFREE(strm, state);
+        strm->state = Z_NULL;
+        return Z_STREAM_ERROR;
+    }
+    state->wbits = (unsigned)windowBits;
+    state->window = Z_NULL;
+    return inflateReset(strm);
+}
+
+int ZEXPORT inflateInit_(strm, version, stream_size)
+z_streamp strm;
+const char *version;
+int stream_size;
+{
+    return inflateInit2_(strm, DEF_WBITS, version, stream_size);
+}
+
+/*
+   Return state with length and distance decoding tables and index sizes set to
+   fixed code decoding.  Normally this returns fixed tables from inffixed.h.
+   If BUILDFIXED is defined, then instead this routine builds the tables the
+   first time it's called, and returns those tables the first time and
+   thereafter.  This reduces the size of the code by about 2K bytes, in
+   exchange for a little execution time.  However, BUILDFIXED should not be
+   used for threaded applications, since the rewriting of the tables and virgin
+   may not be thread-safe.
+ */
+local void fixedtables(state)
+struct inflate_state FAR *state;
+{
+#ifdef BUILDFIXED
+    static int virgin = 1;
+    static code *lenfix, *distfix;
+    static code fixed[544];
+
+    /* build fixed huffman tables if first call (may not be thread safe) */
+    if (virgin) {
+        unsigned sym, bits;
+        static code *next;
+
+        /* literal/length table */
+        sym = 0;
+        while (sym < 144) state->lens[sym++] = 8;
+        while (sym < 256) state->lens[sym++] = 9;
+        while (sym < 280) state->lens[sym++] = 7;
+        while (sym < 288) state->lens[sym++] = 8;
+        next = fixed;
+        lenfix = next;
+        bits = 9;
+        inflate_table(LENS, state->lens, 288, &(next), &(bits), state->work);
+
+        /* distance table */
+        sym = 0;
+        while (sym < 32) state->lens[sym++] = 5;
+        distfix = next;
+        bits = 5;
+        inflate_table(DISTS, state->lens, 32, &(next), &(bits), state->work);
+
+        /* do this just once */
+        virgin = 0;
+    }
+#else /* !BUILDFIXED */
+#   include "inffixed.h"
+#endif /* BUILDFIXED */
+    state->lencode = lenfix;
+    state->lenbits = 9;
+    state->distcode = distfix;
+    state->distbits = 5;
+}
+
+#ifdef MAKEFIXED
+#include <stdio.h>
+
+/*
+   Write out the inffixed.h that is #include'd above.  Defining MAKEFIXED also
+   defines BUILDFIXED, so the tables are built on the fly.  makefixed() writes
+   those tables to stdout, which would be piped to inffixed.h.  A small program
+   can simply call makefixed to do this:
+
+    void makefixed(void);
+
+    int main(void)
+    {
+        makefixed();
+        return 0;
+    }
+
+   Then that can be linked with zlib built with MAKEFIXED defined and run:
+
+    a.out > inffixed.h
+ */
+void makefixed()
+{
+    unsigned low, size;
+    struct inflate_state state;
+
+    fixedtables(&state);
+    puts("    /* inffixed.h -- table for decoding fixed codes");
+    puts("     * Generated automatically by makefixed().");
+    puts("     */");
+    puts("");
+    puts("    /* WARNING: this file should *not* be used by applications.");
+    puts("       It is part of the implementation of this library and is");
+    puts("       subject to change. Applications should only use zlib.h.");
+    puts("     */");
+    puts("");
+    size = 1U << 9;
+    printf("    static const code lenfix[%u] = {", size);
+    low = 0;
+    for (;;) {
+        if ((low % 7) == 0) printf("\n        ");
+        printf("{%u,%u,%d}", state.lencode[low].op, state.lencode[low].bits,
+               state.lencode[low].val);
+        if (++low == size) break;
+        putchar(',');
+    }
+    puts("\n    };");
+    size = 1U << 5;
+    printf("\n    static const code distfix[%u] = {", size);
+    low = 0;
+    for (;;) {
+        if ((low % 6) == 0) printf("\n        ");
+        printf("{%u,%u,%d}", state.distcode[low].op, state.distcode[low].bits,
+               state.distcode[low].val);
+        if (++low == size) break;
+        putchar(',');
+    }
+    puts("\n    };");
+}
+#endif /* MAKEFIXED */
+
+/*
+   Update the window with the last wsize (normally 32K) bytes written before
+   returning.  If window does not exist yet, create it.  This is only called
+   when a window is already in use, or when output has been written during this
+   inflate call, but the end of the deflate stream has not been reached yet.
+   It is also called to create a window for dictionary data when a dictionary
+   is loaded.
+
+   Providing output buffers larger than 32K to inflate() should provide a speed
+   advantage, since only the last 32K of output is copied to the sliding window
+   upon return from inflate(), and since all distances after the first 32K of
+   output will fall in the output data, making match copies simpler and faster.
+   The advantage may be dependent on the size of the processor's data caches.
+ */
+local int updatewindow(strm, out)
+z_streamp strm;
+unsigned out;
+{
+    struct inflate_state FAR *state;
+    unsigned copy, dist;
+
+    state = (struct inflate_state FAR *)strm->state;
+
+    /* if it hasn't been done already, allocate space for the window */
+    if (state->window == Z_NULL) {
+        state->window = (unsigned char FAR *)
+                        ZALLOC(strm, 1U << state->wbits,
+                               sizeof(unsigned char));
+        if (state->window == Z_NULL) return 1;
+    }
+
+    /* if window not in use yet, initialize */
+    if (state->wsize == 0) {
+        state->wsize = 1U << state->wbits;
+        state->write = 0;
+        state->whave = 0;
+    }
+
+    /* copy state->wsize or less output bytes into the circular window */
+    copy = out - strm->avail_out;
+    if (copy >= state->wsize) {
+        zmemcpy(state->window, strm->next_out - state->wsize, state->wsize);
+        state->write = 0;
+        state->whave = state->wsize;
+    }
+    else {
+        dist = state->wsize - state->write;
+        if (dist > copy) dist = copy;
+        zmemcpy(state->window + state->write, strm->next_out - copy, dist);
+        copy -= dist;
+        if (copy) {
+            zmemcpy(state->window, strm->next_out - copy, copy);
+            state->write = copy;
+            state->whave = state->wsize;
+        }
+        else {
+            state->write += dist;
+            if (state->write == state->wsize) state->write = 0;
+            if (state->whave < state->wsize) state->whave += dist;
+        }
+    }
+    return 0;
+}
+
+/* Macros for inflate(): */
+
+/* check function to use adler32() for zlib or crc32() for gzip */
+#ifdef GUNZIP
+#  define UPDATE(check, buf, len) \
+    (state->flags ? crc32(check, buf, len) : adler32(check, buf, len))
+#else
+#  define UPDATE(check, buf, len) adler32(check, buf, len)
+#endif
+
+/* check macros for header crc */
+#ifdef GUNZIP
+#  define CRC2(check, word) \
+    do { \
+        hbuf[0] = (unsigned char)(word); \
+        hbuf[1] = (unsigned char)((word) >> 8); \
+        check = crc32(check, hbuf, 2); \
+    } while (0)
+
+#  define CRC4(check, word) \
+    do { \
+        hbuf[0] = (unsigned char)(word); \
+        hbuf[1] = (unsigned char)((word) >> 8); \
+        hbuf[2] = (unsigned char)((word) >> 16); \
+        hbuf[3] = (unsigned char)((word) >> 24); \
+        check = crc32(check, hbuf, 4); \
+    } while (0)
+#endif
+
+/* Load registers with state in inflate() for speed */
+#define LOAD() \
+    do { \
+        put = strm->next_out; \
+        left = strm->avail_out; \
+        next = strm->next_in; \
+        have = strm->avail_in; \
+        hold = state->hold; \
+        bits = state->bits; \
+    } while (0)
+
+/* Restore state from registers in inflate() */
+#define RESTORE() \
+    do { \
+        strm->next_out = put; \
+        strm->avail_out = left; \
+        strm->next_in = next; \
+        strm->avail_in = have; \
+        state->hold = hold; \
+        state->bits = bits; \
+    } while (0)
+
+/* Clear the input bit accumulator */
+#define INITBITS() \
+    do { \
+        hold = 0; \
+        bits = 0; \
+    } while (0)
+
+/* Get a byte of input into the bit accumulator, or return from inflate()
+   if there is no input available. */
+#define PULLBYTE() \
+    do { \
+        if (have == 0) goto inf_leave; \
+        have--; \
+        hold += (unsigned long)(*next++) << bits; \
+        bits += 8; \
+    } while (0)
+
+/* Assure that there are at least n bits in the bit accumulator.  If there is
+   not enough available input to do that, then return from inflate(). */
+#define NEEDBITS(n) \
+    do { \
+        while (bits < (unsigned)(n)) \
+            PULLBYTE(); \
+    } while (0)
+
+/* Return the low n bits of the bit accumulator (n < 16) */
+#define BITS(n) \
+    ((unsigned)hold & ((1U << (n)) - 1))
+
+/* Remove n bits from the bit accumulator */
+#define DROPBITS(n) \
+    do { \
+        hold >>= (n); \
+        bits -= (unsigned)(n); \
+    } while (0)
+
+/* Remove zero to seven bits as needed to go to a byte boundary */
+#define BYTEBITS() \
+    do { \
+        hold >>= bits & 7; \
+        bits -= bits & 7; \
+    } while (0)
+
+/* Reverse the bytes in a 32-bit value */
+#define REVERSE(q) \
+    ((((q) >> 24) & 0xff) + (((q) >> 8) & 0xff00) + \
+     (((q) & 0xff00) << 8) + (((q) & 0xff) << 24))
+
+/*
+   inflate() uses a state machine to process as much input data and generate as
+   much output data as possible before returning.  The state machine is
+   structured roughly as follows:
+
+    for (;;) switch (state) {
+    ...
+    case STATEn:
+        if (not enough input data or output space to make progress)
+            return;
+        ... make progress ...
+        state = STATEm;
+        break;
+    ...
+    }
+
+   so when inflate() is called again, the same case is attempted again, and
+   if the appropriate resources are provided, the machine proceeds to the
+   next state.  The NEEDBITS() macro is usually the way the state evaluates
+   whether it can proceed or should return.  NEEDBITS() does the return if
+   the requested bits are not available.  The typical use of the BITS macros
+   is:
+
+        NEEDBITS(n);
+        ... do something with BITS(n) ...
+        DROPBITS(n);
+
+   where NEEDBITS(n) either returns from inflate() if there isn't enough
+   input left to load n bits into the accumulator, or it continues.  BITS(n)
+   gives the low n bits in the accumulator.  When done, DROPBITS(n) drops
+   the low n bits off the accumulator.  INITBITS() clears the accumulator
+   and sets the number of available bits to zero.  BYTEBITS() discards just
+   enough bits to put the accumulator on a byte boundary.  After BYTEBITS()
+   and a NEEDBITS(8), then BITS(8) would return the next byte in the stream.
+
+   NEEDBITS(n) uses PULLBYTE() to get an available byte of input, or to return
+   if there is no input available.  The decoding of variable length codes uses
+   PULLBYTE() directly in order to pull just enough bytes to decode the next
+   code, and no more.
+
+   Some states loop until they get enough input, making sure that enough
+   state information is maintained to continue the loop where it left off
+   if NEEDBITS() returns in the loop.  For example, want, need, and keep
+   would all have to actually be part of the saved state in case NEEDBITS()
+   returns:
+
+    case STATEw:
+        while (want < need) {
+            NEEDBITS(n);
+            keep[want++] = BITS(n);
+            DROPBITS(n);
+        }
+        state = STATEx;
+    case STATEx:
+
+   As shown above, if the next state is also the next case, then the break
+   is omitted.
+
+   A state may also return if there is not enough output space available to
+   complete that state.  Those states are copying stored data, writing a
+   literal byte, and copying a matching string.
+
+   When returning, a "goto inf_leave" is used to update the total counters,
+   update the check value, and determine whether any progress has been made
+   during that inflate() call in order to return the proper return code.
+   Progress is defined as a change in either strm->avail_in or strm->avail_out.
+   When there is a window, goto inf_leave will update the window with the last
+   output written.  If a goto inf_leave occurs in the middle of decompression
+   and there is no window currently, goto inf_leave will create one and copy
+   output to the window for the next call of inflate().
+
+   In this implementation, the flush parameter of inflate() only affects the
+   return code (per zlib.h).  inflate() always writes as much as possible to
+   strm->next_out, given the space available and the provided input--the effect
+   documented in zlib.h of Z_SYNC_FLUSH.  Furthermore, inflate() always defers
+   the allocation of and copying into a sliding window until necessary, which
+   provides the effect documented in zlib.h for Z_FINISH when the entire input
+   stream available.  So the only thing the flush parameter actually does is:
+   when flush is set to Z_FINISH, inflate() cannot return Z_OK.  Instead it
+   will return Z_BUF_ERROR if it has not reached the end of the stream.
+ */
+
+int ZEXPORT inflate(strm, flush)
+z_streamp strm;
+int flush;
+{
+    struct inflate_state FAR *state;
+    unsigned char FAR *next;    /* next input */
+    unsigned char FAR *put;     /* next output */
+    unsigned have, left;        /* available input and output */
+    unsigned long hold;         /* bit buffer */
+    unsigned bits;              /* bits in bit buffer */
+    unsigned in, out;           /* save starting available input and output */
+    unsigned copy;              /* number of stored or match bytes to copy */
+    unsigned char FAR *from;    /* where to copy match bytes from */
+    code this;                  /* current decoding table entry */
+    code last;                  /* parent table entry */
+    unsigned len;               /* length to copy for repeats, bits to drop */
+    int ret;                    /* return code */
+#ifdef GUNZIP
+    unsigned char hbuf[4];      /* buffer for gzip header crc calculation */
+#endif
+    static const unsigned short order[19] = /* permutation of code lengths */
+        {16, 17, 18, 0, 8, 7, 9, 6, 10, 5, 11, 4, 12, 3, 13, 2, 14, 1, 15};
+
+    if (strm == Z_NULL || strm->state == Z_NULL || strm->next_out == Z_NULL ||
+        (strm->next_in == Z_NULL && strm->avail_in != 0))
+        return Z_STREAM_ERROR;
+
+    state = (struct inflate_state FAR *)strm->state;
+    if (state->mode == TYPE) state->mode = TYPEDO;      /* skip check */
+    LOAD();
+    in = have;
+    out = left;
+    ret = Z_OK;
+    for (;;)
+        switch (state->mode) {
+        case HEAD:
+            if (state->wrap == 0) {
+                state->mode = TYPEDO;
+                break;
+            }
+            NEEDBITS(16);
+#ifdef GUNZIP
+            if ((state->wrap & 2) && hold == 0x8b1f) {  /* gzip header */
+                state->check = crc32(0L, Z_NULL, 0);
+                CRC2(state->check, hold);
+                INITBITS();
+                state->mode = FLAGS;
+                break;
+            }
+            state->flags = 0;           /* expect zlib header */
+            if (state->head != Z_NULL)
+                state->head->done = -1;
+            if (!(state->wrap & 1) ||   /* check if zlib header allowed */
+#else
+            if (
+#endif
+                ((BITS(8) << 8) + (hold >> 8)) % 31) {
+                strm->msg = (char *)"incorrect header check";
+                state->mode = BAD;
+                break;
+            }
+            if (BITS(4) != Z_DEFLATED) {
+                strm->msg = (char *)"unknown compression method";
+                state->mode = BAD;
+                break;
+            }
+            DROPBITS(4);
+            len = BITS(4) + 8;
+            if (len > state->wbits) {
+                strm->msg = (char *)"invalid window size";
+                state->mode = BAD;
+                break;
+            }
+            state->dmax = 1U << len;
+            Tracev((stderr, "inflate:   zlib header ok\n"));
+            strm->adler = state->check = adler32(0L, Z_NULL, 0);
+            state->mode = hold & 0x200 ? DICTID : TYPE;
+            INITBITS();
+            break;
+#ifdef GUNZIP
+        case FLAGS:
+            NEEDBITS(16);
+            state->flags = (int)(hold);
+            if ((state->flags & 0xff) != Z_DEFLATED) {
+                strm->msg = (char *)"unknown compression method";
+                state->mode = BAD;
+                break;
+            }
+            if (state->flags & 0xe000) {
+                strm->msg = (char *)"unknown header flags set";
+                state->mode = BAD;
+                break;
+            }
+            if (state->head != Z_NULL)
+                state->head->text = (int)((hold >> 8) & 1);
+            if (state->flags & 0x0200) CRC2(state->check, hold);
+            INITBITS();
+            state->mode = TIME;
+        case TIME:
+            NEEDBITS(32);
+            if (state->head != Z_NULL)
+                state->head->time = hold;
+            if (state->flags & 0x0200) CRC4(state->check, hold);
+            INITBITS();
+            state->mode = OS;
+        case OS:
+            NEEDBITS(16);
+            if (state->head != Z_NULL) {
+                state->head->xflags = (int)(hold & 0xff);
+                state->head->os = (int)(hold >> 8);
+            }
+            if (state->flags & 0x0200) CRC2(state->check, hold);
+            INITBITS();
+            state->mode = EXLEN;
+        case EXLEN:
+            if (state->flags & 0x0400) {
+                NEEDBITS(16);
+                state->length = (unsigned)(hold);
+                if (state->head != Z_NULL)
+                    state->head->extra_len = (unsigned)hold;
+                if (state->flags & 0x0200) CRC2(state->check, hold);
+                INITBITS();
+            }
+            else if (state->head != Z_NULL)
+                state->head->extra = Z_NULL;
+            state->mode = EXTRA;
+        case EXTRA:
+            if (state->flags & 0x0400) {
+                copy = state->length;
+                if (copy > have) copy = have;
+                if (copy) {
+                    if (state->head != Z_NULL &&
+                        state->head->extra != Z_NULL) {
+                        len = state->head->extra_len - state->length;
+                        zmemcpy(state->head->extra + len, next,
+                                len + copy > state->head->extra_max ?
+                                state->head->extra_max - len : copy);
+                    }
+                    if (state->flags & 0x0200)
+                        state->check = crc32(state->check, next, copy);
+                    have -= copy;
+                    next += copy;
+                    state->length -= copy;
+                }
+                if (state->length) goto inf_leave;
+            }
+            state->length = 0;
+            state->mode = NAME;
+        case NAME:
+            if (state->flags & 0x0800) {
+                if (have == 0) goto inf_leave;
+                copy = 0;
+                do {
+                    len = (unsigned)(next[copy++]);
+                    if (state->head != Z_NULL &&
+                            state->head->name != Z_NULL &&
+                            state->length < state->head->name_max)
+                        state->head->name[state->length++] = len;
+                } while (len && copy < have);
+                if (state->flags & 0x0200)
+                    state->check = crc32(state->check, next, copy);
+                have -= copy;
+                next += copy;
+                if (len) goto inf_leave;
+            }
+            else if (state->head != Z_NULL)
+                state->head->name = Z_NULL;
+            state->length = 0;
+            state->mode = COMMENT;
+        case COMMENT:
+            if (state->flags & 0x1000) {
+                if (have == 0) goto inf_leave;
+                copy = 0;
+                do {
+                    len = (unsigned)(next[copy++]);
+                    if (state->head != Z_NULL &&
+                            state->head->comment != Z_NULL &&
+                            state->length < state->head->comm_max)
+                        state->head->comment[state->length++] = len;
+                } while (len && copy < have);
+                if (state->flags & 0x0200)
+                    state->check = crc32(state->check, next, copy);
+                have -= copy;
+                next += copy;
+                if (len) goto inf_leave;
+            }
+            else if (state->head != Z_NULL)
+                state->head->comment = Z_NULL;
+            state->mode = HCRC;
+        case HCRC:
+            if (state->flags & 0x0200) {
+                NEEDBITS(16);
+                if (hold != (state->check & 0xffff)) {
+                    strm->msg = (char *)"header crc mismatch";
+                    state->mode = BAD;
+                    break;
+                }
+                INITBITS();
+            }
+            if (state->head != Z_NULL) {
+                state->head->hcrc = (int)((state->flags >> 9) & 1);
+                state->head->done = 1;
+            }
+            strm->adler = state->check = crc32(0L, Z_NULL, 0);
+            state->mode = TYPE;
+            break;
+#endif
+        case DICTID:
+            NEEDBITS(32);
+            strm->adler = state->check = REVERSE(hold);
+            INITBITS();
+            state->mode = DICT;
+        case DICT:
+            if (state->havedict == 0) {
+                RESTORE();
+                return Z_NEED_DICT;
+            }
+            strm->adler = state->check = adler32(0L, Z_NULL, 0);
+            state->mode = TYPE;
+        case TYPE:
+            if (flush == Z_BLOCK) goto inf_leave;
+        case TYPEDO:
+            if (state->last) {
+                BYTEBITS();
+                state->mode = CHECK;
+                break;
+            }
+            NEEDBITS(3);
+            state->last = BITS(1);
+            DROPBITS(1);
+            switch (BITS(2)) {
+            case 0:                             /* stored block */
+                Tracev((stderr, "inflate:     stored block%s\n",
+                        state->last ? " (last)" : ""));
+                state->mode = STORED;
+                break;
+            case 1:                             /* fixed block */
+                fixedtables(state);
+                Tracev((stderr, "inflate:     fixed codes block%s\n",
+                        state->last ? " (last)" : ""));
+                state->mode = LEN;              /* decode codes */
+                break;
+            case 2:                             /* dynamic block */
+                Tracev((stderr, "inflate:     dynamic codes block%s\n",
+                        state->last ? " (last)" : ""));
+                state->mode = TABLE;
+                break;
+            case 3:
+                strm->msg = (char *)"invalid block type";
+                state->mode = BAD;
+            }
+            DROPBITS(2);
+            break;
+        case STORED:
+            BYTEBITS();                         /* go to byte boundary */
+            NEEDBITS(32);
+            if ((hold & 0xffff) != ((hold >> 16) ^ 0xffff)) {
+                strm->msg = (char *)"invalid stored block lengths";
+                state->mode = BAD;
+                break;
+            }
+            state->length = (unsigned)hold & 0xffff;
+            Tracev((stderr, "inflate:       stored length %u\n",
+                    state->length));
+            INITBITS();
+            state->mode = COPY;
+        case COPY:
+            copy = state->length;
+            if (copy) {
+                if (copy > have) copy = have;
+                if (copy > left) copy = left;
+                if (copy == 0) goto inf_leave;
+                zmemcpy(put, next, copy);
+                have -= copy;
+                next += copy;
+                left -= copy;
+                put += copy;
+                state->length -= copy;
+                break;
+            }
+            Tracev((stderr, "inflate:       stored end\n"));
+            state->mode = TYPE;
+            break;
+        case TABLE:
+            NEEDBITS(14);
+            state->nlen = BITS(5) + 257;
+            DROPBITS(5);
+            state->ndist = BITS(5) + 1;
+            DROPBITS(5);
+            state->ncode = BITS(4) + 4;
+            DROPBITS(4);
+#ifndef PKZIP_BUG_WORKAROUND
+            if (state->nlen > 286 || state->ndist > 30) {
+                strm->msg = (char *)"too many length or distance symbols";
+                state->mode = BAD;
+                break;
+            }
+#endif
+            Tracev((stderr, "inflate:       table sizes ok\n"));
+            state->have = 0;
+            state->mode = LENLENS;
+        case LENLENS:
+            while (state->have < state->ncode) {
+                NEEDBITS(3);
+                state->lens[order[state->have++]] = (unsigned short)BITS(3);
+                DROPBITS(3);
+            }
+            while (state->have < 19)
+                state->lens[order[state->have++]] = 0;
+            state->next = state->codes;
+            state->lencode = (code const FAR *)(state->next);
+            state->lenbits = 7;
+            ret = inflate_table(CODES, state->lens, 19, &(state->next),
+                                &(state->lenbits), state->work);
+            if (ret) {
+                strm->msg = (char *)"invalid code lengths set";
+                state->mode = BAD;
+                break;
+            }
+            Tracev((stderr, "inflate:       code lengths ok\n"));
+            state->have = 0;
+            state->mode = CODELENS;
+        case CODELENS:
+            while (state->have < state->nlen + state->ndist) {
+                for (;;) {
+                    this = state->lencode[BITS(state->lenbits)];
+                    if ((unsigned)(this.bits) <= bits) break;
+                    PULLBYTE();
+                }
+                if (this.val < 16) {
+                    NEEDBITS(this.bits);
+                    DROPBITS(this.bits);
+                    state->lens[state->have++] = this.val;
+                }
+                else {
+                    if (this.val == 16) {
+                        NEEDBITS(this.bits + 2);
+                        DROPBITS(this.bits);
+                        if (state->have == 0) {
+                            strm->msg = (char *)"invalid bit length repeat";
+                            state->mode = BAD;
+                            break;
+                        }
+                        len = state->lens[state->have - 1];
+                        copy = 3 + BITS(2);
+                        DROPBITS(2);
+                    }
+                    else if (this.val == 17) {
+                        NEEDBITS(this.bits + 3);
+                        DROPBITS(this.bits);
+                        len = 0;
+                        copy = 3 + BITS(3);
+                        DROPBITS(3);
+                    }
+                    else {
+                        NEEDBITS(this.bits + 7);
+                        DROPBITS(this.bits);
+                        len = 0;
+                        copy = 11 + BITS(7);
+                        DROPBITS(7);
+                    }
+                    if (state->have + copy > state->nlen + state->ndist) {
+                        strm->msg = (char *)"invalid bit length repeat";
+                        state->mode = BAD;
+                        break;
+                    }
+                    while (copy--)
+                        state->lens[state->have++] = (unsigned short)len;
+                }
+            }
+
+            /* handle error breaks in while */
+            if (state->mode == BAD) break;
+
+            /* build code tables */
+            state->next = state->codes;
+            state->lencode = (code const FAR *)(state->next);
+            state->lenbits = 9;
+            ret = inflate_table(LENS, state->lens, state->nlen, &(state->next),
+                                &(state->lenbits), state->work);
+            if (ret) {
+                strm->msg = (char *)"invalid literal/lengths set";
+                state->mode = BAD;
+                break;
+            }
+            state->distcode = (code const FAR *)(state->next);
+            state->distbits = 6;
+            ret = inflate_table(DISTS, state->lens + state->nlen, state->ndist,
+                            &(state->next), &(state->distbits), state->work);
+            if (ret) {
+                strm->msg = (char *)"invalid distances set";
+                state->mode = BAD;
+                break;
+            }
+            Tracev((stderr, "inflate:       codes ok\n"));
+            state->mode = LEN;
+        case LEN:
+            if (have >= 6 && left >= 258) {
+                RESTORE();
+                inflate_fast(strm, out);
+                LOAD();
+                break;
+            }
+            for (;;) {
+                this = state->lencode[BITS(state->lenbits)];
+                if ((unsigned)(this.bits) <= bits) break;
+                PULLBYTE();
+            }
+            if (this.op && (this.op & 0xf0) == 0) {
+                last = this;
+                for (;;) {
+                    this = state->lencode[last.val +
+                            (BITS(last.bits + last.op) >> last.bits)];
+                    if ((unsigned)(last.bits + this.bits) <= bits) break;
+                    PULLBYTE();
+                }
+                DROPBITS(last.bits);
+            }
+            DROPBITS(this.bits);
+            state->length = (unsigned)this.val;
+            if ((int)(this.op) == 0) {
+                Tracevv((stderr, this.val >= 0x20 && this.val < 0x7f ?
+                        "inflate:         literal '%c'\n" :
+                        "inflate:         literal 0x%02x\n", this.val));
+                state->mode = LIT;
+                break;
+            }
+            if (this.op & 32) {
+                Tracevv((stderr, "inflate:         end of block\n"));
+                state->mode = TYPE;
+                break;
+            }
+            if (this.op & 64) {
+                strm->msg = (char *)"invalid literal/length code";
+                state->mode = BAD;
+                break;
+            }
+            state->extra = (unsigned)(this.op) & 15;
+            state->mode = LENEXT;
+        case LENEXT:
+            if (state->extra) {
+                NEEDBITS(state->extra);
+                state->length += BITS(state->extra);
+                DROPBITS(state->extra);
+            }
+            Tracevv((stderr, "inflate:         length %u\n", state->length));
+            state->mode = DIST;
+        case DIST:
+            for (;;) {
+                this = state->distcode[BITS(state->distbits)];
+                if ((unsigned)(this.bits) <= bits) break;
+                PULLBYTE();
+            }
+            if ((this.op & 0xf0) == 0) {
+                last = this;
+                for (;;) {
+                    this = state->distcode[last.val +
+                            (BITS(last.bits + last.op) >> last.bits)];
+                    if ((unsigned)(last.bits + this.bits) <= bits) break;
+                    PULLBYTE();
+                }
+                DROPBITS(last.bits);
+            }
+            DROPBITS(this.bits);
+            if (this.op & 64) {
+                strm->msg = (char *)"invalid distance code";
+                state->mode = BAD;
+                break;
+            }
+            state->offset = (unsigned)this.val;
+            state->extra = (unsigned)(this.op) & 15;
+            state->mode = DISTEXT;
+        case DISTEXT:
+            if (state->extra) {
+                NEEDBITS(state->extra);
+                state->offset += BITS(state->extra);
+                DROPBITS(state->extra);
+            }
+#ifdef INFLATE_STRICT
+            if (state->offset > state->dmax) {
+                strm->msg = (char *)"invalid distance too far back";
+                state->mode = BAD;
+                break;
+            }
+#endif
+            if (state->offset > state->whave + out - left) {
+                strm->msg = (char *)"invalid distance too far back";
+                state->mode = BAD;
+                break;
+            }
+            Tracevv((stderr, "inflate:         distance %u\n", state->offset));
+            state->mode = MATCH;
+        case MATCH:
+            if (left == 0) goto inf_leave;
+            copy = out - left;
+            if (state->offset > copy) {         /* copy from window */
+                copy = state->offset - copy;
+                if (copy > state->write) {
+                    copy -= state->write;
+                    from = state->window + (state->wsize - copy);
+                }
+                else
+                    from = state->window + (state->write - copy);
+                if (copy > state->length) copy = state->length;
+            }
+            else {                              /* copy from output */
+                from = put - state->offset;
+                copy = state->length;
+            }
+            if (copy > left) copy = left;
+            left -= copy;
+            state->length -= copy;
+            do {
+                *put++ = *from++;
+            } while (--copy);
+            if (state->length == 0) state->mode = LEN;
+            break;
+        case LIT:
+            if (left == 0) goto inf_leave;
+            *put++ = (unsigned char)(state->length);
+            left--;
+            state->mode = LEN;
+            break;
+        case CHECK:
+            if (state->wrap) {
+                NEEDBITS(32);
+                out -= left;
+                strm->total_out += out;
+                state->total += out;
+                if (out)
+                    strm->adler = state->check =
+                        UPDATE(state->check, put - out, out);
+                out = left;
+                if ((
+#ifdef GUNZIP
+                     state->flags ? hold :
+#endif
+                     REVERSE(hold)) != state->check) {
+                    strm->msg = (char *)"incorrect data check";
+                    state->mode = BAD;
+                    break;
+                }
+                INITBITS();
+                Tracev((stderr, "inflate:   check matches trailer\n"));
+            }
+#ifdef GUNZIP
+            state->mode = LENGTH;
+        case LENGTH:
+            if (state->wrap && state->flags) {
+                NEEDBITS(32);
+                if (hold != (state->total & 0xffffffffUL)) {
+                    strm->msg = (char *)"incorrect length check";
+                    state->mode = BAD;
+                    break;
+                }
+                INITBITS();
+                Tracev((stderr, "inflate:   length matches trailer\n"));
+            }
+#endif
+            state->mode = DONE;
+        case DONE:
+            ret = Z_STREAM_END;
+            goto inf_leave;
+        case BAD:
+            ret = Z_DATA_ERROR;
+            goto inf_leave;
+        case MEM:
+            return Z_MEM_ERROR;
+        case SYNC:
+        default:
+            return Z_STREAM_ERROR;
+        }
+
+    /*
+       Return from inflate(), updating the total counts and the check value.
+       If there was no progress during the inflate() call, return a buffer
+       error.  Call updatewindow() to create and/or update the window state.
+       Note: a memory error from inflate() is non-recoverable.
+     */
+  inf_leave:
+    RESTORE();
+    if (state->wsize || (state->mode < CHECK && out != strm->avail_out))
+        if (updatewindow(strm, out)) {
+            state->mode = MEM;
+            return Z_MEM_ERROR;
+        }
+    in -= strm->avail_in;
+    out -= strm->avail_out;
+    strm->total_in += in;
+    strm->total_out += out;
+    state->total += out;
+    if (state->wrap && out)
+        strm->adler = state->check =
+            UPDATE(state->check, strm->next_out - out, out);
+    strm->data_type = state->bits + (state->last ? 64 : 0) +
+                      (state->mode == TYPE ? 128 : 0);
+    if (((in == 0 && out == 0) || flush == Z_FINISH) && ret == Z_OK)
+        ret = Z_BUF_ERROR;
+    return ret;
+}
+
+int ZEXPORT inflateEnd(strm)
+z_streamp strm;
+{
+    struct inflate_state FAR *state;
+    if (strm == Z_NULL || strm->state == Z_NULL || strm->zfree == (free_func)0)
+        return Z_STREAM_ERROR;
+    state = (struct inflate_state FAR *)strm->state;
+    if (state->window != Z_NULL) ZFREE(strm, state->window);
+    ZFREE(strm, strm->state);
+    strm->state = Z_NULL;
+    Tracev((stderr, "inflate: end\n"));
+    return Z_OK;
+}
+
+int ZEXPORT inflateSetDictionary(strm, dictionary, dictLength)
+z_streamp strm;
+const Bytef *dictionary;
+uInt dictLength;
+{
+    struct inflate_state FAR *state;
+    unsigned long id;
+
+    /* check state */
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+    state = (struct inflate_state FAR *)strm->state;
+    if (state->wrap != 0 && state->mode != DICT)
+        return Z_STREAM_ERROR;
+
+    /* check for correct dictionary id */
+    if (state->mode == DICT) {
+        id = adler32(0L, Z_NULL, 0);
+        id = adler32(id, dictionary, dictLength);
+        if (id != state->check)
+            return Z_DATA_ERROR;
+    }
+
+    /* copy dictionary to window */
+    if (updatewindow(strm, strm->avail_out)) {
+        state->mode = MEM;
+        return Z_MEM_ERROR;
+    }
+    if (dictLength > state->wsize) {
+        zmemcpy(state->window, dictionary + dictLength - state->wsize,
+                state->wsize);
+        state->whave = state->wsize;
+    }
+    else {
+        zmemcpy(state->window + state->wsize - dictLength, dictionary,
+                dictLength);
+        state->whave = dictLength;
+    }
+    state->havedict = 1;
+    Tracev((stderr, "inflate:   dictionary set\n"));
+    return Z_OK;
+}
+
+int ZEXPORT inflateGetHeader(strm, head)
+z_streamp strm;
+gz_headerp head;
+{
+    struct inflate_state FAR *state;
+
+    /* check state */
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+    state = (struct inflate_state FAR *)strm->state;
+    if ((state->wrap & 2) == 0) return Z_STREAM_ERROR;
+
+    /* save header structure */
+    state->head = head;
+    head->done = 0;
+    return Z_OK;
+}
+
+/*
+   Search buf[0..len-1] for the pattern: 0, 0, 0xff, 0xff.  Return when found
+   or when out of input.  When called, *have is the number of pattern bytes
+   found in order so far, in 0..3.  On return *have is updated to the new
+   state.  If on return *have equals four, then the pattern was found and the
+   return value is how many bytes were read including the last byte of the
+   pattern.  If *have is less than four, then the pattern has not been found
+   yet and the return value is len.  In the latter case, syncsearch() can be
+   called again with more data and the *have state.  *have is initialized to
+   zero for the first call.
+ */
+local unsigned syncsearch(have, buf, len)
+unsigned FAR *have;
+unsigned char FAR *buf;
+unsigned len;
+{
+    unsigned got;
+    unsigned next;
+
+    got = *have;
+    next = 0;
+    while (next < len && got < 4) {
+        if ((int)(buf[next]) == (got < 2 ? 0 : 0xff))
+            got++;
+        else if (buf[next])
+            got = 0;
+        else
+            got = 4 - got;
+        next++;
+    }
+    *have = got;
+    return next;
+}
+
+int ZEXPORT inflateSync(strm)
+z_streamp strm;
+{
+    unsigned len;               /* number of bytes to look at or looked at */
+    unsigned long in, out;      /* temporary to save total_in and total_out */
+    unsigned char buf[4];       /* to restore bit buffer to byte string */
+    struct inflate_state FAR *state;
+
+    /* check parameters */
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+    state = (struct inflate_state FAR *)strm->state;
+    if (strm->avail_in == 0 && state->bits < 8) return Z_BUF_ERROR;
+
+    /* if first time, start search in bit buffer */
+    if (state->mode != SYNC) {
+        state->mode = SYNC;
+        state->hold <<= state->bits & 7;
+        state->bits -= state->bits & 7;
+        len = 0;
+        while (state->bits >= 8) {
+            buf[len++] = (unsigned char)(state->hold);
+            state->hold >>= 8;
+            state->bits -= 8;
+        }
+        state->have = 0;
+        syncsearch(&(state->have), buf, len);
+    }
+
+    /* search available input */
+    len = syncsearch(&(state->have), strm->next_in, strm->avail_in);
+    strm->avail_in -= len;
+    strm->next_in += len;
+    strm->total_in += len;
+
+    /* return no joy or set up to restart inflate() on a new block */
+    if (state->have != 4) return Z_DATA_ERROR;
+    in = strm->total_in;  out = strm->total_out;
+    inflateReset(strm);
+    strm->total_in = in;  strm->total_out = out;
+    state->mode = TYPE;
+    return Z_OK;
+}
+
+/*
+   Returns true if inflate is currently at the end of a block generated by
+   Z_SYNC_FLUSH or Z_FULL_FLUSH. This function is used by one PPP
+   implementation to provide an additional safety check. PPP uses
+   Z_SYNC_FLUSH but removes the length bytes of the resulting empty stored
+   block. When decompressing, PPP checks that at the end of input packet,
+   inflate is waiting for these length bytes.
+ */
+int ZEXPORT inflateSyncPoint(strm)
+z_streamp strm;
+{
+    struct inflate_state FAR *state;
+
+    if (strm == Z_NULL || strm->state == Z_NULL) return Z_STREAM_ERROR;
+    state = (struct inflate_state FAR *)strm->state;
+    return state->mode == STORED && state->bits == 0;
+}
+
+int ZEXPORT inflateCopy(dest, source)
+z_streamp dest;
+z_streamp source;
+{
+    struct inflate_state FAR *state;
+    struct inflate_state FAR *copy;
+    unsigned char FAR *window;
+    unsigned wsize;
+
+    /* check input */
+    if (dest == Z_NULL || source == Z_NULL || source->state == Z_NULL ||
+        source->zalloc == (alloc_func)0 || source->zfree == (free_func)0)
+        return Z_STREAM_ERROR;
+    state = (struct inflate_state FAR *)source->state;
+
+    /* allocate space */
+    copy = (struct inflate_state FAR *)
+           ZALLOC(source, 1, sizeof(struct inflate_state));
+    if (copy == Z_NULL) return Z_MEM_ERROR;
+    window = Z_NULL;
+    if (state->window != Z_NULL) {
+        window = (unsigned char FAR *)
+                 ZALLOC(source, 1U << state->wbits, sizeof(unsigned char));
+        if (window == Z_NULL) {
+            ZFREE(source, copy);
+            return Z_MEM_ERROR;
+        }
+    }
+
+    /* copy state */
+    zmemcpy(dest, source, sizeof(z_stream));
+    zmemcpy(copy, state, sizeof(struct inflate_state));
+    if (state->lencode >= state->codes &&
+        state->lencode <= state->codes + ENOUGH - 1) {
+        copy->lencode = copy->codes + (state->lencode - state->codes);
+        copy->distcode = copy->codes + (state->distcode - state->codes);
+    }
+    copy->next = copy->codes + (state->next - state->codes);
+    if (window != Z_NULL) {
+        wsize = 1U << state->wbits;
+        zmemcpy(window, state->window, wsize);
+    }
+    copy->window = window;
+    dest->state = (struct internal_state FAR *)copy;
+    return Z_OK;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inflate.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inflate.h
new file mode 100755
index 0000000..07bd3e7
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inflate.h
@@ -0,0 +1,115 @@
+/* inflate.h -- internal inflate state definition
+ * Copyright (C) 1995-2004 Mark Adler
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* WARNING: this file should *not* be used by applications. It is
+   part of the implementation of the compression library and is
+   subject to change. Applications should only use zlib.h.
+ */
+
+/* define NO_GZIP when compiling if you want to disable gzip header and
+   trailer decoding by inflate().  NO_GZIP would be used to avoid linking in
+   the crc code when it is not needed.  For shared libraries, gzip decoding
+   should be left enabled. */
+#ifndef NO_GZIP
+#  define GUNZIP
+#endif
+
+/* Possible inflate modes between inflate() calls */
+typedef enum {
+    HEAD,       /* i: waiting for magic header */
+    FLAGS,      /* i: waiting for method and flags (gzip) */
+    TIME,       /* i: waiting for modification time (gzip) */
+    OS,         /* i: waiting for extra flags and operating system (gzip) */
+    EXLEN,      /* i: waiting for extra length (gzip) */
+    EXTRA,      /* i: waiting for extra bytes (gzip) */
+    NAME,       /* i: waiting for end of file name (gzip) */
+    COMMENT,    /* i: waiting for end of comment (gzip) */
+    HCRC,       /* i: waiting for header crc (gzip) */
+    DICTID,     /* i: waiting for dictionary check value */
+    DICT,       /* waiting for inflateSetDictionary() call */
+        TYPE,       /* i: waiting for type bits, including last-flag bit */
+        TYPEDO,     /* i: same, but skip check to exit inflate on new block */
+        STORED,     /* i: waiting for stored size (length and complement) */
+        COPY,       /* i/o: waiting for input or output to copy stored block */
+        TABLE,      /* i: waiting for dynamic block table lengths */
+        LENLENS,    /* i: waiting for code length code lengths */
+        CODELENS,   /* i: waiting for length/lit and distance code lengths */
+            LEN,        /* i: waiting for length/lit code */
+            LENEXT,     /* i: waiting for length extra bits */
+            DIST,       /* i: waiting for distance code */
+            DISTEXT,    /* i: waiting for distance extra bits */
+            MATCH,      /* o: waiting for output space to copy string */
+            LIT,        /* o: waiting for output space to write literal */
+    CHECK,      /* i: waiting for 32-bit check value */
+    LENGTH,     /* i: waiting for 32-bit length (gzip) */
+    DONE,       /* finished check, done -- remain here until reset */
+    BAD,        /* got a data error -- remain here until reset */
+    MEM,        /* got an inflate() memory error -- remain here until reset */
+    SYNC        /* looking for synchronization bytes to restart inflate() */
+} inflate_mode;
+
+/*
+    State transitions between above modes -
+
+    (most modes can go to the BAD or MEM mode -- not shown for clarity)
+
+    Process header:
+        HEAD -> (gzip) or (zlib)
+        (gzip) -> FLAGS -> TIME -> OS -> EXLEN -> EXTRA -> NAME
+        NAME -> COMMENT -> HCRC -> TYPE
+        (zlib) -> DICTID or TYPE
+        DICTID -> DICT -> TYPE
+    Read deflate blocks:
+            TYPE -> STORED or TABLE or LEN or CHECK
+            STORED -> COPY -> TYPE
+            TABLE -> LENLENS -> CODELENS -> LEN
+    Read deflate codes:
+                LEN -> LENEXT or LIT or TYPE
+                LENEXT -> DIST -> DISTEXT -> MATCH -> LEN
+                LIT -> LEN
+    Process trailer:
+        CHECK -> LENGTH -> DONE
+ */
+
+/* state maintained between inflate() calls.  Approximately 7K bytes. */
+struct inflate_state {
+    inflate_mode mode;          /* current inflate mode */
+    int last;                   /* true if processing last block */
+    int wrap;                   /* bit 0 true for zlib, bit 1 true for gzip */
+    int havedict;               /* true if dictionary provided */
+    int flags;                  /* gzip header method and flags (0 if zlib) */
+    unsigned dmax;              /* zlib header max distance (INFLATE_STRICT) */
+    unsigned long check;        /* protected copy of check value */
+    unsigned long total;        /* protected copy of output count */
+    gz_headerp head;            /* where to save gzip header information */
+        /* sliding window */
+    unsigned wbits;             /* log base 2 of requested window size */
+    unsigned wsize;             /* window size or zero if not using window */
+    unsigned whave;             /* valid bytes in the window */
+    unsigned write;             /* window write index */
+    unsigned char FAR *window;  /* allocated sliding window, if needed */
+        /* bit accumulator */
+    unsigned long hold;         /* input bit accumulator */
+    unsigned bits;              /* number of bits in "in" */
+        /* for string and stored block copying */
+    unsigned length;            /* literal or length of data to copy */
+    unsigned offset;            /* distance back to copy string from */
+        /* for table and code decoding */
+    unsigned extra;             /* extra bits needed */
+        /* fixed and dynamic code tables */
+    code const FAR *lencode;    /* starting table for length/literal codes */
+    code const FAR *distcode;   /* starting table for distance codes */
+    unsigned lenbits;           /* index bits for lencode */
+    unsigned distbits;          /* index bits for distcode */
+        /* dynamic table building */
+    unsigned ncode;             /* number of code length code lengths */
+    unsigned nlen;              /* number of length code lengths */
+    unsigned ndist;             /* number of distance code lengths */
+    unsigned have;              /* number of code lengths in lens[] */
+    code FAR *next;             /* next available space in codes[] */
+    unsigned short lens[320];   /* temporary storage for code lengths */
+    unsigned short work[288];   /* work area for code table building */
+    code codes[ENOUGH];         /* space for code tables */
+};
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inftrees.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inftrees.c
new file mode 100755
index 0000000..8a9c13f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inftrees.c
@@ -0,0 +1,329 @@
+/* inftrees.c -- generate Huffman trees for efficient decoding
+ * Copyright (C) 1995-2005 Mark Adler
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+#include "zutil.h"
+#include "inftrees.h"
+
+#define MAXBITS 15
+
+const char inflate_copyright[] =
+   " inflate 1.2.3 Copyright 1995-2005 Mark Adler ";
+/*
+  If you use the zlib library in a product, an acknowledgment is welcome
+  in the documentation of your product. If for some reason you cannot
+  include such an acknowledgment, I would appreciate that you keep this
+  copyright string in the executable of your product.
+ */
+
+/*
+   Build a set of tables to decode the provided canonical Huffman code.
+   The code lengths are lens[0..codes-1].  The result starts at *table,
+   whose indices are 0..2^bits-1.  work is a writable array of at least
+   lens shorts, which is used as a work area.  type is the type of code
+   to be generated, CODES, LENS, or DISTS.  On return, zero is success,
+   -1 is an invalid code, and +1 means that ENOUGH isn't enough.  table
+   on return points to the next available entry's address.  bits is the
+   requested root table index bits, and on return it is the actual root
+   table index bits.  It will differ if the request is greater than the
+   longest code or if it is less than the shortest code.
+ */
+int inflate_table(type, lens, codes, table, bits, work)
+codetype type;
+unsigned short FAR *lens;
+unsigned codes;
+code FAR * FAR *table;
+unsigned FAR *bits;
+unsigned short FAR *work;
+{
+    unsigned len;               /* a code's length in bits */
+    unsigned sym;               /* index of code symbols */
+    unsigned min, max;          /* minimum and maximum code lengths */
+    unsigned root;              /* number of index bits for root table */
+    unsigned curr;              /* number of index bits for current table */
+    unsigned drop;              /* code bits to drop for sub-table */
+    int left;                   /* number of prefix codes available */
+    unsigned used;              /* code entries in table used */
+    unsigned huff;              /* Huffman code */
+    unsigned incr;              /* for incrementing code, index */
+    unsigned fill;              /* index for replicating entries */
+    unsigned low;               /* low bits for current root entry */
+    unsigned mask;              /* mask for low root bits */
+    code this;                  /* table entry for duplication */
+    code FAR *next;             /* next available space in table */
+    const unsigned short FAR *base;     /* base value table to use */
+    const unsigned short FAR *extra;    /* extra bits table to use */
+    int end;                    /* use base and extra for symbol > end */
+    unsigned short count[MAXBITS+1];    /* number of codes of each length */
+    unsigned short offs[MAXBITS+1];     /* offsets in table for each length */
+    static const unsigned short lbase[31] = { /* Length codes 257..285 base */
+        3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 15, 17, 19, 23, 27, 31,
+        35, 43, 51, 59, 67, 83, 99, 115, 131, 163, 195, 227, 258, 0, 0};
+    static const unsigned short lext[31] = { /* Length codes 257..285 extra */
+        16, 16, 16, 16, 16, 16, 16, 16, 17, 17, 17, 17, 18, 18, 18, 18,
+        19, 19, 19, 19, 20, 20, 20, 20, 21, 21, 21, 21, 16, 201, 196};
+    static const unsigned short dbase[32] = { /* Distance codes 0..29 base */
+        1, 2, 3, 4, 5, 7, 9, 13, 17, 25, 33, 49, 65, 97, 129, 193,
+        257, 385, 513, 769, 1025, 1537, 2049, 3073, 4097, 6145,
+        8193, 12289, 16385, 24577, 0, 0};
+    static const unsigned short dext[32] = { /* Distance codes 0..29 extra */
+        16, 16, 16, 16, 17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22,
+        23, 23, 24, 24, 25, 25, 26, 26, 27, 27,
+        28, 28, 29, 29, 64, 64};
+
+    /*
+       Process a set of code lengths to create a canonical Huffman code.  The
+       code lengths are lens[0..codes-1].  Each length corresponds to the
+       symbols 0..codes-1.  The Huffman code is generated by first sorting the
+       symbols by length from short to long, and retaining the symbol order
+       for codes with equal lengths.  Then the code starts with all zero bits
+       for the first code of the shortest length, and the codes are integer
+       increments for the same length, and zeros are appended as the length
+       increases.  For the deflate format, these bits are stored backwards
+       from their more natural integer increment ordering, and so when the
+       decoding tables are built in the large loop below, the integer codes
+       are incremented backwards.
+
+       This routine assumes, but does not check, that all of the entries in
+       lens[] are in the range 0..MAXBITS.  The caller must assure this.
+       1..MAXBITS is interpreted as that code length.  zero means that that
+       symbol does not occur in this code.
+
+       The codes are sorted by computing a count of codes for each length,
+       creating from that a table of starting indices for each length in the
+       sorted table, and then entering the symbols in order in the sorted
+       table.  The sorted table is work[], with that space being provided by
+       the caller.
+
+       The length counts are used for other purposes as well, i.e. finding
+       the minimum and maximum length codes, determining if there are any
+       codes at all, checking for a valid set of lengths, and looking ahead
+       at length counts to determine sub-table sizes when building the
+       decoding tables.
+     */
+
+    /* accumulate lengths for codes (assumes lens[] all in 0..MAXBITS) */
+    for (len = 0; len <= MAXBITS; len++)
+        count[len] = 0;
+    for (sym = 0; sym < codes; sym++)
+        count[lens[sym]]++;
+
+    /* bound code lengths, force root to be within code lengths */
+    root = *bits;
+    for (max = MAXBITS; max >= 1; max--)
+        if (count[max] != 0) break;
+    if (root > max) root = max;
+    if (max == 0) {                     /* no symbols to code at all */
+        this.op = (unsigned char)64;    /* invalid code marker */
+        this.bits = (unsigned char)1;
+        this.val = (unsigned short)0;
+        *(*table)++ = this;             /* make a table to force an error */
+        *(*table)++ = this;
+        *bits = 1;
+        return 0;     /* no symbols, but wait for decoding to report error */
+    }
+    for (min = 1; min <= MAXBITS; min++)
+        if (count[min] != 0) break;
+    if (root < min) root = min;
+
+    /* check for an over-subscribed or incomplete set of lengths */
+    left = 1;
+    for (len = 1; len <= MAXBITS; len++) {
+        left <<= 1;
+        left -= count[len];
+        if (left < 0) return -1;        /* over-subscribed */
+    }
+    if (left > 0 && (type == CODES || max != 1))
+        return -1;                      /* incomplete set */
+
+    /* generate offsets into symbol table for each length for sorting */
+    offs[1] = 0;
+    for (len = 1; len < MAXBITS; len++)
+        offs[len + 1] = offs[len] + count[len];
+
+    /* sort symbols by length, by symbol order within each length */
+    for (sym = 0; sym < codes; sym++)
+        if (lens[sym] != 0) work[offs[lens[sym]]++] = (unsigned short)sym;
+
+    /*
+       Create and fill in decoding tables.  In this loop, the table being
+       filled is at next and has curr index bits.  The code being used is huff
+       with length len.  That code is converted to an index by dropping drop
+       bits off of the bottom.  For codes where len is less than drop + curr,
+       those top drop + curr - len bits are incremented through all values to
+       fill the table with replicated entries.
+
+       root is the number of index bits for the root table.  When len exceeds
+       root, sub-tables are created pointed to by the root entry with an index
+       of the low root bits of huff.  This is saved in low to check for when a
+       new sub-table should be started.  drop is zero when the root table is
+       being filled, and drop is root when sub-tables are being filled.
+
+       When a new sub-table is needed, it is necessary to look ahead in the
+       code lengths to determine what size sub-table is needed.  The length
+       counts are used for this, and so count[] is decremented as codes are
+       entered in the tables.
+
+       used keeps track of how many table entries have been allocated from the
+       provided *table space.  It is checked when a LENS table is being made
+       against the space in *table, ENOUGH, minus the maximum space needed by
+       the worst case distance code, MAXD.  This should never happen, but the
+       sufficiency of ENOUGH has not been proven exhaustively, hence the check.
+       This assumes that when type == LENS, bits == 9.
+
+       sym increments through all symbols, and the loop terminates when
+       all codes of length max, i.e. all codes, have been processed.  This
+       routine permits incomplete codes, so another loop after this one fills
+       in the rest of the decoding tables with invalid code markers.
+     */
+
+    /* set up for code type */
+    switch (type) {
+    case CODES:
+        base = extra = work;    /* dummy value--not used */
+        end = 19;
+        break;
+    case LENS:
+        base = lbase;
+        base -= 257;
+        extra = lext;
+        extra -= 257;
+        end = 256;
+        break;
+    default:            /* DISTS */
+        base = dbase;
+        extra = dext;
+        end = -1;
+    }
+
+    /* initialize state for loop */
+    huff = 0;                   /* starting code */
+    sym = 0;                    /* starting code symbol */
+    len = min;                  /* starting code length */
+    next = *table;              /* current table to fill in */
+    curr = root;                /* current table index bits */
+    drop = 0;                   /* current bits to drop from code for index */
+    low = (unsigned)(-1);       /* trigger new sub-table when len > root */
+    used = 1U << root;          /* use root table entries */
+    mask = used - 1;            /* mask for comparing low */
+
+    /* check available table space */
+    if (type == LENS && used >= ENOUGH - MAXD)
+        return 1;
+
+    /* process all codes and make table entries */
+    for (;;) {
+        /* create table entry */
+        this.bits = (unsigned char)(len - drop);
+        if ((int)(work[sym]) < end) {
+            this.op = (unsigned char)0;
+            this.val = work[sym];
+        }
+        else if ((int)(work[sym]) > end) {
+            this.op = (unsigned char)(extra[work[sym]]);
+            this.val = base[work[sym]];
+        }
+        else {
+            this.op = (unsigned char)(32 + 64);         /* end of block */
+            this.val = 0;
+        }
+
+        /* replicate for those indices with low len bits equal to huff */
+        incr = 1U << (len - drop);
+        fill = 1U << curr;
+        min = fill;                 /* save offset to next table */
+        do {
+            fill -= incr;
+            next[(huff >> drop) + fill] = this;
+        } while (fill != 0);
+
+        /* backwards increment the len-bit code huff */
+        incr = 1U << (len - 1);
+        while (huff & incr)
+            incr >>= 1;
+        if (incr != 0) {
+            huff &= incr - 1;
+            huff += incr;
+        }
+        else
+            huff = 0;
+
+        /* go to next symbol, update count, len */
+        sym++;
+        if (--(count[len]) == 0) {
+            if (len == max) break;
+            len = lens[work[sym]];
+        }
+
+        /* create new sub-table if needed */
+        if (len > root && (huff & mask) != low) {
+            /* if first time, transition to sub-tables */
+            if (drop == 0)
+                drop = root;
+
+            /* increment past last table */
+            next += min;            /* here min is 1 << curr */
+
+            /* determine length of next table */
+            curr = len - drop;
+            left = (int)(1 << curr);
+            while (curr + drop < max) {
+                left -= count[curr + drop];
+                if (left <= 0) break;
+                curr++;
+                left <<= 1;
+            }
+
+            /* check for enough space */
+            used += 1U << curr;
+            if (type == LENS && used >= ENOUGH - MAXD)
+                return 1;
+
+            /* point entry in root table to sub-table */
+            low = huff & mask;
+            (*table)[low].op = (unsigned char)curr;
+            (*table)[low].bits = (unsigned char)root;
+            (*table)[low].val = (unsigned short)(next - *table);
+        }
+    }
+
+    /*
+       Fill in rest of table for incomplete codes.  This loop is similar to the
+       loop above in incrementing huff for table indices.  It is assumed that
+       len is equal to curr + drop, so there is no loop needed to increment
+       through high index bits.  When the current sub-table is filled, the loop
+       drops back to the root table to fill in any remaining entries there.
+     */
+    this.op = (unsigned char)64;                /* invalid code marker */
+    this.bits = (unsigned char)(len - drop);
+    this.val = (unsigned short)0;
+    while (huff != 0) {
+        /* when done with sub-table, drop back to root table */
+        if (drop != 0 && (huff & mask) != low) {
+            drop = 0;
+            len = root;
+            next = *table;
+            this.bits = (unsigned char)len;
+        }
+
+        /* put invalid code marker in table */
+        next[huff >> drop] = this;
+
+        /* backwards increment the len-bit code huff */
+        incr = 1U << (len - 1);
+        while (huff & incr)
+            incr >>= 1;
+        if (incr != 0) {
+            huff &= incr - 1;
+            huff += incr;
+        }
+        else
+            huff = 0;
+    }
+
+    /* set return parameters */
+    *table += used;
+    *bits = root;
+    return 0;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inftrees.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inftrees.h
new file mode 100755
index 0000000..b1104c8
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/inftrees.h
@@ -0,0 +1,55 @@
+/* inftrees.h -- header to use inftrees.c
+ * Copyright (C) 1995-2005 Mark Adler
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* WARNING: this file should *not* be used by applications. It is
+   part of the implementation of the compression library and is
+   subject to change. Applications should only use zlib.h.
+ */
+
+/* Structure for decoding tables.  Each entry provides either the
+   information needed to do the operation requested by the code that
+   indexed that table entry, or it provides a pointer to another
+   table that indexes more bits of the code.  op indicates whether
+   the entry is a pointer to another table, a literal, a length or
+   distance, an end-of-block, or an invalid code.  For a table
+   pointer, the low four bits of op is the number of index bits of
+   that table.  For a length or distance, the low four bits of op
+   is the number of extra bits to get after the code.  bits is
+   the number of bits in this code or part of the code to drop off
+   of the bit buffer.  val is the actual byte to output in the case
+   of a literal, the base length or distance, or the offset from
+   the current table to the next table.  Each entry is four bytes. */
+typedef struct {
+    unsigned char op;           /* operation, extra bits, table bits */
+    unsigned char bits;         /* bits in this part of the code */
+    unsigned short val;         /* offset in table or code value */
+} code;
+
+/* op values as set by inflate_table():
+    00000000 - literal
+    0000tttt - table link, tttt != 0 is the number of table index bits
+    0001eeee - length or distance, eeee is the number of extra bits
+    01100000 - end of block
+    01000000 - invalid code
+ */
+
+/* Maximum size of dynamic tree.  The maximum found in a long but non-
+   exhaustive search was 1444 code structures (852 for length/literals
+   and 592 for distances, the latter actually the result of an
+   exhaustive search).  The true maximum is not known, but the value
+   below is more than safe. */
+#define ENOUGH 2048
+#define MAXD 592
+
+/* Type of code to build for inftable() */
+typedef enum {
+    CODES,
+    LENS,
+    DISTS
+} codetype;
+
+extern int inflate_table OF((codetype type, unsigned short FAR *lens,
+                             unsigned codes, code FAR * FAR *table,
+                             unsigned FAR *bits, unsigned short FAR *work));
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/libzlib.a b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/libzlib.a
new file mode 100644
index 0000000..5f3c223
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/libzlib.a differ
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/minigzip.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/minigzip.c
new file mode 100755
index 0000000..4524b96
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/minigzip.c
@@ -0,0 +1,322 @@
+/* minigzip.c -- simulate gzip using the zlib compression library
+ * Copyright (C) 1995-2005 Jean-loup Gailly.
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/*
+ * minigzip is a minimal implementation of the gzip utility. This is
+ * only an example of using zlib and isn't meant to replace the
+ * full-featured gzip. No attempt is made to deal with file systems
+ * limiting names to 14 or 8+3 characters, etc... Error checking is
+ * very limited. So use minigzip only for testing; use gzip for the
+ * real thing. On MSDOS, use only on file names without extension
+ * or in pipe mode.
+ */
+
+/* @(#) $Id$ */
+
+#include <stdio.h>
+#include "zlib.h"
+
+#ifdef STDC
+#  include <string.h>
+#  include <stdlib.h>
+#endif
+
+#ifdef USE_MMAP
+#  include <sys/types.h>
+#  include <sys/mman.h>
+#  include <sys/stat.h>
+#endif
+
+#if defined(MSDOS) || defined(OS2) || defined(WIN32) || defined(__CYGWIN__)
+#  include <fcntl.h>
+#  include <io.h>
+#  define SET_BINARY_MODE(file) setmode(fileno(file), O_BINARY)
+#else
+#  define SET_BINARY_MODE(file)
+#endif
+
+#ifdef VMS
+#  define unlink delete
+#  define GZ_SUFFIX "-gz"
+#endif
+#ifdef RISCOS
+#  define unlink remove
+#  define GZ_SUFFIX "-gz"
+#  define fileno(file) file->__file
+#endif
+#if defined(__MWERKS__) && __dest_os != __be_os && __dest_os != __win32_os
+#  include <unix.h> /* for fileno */
+#endif
+
+#ifndef WIN32 /* unlink already in stdio.h for WIN32 */
+  extern int unlink OF((const char *));
+#endif
+
+#ifndef GZ_SUFFIX
+#  define GZ_SUFFIX ".gz"
+#endif
+#define SUFFIX_LEN (sizeof(GZ_SUFFIX)-1)
+
+#define BUFLEN      16384
+#define MAX_NAME_LEN 1024
+
+#ifdef MAXSEG_64K
+#  define local static
+   /* Needed for systems with limitation on stack size. */
+#else
+#  define local
+#endif
+
+char *prog;
+
+void error            OF((const char *msg));
+void gz_compress      OF((FILE   *in, gzFile out));
+#ifdef USE_MMAP
+int  gz_compress_mmap OF((FILE   *in, gzFile out));
+#endif
+void gz_uncompress    OF((gzFile in, FILE   *out));
+void file_compress    OF((char  *file, char *mode));
+void file_uncompress  OF((char  *file));
+int  main             OF((int argc, char *argv[]));
+
+/* ===========================================================================
+ * Display error message and exit
+ */
+void error(msg)
+    const char *msg;
+{
+    fprintf(stderr, "%s: %s\n", prog, msg);
+    exit(1);
+}
+
+/* ===========================================================================
+ * Compress input to output then close both files.
+ */
+
+void gz_compress(in, out)
+    FILE   *in;
+    gzFile out;
+{
+    local char buf[BUFLEN];
+    int len;
+    int err;
+
+#ifdef USE_MMAP
+    /* Try first compressing with mmap. If mmap fails (minigzip used in a
+     * pipe), use the normal fread loop.
+     */
+    if (gz_compress_mmap(in, out) == Z_OK) return;
+#endif
+    for (;;) {
+        len = (int)fread(buf, 1, sizeof(buf), in);
+        if (ferror(in)) {
+            perror("fread");
+            exit(1);
+        }
+        if (len == 0) break;
+
+        if (gzwrite(out, buf, (unsigned)len) != len) error(gzerror(out, &err));
+    }
+    fclose(in);
+    if (gzclose(out) != Z_OK) error("failed gzclose");
+}
+
+#ifdef USE_MMAP /* MMAP version, Miguel Albrecht <malbrech@eso.org> */
+
+/* Try compressing the input file at once using mmap. Return Z_OK if
+ * if success, Z_ERRNO otherwise.
+ */
+int gz_compress_mmap(in, out)
+    FILE   *in;
+    gzFile out;
+{
+    int len;
+    int err;
+    int ifd = fileno(in);
+    caddr_t buf;    /* mmap'ed buffer for the entire input file */
+    off_t buf_len;  /* length of the input file */
+    struct stat sb;
+
+    /* Determine the size of the file, needed for mmap: */
+    if (fstat(ifd, &sb) < 0) return Z_ERRNO;
+    buf_len = sb.st_size;
+    if (buf_len <= 0) return Z_ERRNO;
+
+    /* Now do the actual mmap: */
+    buf = mmap((caddr_t) 0, buf_len, PROT_READ, MAP_SHARED, ifd, (off_t)0);
+    if (buf == (caddr_t)(-1)) return Z_ERRNO;
+
+    /* Compress the whole file at once: */
+    len = gzwrite(out, (char *)buf, (unsigned)buf_len);
+
+    if (len != (int)buf_len) error(gzerror(out, &err));
+
+    munmap(buf, buf_len);
+    fclose(in);
+    if (gzclose(out) != Z_OK) error("failed gzclose");
+    return Z_OK;
+}
+#endif /* USE_MMAP */
+
+/* ===========================================================================
+ * Uncompress input to output then close both files.
+ */
+void gz_uncompress(in, out)
+    gzFile in;
+    FILE   *out;
+{
+    local char buf[BUFLEN];
+    int len;
+    int err;
+
+    for (;;) {
+        len = gzread(in, buf, sizeof(buf));
+        if (len < 0) error (gzerror(in, &err));
+        if (len == 0) break;
+
+        if ((int)fwrite(buf, 1, (unsigned)len, out) != len) {
+            error("failed fwrite");
+        }
+    }
+    if (fclose(out)) error("failed fclose");
+
+    if (gzclose(in) != Z_OK) error("failed gzclose");
+}
+
+
+/* ===========================================================================
+ * Compress the given file: create a corresponding .gz file and remove the
+ * original.
+ */
+void file_compress(file, mode)
+    char  *file;
+    char  *mode;
+{
+    local char outfile[MAX_NAME_LEN];
+    FILE  *in;
+    gzFile out;
+
+    strcpy(outfile, file);
+    strcat(outfile, GZ_SUFFIX);
+
+    in = fopen(file, "rb");
+    if (in == NULL) {
+        perror(file);
+        exit(1);
+    }
+    out = gzopen(outfile, mode);
+    if (out == NULL) {
+        fprintf(stderr, "%s: can't gzopen %s\n", prog, outfile);
+        exit(1);
+    }
+    gz_compress(in, out);
+
+    unlink(file);
+}
+
+
+/* ===========================================================================
+ * Uncompress the given file and remove the original.
+ */
+void file_uncompress(file)
+    char  *file;
+{
+    local char buf[MAX_NAME_LEN];
+    char *infile, *outfile;
+    FILE  *out;
+    gzFile in;
+    uInt len = (uInt)strlen(file);
+
+    strcpy(buf, file);
+
+    if (len > SUFFIX_LEN && strcmp(file+len-SUFFIX_LEN, GZ_SUFFIX) == 0) {
+        infile = file;
+        outfile = buf;
+        outfile[len-3] = '\0';
+    } else {
+        outfile = file;
+        infile = buf;
+        strcat(infile, GZ_SUFFIX);
+    }
+    in = gzopen(infile, "rb");
+    if (in == NULL) {
+        fprintf(stderr, "%s: can't gzopen %s\n", prog, infile);
+        exit(1);
+    }
+    out = fopen(outfile, "wb");
+    if (out == NULL) {
+        perror(file);
+        exit(1);
+    }
+
+    gz_uncompress(in, out);
+
+    unlink(infile);
+}
+
+
+/* ===========================================================================
+ * Usage:  minigzip [-d] [-f] [-h] [-r] [-1 to -9] [files...]
+ *   -d : decompress
+ *   -f : compress with Z_FILTERED
+ *   -h : compress with Z_HUFFMAN_ONLY
+ *   -r : compress with Z_RLE
+ *   -1 to -9 : compression level
+ */
+
+int main(argc, argv)
+    int argc;
+    char *argv[];
+{
+    int uncompr = 0;
+    gzFile file;
+    char outmode[20];
+
+    strcpy(outmode, "wb6 ");
+
+    prog = argv[0];
+    argc--, argv++;
+
+    while (argc > 0) {
+      if (strcmp(*argv, "-d") == 0)
+        uncompr = 1;
+      else if (strcmp(*argv, "-f") == 0)
+        outmode[3] = 'f';
+      else if (strcmp(*argv, "-h") == 0)
+        outmode[3] = 'h';
+      else if (strcmp(*argv, "-r") == 0)
+        outmode[3] = 'R';
+      else if ((*argv)[0] == '-' && (*argv)[1] >= '1' && (*argv)[1] <= '9' &&
+               (*argv)[2] == 0)
+        outmode[2] = (*argv)[1];
+      else
+        break;
+      argc--, argv++;
+    }
+    if (outmode[3] == ' ')
+        outmode[3] = 0;
+    if (argc == 0) {
+        SET_BINARY_MODE(stdin);
+        SET_BINARY_MODE(stdout);
+        if (uncompr) {
+            file = gzdopen(fileno(stdin), "rb");
+            if (file == NULL) error("can't gzdopen stdin");
+            gz_uncompress(file, stdout);
+        } else {
+            file = gzdopen(fileno(stdout), outmode);
+            if (file == NULL) error("can't gzdopen stdout");
+            gz_compress(stdin, file);
+        }
+    } else {
+        do {
+            if (uncompr) {
+                file_uncompress(*argv);
+            } else {
+                file_compress(*argv, outmode);
+            }
+        } while (argv++, --argc);
+    }
+    return 0;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/trees.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/trees.c
new file mode 100755
index 0000000..395e4e1
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/trees.c
@@ -0,0 +1,1219 @@
+/* trees.c -- output deflated data using Huffman coding
+ * Copyright (C) 1995-2005 Jean-loup Gailly
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/*
+ *  ALGORITHM
+ *
+ *      The "deflation" process uses several Huffman trees. The more
+ *      common source values are represented by shorter bit sequences.
+ *
+ *      Each code tree is stored in a compressed form which is itself
+ * a Huffman encoding of the lengths of all the code strings (in
+ * ascending order by source values).  The actual code strings are
+ * reconstructed from the lengths in the inflate process, as described
+ * in the deflate specification.
+ *
+ *  REFERENCES
+ *
+ *      Deutsch, L.P.,"'Deflate' Compressed Data Format Specification".
+ *      Available in ftp.uu.net:/pub/archiving/zip/doc/deflate-1.1.doc
+ *
+ *      Storer, James A.
+ *          Data Compression:  Methods and Theory, pp. 49-50.
+ *          Computer Science Press, 1988.  ISBN 0-7167-8156-5.
+ *
+ *      Sedgewick, R.
+ *          Algorithms, p290.
+ *          Addison-Wesley, 1983. ISBN 0-201-06672-6.
+ */
+
+/* @(#) $Id$ */
+
+/* #define GEN_TREES_H */
+
+#include "deflate.h"
+
+#ifdef DEBUG
+#  include <ctype.h>
+#endif
+
+/* ===========================================================================
+ * Constants
+ */
+
+#define MAX_BL_BITS 7
+/* Bit length codes must not exceed MAX_BL_BITS bits */
+
+#define END_BLOCK 256
+/* end of block literal code */
+
+#define REP_3_6      16
+/* repeat previous bit length 3-6 times (2 bits of repeat count) */
+
+#define REPZ_3_10    17
+/* repeat a zero length 3-10 times  (3 bits of repeat count) */
+
+#define REPZ_11_138  18
+/* repeat a zero length 11-138 times  (7 bits of repeat count) */
+
+local const int extra_lbits[LENGTH_CODES] /* extra bits for each length code */
+   = {0,0,0,0,0,0,0,0,1,1,1,1,2,2,2,2,3,3,3,3,4,4,4,4,5,5,5,5,0};
+
+local const int extra_dbits[D_CODES] /* extra bits for each distance code */
+   = {0,0,0,0,1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,11,11,12,12,13,13};
+
+local const int extra_blbits[BL_CODES]/* extra bits for each bit length code */
+   = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3,7};
+
+local const uch bl_order[BL_CODES]
+   = {16,17,18,0,8,7,9,6,10,5,11,4,12,3,13,2,14,1,15};
+/* The lengths of the bit length codes are sent in order of decreasing
+ * probability, to avoid transmitting the lengths for unused bit length codes.
+ */
+
+#define Buf_size (8 * 2*sizeof(char))
+/* Number of bits used within bi_buf. (bi_buf might be implemented on
+ * more than 16 bits on some systems.)
+ */
+
+/* ===========================================================================
+ * Local data. These are initialized only once.
+ */
+
+#define DIST_CODE_LEN  512 /* see definition of array dist_code below */
+
+#if defined(GEN_TREES_H) || !defined(STDC)
+/* non ANSI compilers may not accept trees.h */
+
+local ct_data static_ltree[L_CODES+2];
+/* The static literal tree. Since the bit lengths are imposed, there is no
+ * need for the L_CODES extra codes used during heap construction. However
+ * The codes 286 and 287 are needed to build a canonical tree (see _tr_init
+ * below).
+ */
+
+local ct_data static_dtree[D_CODES];
+/* The static distance tree. (Actually a trivial tree since all codes use
+ * 5 bits.)
+ */
+
+uch _dist_code[DIST_CODE_LEN];
+/* Distance codes. The first 256 values correspond to the distances
+ * 3 .. 258, the last 256 values correspond to the top 8 bits of
+ * the 15 bit distances.
+ */
+
+uch _length_code[MAX_MATCH-MIN_MATCH+1];
+/* length code for each normalized match length (0 == MIN_MATCH) */
+
+local int base_length[LENGTH_CODES];
+/* First normalized length for each code (0 = MIN_MATCH) */
+
+local int base_dist[D_CODES];
+/* First normalized distance for each code (0 = distance of 1) */
+
+#else
+#  include "trees.h"
+#endif /* GEN_TREES_H */
+
+struct static_tree_desc_s {
+    const ct_data *static_tree;  /* static tree or NULL */
+    const intf *extra_bits;      /* extra bits for each code or NULL */
+    int     extra_base;          /* base index for extra_bits */
+    int     elems;               /* max number of elements in the tree */
+    int     max_length;          /* max bit length for the codes */
+};
+
+local static_tree_desc  static_l_desc =
+{static_ltree, extra_lbits, LITERALS+1, L_CODES, MAX_BITS};
+
+local static_tree_desc  static_d_desc =
+{static_dtree, extra_dbits, 0,          D_CODES, MAX_BITS};
+
+local static_tree_desc  static_bl_desc =
+{(const ct_data *)0, extra_blbits, 0,   BL_CODES, MAX_BL_BITS};
+
+/* ===========================================================================
+ * Local (static) routines in this file.
+ */
+
+local void tr_static_init OF((void));
+local void init_block     OF((deflate_state *s));
+local void pqdownheap     OF((deflate_state *s, ct_data *tree, int k));
+local void gen_bitlen     OF((deflate_state *s, tree_desc *desc));
+local void gen_codes      OF((ct_data *tree, int max_code, ushf *bl_count));
+local void build_tree     OF((deflate_state *s, tree_desc *desc));
+local void scan_tree      OF((deflate_state *s, ct_data *tree, int max_code));
+local void send_tree      OF((deflate_state *s, ct_data *tree, int max_code));
+local int  build_bl_tree  OF((deflate_state *s));
+local void send_all_trees OF((deflate_state *s, int lcodes, int dcodes,
+                              int blcodes));
+local void compress_block OF((deflate_state *s, ct_data *ltree,
+                              ct_data *dtree));
+local void set_data_type  OF((deflate_state *s));
+local unsigned bi_reverse OF((unsigned value, int length));
+local void bi_windup      OF((deflate_state *s));
+local void bi_flush       OF((deflate_state *s));
+local void copy_block     OF((deflate_state *s, charf *buf, unsigned len,
+                              int header));
+
+#ifdef GEN_TREES_H
+local void gen_trees_header OF((void));
+#endif
+
+#ifndef DEBUG
+#  define send_code(s, c, tree) send_bits(s, tree[c].Code, tree[c].Len)
+   /* Send a code of the given tree. c and tree must not have side effects */
+
+#else /* DEBUG */
+#  define send_code(s, c, tree) \
+     { if (z_verbose>2) fprintf(stderr,"\ncd %3d ",(c)); \
+       send_bits(s, tree[c].Code, tree[c].Len); }
+#endif
+
+/* ===========================================================================
+ * Output a short LSB first on the stream.
+ * IN assertion: there is enough room in pendingBuf.
+ */
+#define put_short(s, w) { \
+    put_byte(s, (uch)((w) & 0xff)); \
+    put_byte(s, (uch)((ush)(w) >> 8)); \
+}
+
+/* ===========================================================================
+ * Send a value on a given number of bits.
+ * IN assertion: length <= 16 and value fits in length bits.
+ */
+#ifdef DEBUG
+local void send_bits      OF((deflate_state *s, int value, int length));
+
+local void send_bits(s, value, length)
+    deflate_state *s;
+    int value;  /* value to send */
+    int length; /* number of bits */
+{
+    Tracevv((stderr," l %2d v %4x ", length, value));
+    Assert(length > 0 && length <= 15, "invalid length");
+    s->bits_sent += (ulg)length;
+
+    /* If not enough room in bi_buf, use (valid) bits from bi_buf and
+     * (16 - bi_valid) bits from value, leaving (width - (16-bi_valid))
+     * unused bits in value.
+     */
+    if (s->bi_valid > (int)Buf_size - length) {
+        s->bi_buf |= (value << s->bi_valid);
+        put_short(s, s->bi_buf);
+        s->bi_buf = (ush)value >> (Buf_size - s->bi_valid);
+        s->bi_valid += length - Buf_size;
+    } else {
+        s->bi_buf |= value << s->bi_valid;
+        s->bi_valid += length;
+    }
+}
+#else /* !DEBUG */
+
+#define send_bits(s, value, length) \
+{ int len = length;\
+  if (s->bi_valid > (int)Buf_size - len) {\
+    int val = value;\
+    s->bi_buf |= (val << s->bi_valid);\
+    put_short(s, s->bi_buf);\
+    s->bi_buf = (ush)val >> (Buf_size - s->bi_valid);\
+    s->bi_valid += len - Buf_size;\
+  } else {\
+    s->bi_buf |= (value) << s->bi_valid;\
+    s->bi_valid += len;\
+  }\
+}
+#endif /* DEBUG */
+
+
+/* the arguments must not have side effects */
+
+/* ===========================================================================
+ * Initialize the various 'constant' tables.
+ */
+local void tr_static_init()
+{
+#if defined(GEN_TREES_H) || !defined(STDC)
+    static int static_init_done = 0;
+    int n;        /* iterates over tree elements */
+    int bits;     /* bit counter */
+    int length;   /* length value */
+    int code;     /* code value */
+    int dist;     /* distance index */
+    ush bl_count[MAX_BITS+1];
+    /* number of codes at each bit length for an optimal tree */
+
+    if (static_init_done) return;
+
+    /* For some embedded targets, global variables are not initialized: */
+    static_l_desc.static_tree = static_ltree;
+    static_l_desc.extra_bits = extra_lbits;
+    static_d_desc.static_tree = static_dtree;
+    static_d_desc.extra_bits = extra_dbits;
+    static_bl_desc.extra_bits = extra_blbits;
+
+    /* Initialize the mapping length (0..255) -> length code (0..28) */
+    length = 0;
+    for (code = 0; code < LENGTH_CODES-1; code++) {
+        base_length[code] = length;
+        for (n = 0; n < (1<<extra_lbits[code]); n++) {
+            _length_code[length++] = (uch)code;
+        }
+    }
+    Assert (length == 256, "tr_static_init: length != 256");
+    /* Note that the length 255 (match length 258) can be represented
+     * in two different ways: code 284 + 5 bits or code 285, so we
+     * overwrite length_code[255] to use the best encoding:
+     */
+    _length_code[length-1] = (uch)code;
+
+    /* Initialize the mapping dist (0..32K) -> dist code (0..29) */
+    dist = 0;
+    for (code = 0 ; code < 16; code++) {
+        base_dist[code] = dist;
+        for (n = 0; n < (1<<extra_dbits[code]); n++) {
+            _dist_code[dist++] = (uch)code;
+        }
+    }
+    Assert (dist == 256, "tr_static_init: dist != 256");
+    dist >>= 7; /* from now on, all distances are divided by 128 */
+    for ( ; code < D_CODES; code++) {
+        base_dist[code] = dist << 7;
+        for (n = 0; n < (1<<(extra_dbits[code]-7)); n++) {
+            _dist_code[256 + dist++] = (uch)code;
+        }
+    }
+    Assert (dist == 256, "tr_static_init: 256+dist != 512");
+
+    /* Construct the codes of the static literal tree */
+    for (bits = 0; bits <= MAX_BITS; bits++) bl_count[bits] = 0;
+    n = 0;
+    while (n <= 143) static_ltree[n++].Len = 8, bl_count[8]++;
+    while (n <= 255) static_ltree[n++].Len = 9, bl_count[9]++;
+    while (n <= 279) static_ltree[n++].Len = 7, bl_count[7]++;
+    while (n <= 287) static_ltree[n++].Len = 8, bl_count[8]++;
+    /* Codes 286 and 287 do not exist, but we must include them in the
+     * tree construction to get a canonical Huffman tree (longest code
+     * all ones)
+     */
+    gen_codes((ct_data *)static_ltree, L_CODES+1, bl_count);
+
+    /* The static distance tree is trivial: */
+    for (n = 0; n < D_CODES; n++) {
+        static_dtree[n].Len = 5;
+        static_dtree[n].Code = bi_reverse((unsigned)n, 5);
+    }
+    static_init_done = 1;
+
+#  ifdef GEN_TREES_H
+    gen_trees_header();
+#  endif
+#endif /* defined(GEN_TREES_H) || !defined(STDC) */
+}
+
+/* ===========================================================================
+ * Genererate the file trees.h describing the static trees.
+ */
+#ifdef GEN_TREES_H
+#  ifndef DEBUG
+#    include <stdio.h>
+#  endif
+
+#  define SEPARATOR(i, last, width) \
+      ((i) == (last)? "\n};\n\n" :    \
+       ((i) % (width) == (width)-1 ? ",\n" : ", "))
+
+void gen_trees_header()
+{
+    FILE *header = fopen("trees.h", "w");
+    int i;
+
+    Assert (header != NULL, "Can't open trees.h");
+    fprintf(header,
+            "/* header created automatically with -DGEN_TREES_H */\n\n");
+
+    fprintf(header, "local const ct_data static_ltree[L_CODES+2] = {\n");
+    for (i = 0; i < L_CODES+2; i++) {
+        fprintf(header, "{{%3u},{%3u}}%s", static_ltree[i].Code,
+                static_ltree[i].Len, SEPARATOR(i, L_CODES+1, 5));
+    }
+
+    fprintf(header, "local const ct_data static_dtree[D_CODES] = {\n");
+    for (i = 0; i < D_CODES; i++) {
+        fprintf(header, "{{%2u},{%2u}}%s", static_dtree[i].Code,
+                static_dtree[i].Len, SEPARATOR(i, D_CODES-1, 5));
+    }
+
+    fprintf(header, "const uch _dist_code[DIST_CODE_LEN] = {\n");
+    for (i = 0; i < DIST_CODE_LEN; i++) {
+        fprintf(header, "%2u%s", _dist_code[i],
+                SEPARATOR(i, DIST_CODE_LEN-1, 20));
+    }
+
+    fprintf(header, "const uch _length_code[MAX_MATCH-MIN_MATCH+1]= {\n");
+    for (i = 0; i < MAX_MATCH-MIN_MATCH+1; i++) {
+        fprintf(header, "%2u%s", _length_code[i],
+                SEPARATOR(i, MAX_MATCH-MIN_MATCH, 20));
+    }
+
+    fprintf(header, "local const int base_length[LENGTH_CODES] = {\n");
+    for (i = 0; i < LENGTH_CODES; i++) {
+        fprintf(header, "%1u%s", base_length[i],
+                SEPARATOR(i, LENGTH_CODES-1, 20));
+    }
+
+    fprintf(header, "local const int base_dist[D_CODES] = {\n");
+    for (i = 0; i < D_CODES; i++) {
+        fprintf(header, "%5u%s", base_dist[i],
+                SEPARATOR(i, D_CODES-1, 10));
+    }
+
+    fclose(header);
+}
+#endif /* GEN_TREES_H */
+
+/* ===========================================================================
+ * Initialize the tree data structures for a new zlib stream.
+ */
+void _tr_init(s)
+    deflate_state *s;
+{
+    tr_static_init();
+
+    s->l_desc.dyn_tree = s->dyn_ltree;
+    s->l_desc.stat_desc = &static_l_desc;
+
+    s->d_desc.dyn_tree = s->dyn_dtree;
+    s->d_desc.stat_desc = &static_d_desc;
+
+    s->bl_desc.dyn_tree = s->bl_tree;
+    s->bl_desc.stat_desc = &static_bl_desc;
+
+    s->bi_buf = 0;
+    s->bi_valid = 0;
+    s->last_eob_len = 8; /* enough lookahead for inflate */
+#ifdef DEBUG
+    s->compressed_len = 0L;
+    s->bits_sent = 0L;
+#endif
+
+    /* Initialize the first block of the first file: */
+    init_block(s);
+}
+
+/* ===========================================================================
+ * Initialize a new block.
+ */
+local void init_block(s)
+    deflate_state *s;
+{
+    int n; /* iterates over tree elements */
+
+    /* Initialize the trees. */
+    for (n = 0; n < L_CODES;  n++) s->dyn_ltree[n].Freq = 0;
+    for (n = 0; n < D_CODES;  n++) s->dyn_dtree[n].Freq = 0;
+    for (n = 0; n < BL_CODES; n++) s->bl_tree[n].Freq = 0;
+
+    s->dyn_ltree[END_BLOCK].Freq = 1;
+    s->opt_len = s->static_len = 0L;
+    s->last_lit = s->matches = 0;
+}
+
+#define SMALLEST 1
+/* Index within the heap array of least frequent node in the Huffman tree */
+
+
+/* ===========================================================================
+ * Remove the smallest element from the heap and recreate the heap with
+ * one less element. Updates heap and heap_len.
+ */
+#define pqremove(s, tree, top) \
+{\
+    top = s->heap[SMALLEST]; \
+    s->heap[SMALLEST] = s->heap[s->heap_len--]; \
+    pqdownheap(s, tree, SMALLEST); \
+}
+
+/* ===========================================================================
+ * Compares to subtrees, using the tree depth as tie breaker when
+ * the subtrees have equal frequency. This minimizes the worst case length.
+ */
+#define smaller(tree, n, m, depth) \
+   (tree[n].Freq < tree[m].Freq || \
+   (tree[n].Freq == tree[m].Freq && depth[n] <= depth[m]))
+
+/* ===========================================================================
+ * Restore the heap property by moving down the tree starting at node k,
+ * exchanging a node with the smallest of its two sons if necessary, stopping
+ * when the heap property is re-established (each father smaller than its
+ * two sons).
+ */
+local void pqdownheap(s, tree, k)
+    deflate_state *s;
+    ct_data *tree;  /* the tree to restore */
+    int k;               /* node to move down */
+{
+    int v = s->heap[k];
+    int j = k << 1;  /* left son of k */
+    while (j <= s->heap_len) {
+        /* Set j to the smallest of the two sons: */
+        if (j < s->heap_len &&
+            smaller(tree, s->heap[j+1], s->heap[j], s->depth)) {
+            j++;
+        }
+        /* Exit if v is smaller than both sons */
+        if (smaller(tree, v, s->heap[j], s->depth)) break;
+
+        /* Exchange v with the smallest son */
+        s->heap[k] = s->heap[j];  k = j;
+
+        /* And continue down the tree, setting j to the left son of k */
+        j <<= 1;
+    }
+    s->heap[k] = v;
+}
+
+/* ===========================================================================
+ * Compute the optimal bit lengths for a tree and update the total bit length
+ * for the current block.
+ * IN assertion: the fields freq and dad are set, heap[heap_max] and
+ *    above are the tree nodes sorted by increasing frequency.
+ * OUT assertions: the field len is set to the optimal bit length, the
+ *     array bl_count contains the frequencies for each bit length.
+ *     The length opt_len is updated; static_len is also updated if stree is
+ *     not null.
+ */
+local void gen_bitlen(s, desc)
+    deflate_state *s;
+    tree_desc *desc;    /* the tree descriptor */
+{
+    ct_data *tree        = desc->dyn_tree;
+    int max_code         = desc->max_code;
+    const ct_data *stree = desc->stat_desc->static_tree;
+    const intf *extra    = desc->stat_desc->extra_bits;
+    int base             = desc->stat_desc->extra_base;
+    int max_length       = desc->stat_desc->max_length;
+    int h;              /* heap index */
+    int n, m;           /* iterate over the tree elements */
+    int bits;           /* bit length */
+    int xbits;          /* extra bits */
+    ush f;              /* frequency */
+    int overflow = 0;   /* number of elements with bit length too large */
+
+    for (bits = 0; bits <= MAX_BITS; bits++) s->bl_count[bits] = 0;
+
+    /* In a first pass, compute the optimal bit lengths (which may
+     * overflow in the case of the bit length tree).
+     */
+    tree[s->heap[s->heap_max]].Len = 0; /* root of the heap */
+
+    for (h = s->heap_max+1; h < HEAP_SIZE; h++) {
+        n = s->heap[h];
+        bits = tree[tree[n].Dad].Len + 1;
+        if (bits > max_length) bits = max_length, overflow++;
+        tree[n].Len = (ush)bits;
+        /* We overwrite tree[n].Dad which is no longer needed */
+
+        if (n > max_code) continue; /* not a leaf node */
+
+        s->bl_count[bits]++;
+        xbits = 0;
+        if (n >= base) xbits = extra[n-base];
+        f = tree[n].Freq;
+        s->opt_len += (ulg)f * (bits + xbits);
+        if (stree) s->static_len += (ulg)f * (stree[n].Len + xbits);
+    }
+    if (overflow == 0) return;
+
+    Trace((stderr,"\nbit length overflow\n"));
+    /* This happens for example on obj2 and pic of the Calgary corpus */
+
+    /* Find the first bit length which could increase: */
+    do {
+        bits = max_length-1;
+        while (s->bl_count[bits] == 0) bits--;
+        s->bl_count[bits]--;      /* move one leaf down the tree */
+        s->bl_count[bits+1] += 2; /* move one overflow item as its brother */
+        s->bl_count[max_length]--;
+        /* The brother of the overflow item also moves one step up,
+         * but this does not affect bl_count[max_length]
+         */
+        overflow -= 2;
+    } while (overflow > 0);
+
+    /* Now recompute all bit lengths, scanning in increasing frequency.
+     * h is still equal to HEAP_SIZE. (It is simpler to reconstruct all
+     * lengths instead of fixing only the wrong ones. This idea is taken
+     * from 'ar' written by Haruhiko Okumura.)
+     */
+    for (bits = max_length; bits != 0; bits--) {
+        n = s->bl_count[bits];
+        while (n != 0) {
+            m = s->heap[--h];
+            if (m > max_code) continue;
+            if ((unsigned) tree[m].Len != (unsigned) bits) {
+                Trace((stderr,"code %d bits %d->%d\n", m, tree[m].Len, bits));
+                s->opt_len += ((long)bits - (long)tree[m].Len)
+                              *(long)tree[m].Freq;
+                tree[m].Len = (ush)bits;
+            }
+            n--;
+        }
+    }
+}
+
+/* ===========================================================================
+ * Generate the codes for a given tree and bit counts (which need not be
+ * optimal).
+ * IN assertion: the array bl_count contains the bit length statistics for
+ * the given tree and the field len is set for all tree elements.
+ * OUT assertion: the field code is set for all tree elements of non
+ *     zero code length.
+ */
+local void gen_codes (tree, max_code, bl_count)
+    ct_data *tree;             /* the tree to decorate */
+    int max_code;              /* largest code with non zero frequency */
+    ushf *bl_count;            /* number of codes at each bit length */
+{
+    ush next_code[MAX_BITS+1]; /* next code value for each bit length */
+    ush code = 0;              /* running code value */
+    int bits;                  /* bit index */
+    int n;                     /* code index */
+
+    /* The distribution counts are first used to generate the code values
+     * without bit reversal.
+     */
+    for (bits = 1; bits <= MAX_BITS; bits++) {
+        next_code[bits] = code = (code + bl_count[bits-1]) << 1;
+    }
+    /* Check that the bit counts in bl_count are consistent. The last code
+     * must be all ones.
+     */
+    Assert (code + bl_count[MAX_BITS]-1 == (1<<MAX_BITS)-1,
+            "inconsistent bit counts");
+    Tracev((stderr,"\ngen_codes: max_code %d ", max_code));
+
+    for (n = 0;  n <= max_code; n++) {
+        int len = tree[n].Len;
+        if (len == 0) continue;
+        /* Now reverse the bits */
+        tree[n].Code = bi_reverse(next_code[len]++, len);
+
+        Tracecv(tree != static_ltree, (stderr,"\nn %3d %c l %2d c %4x (%x) ",
+             n, (isgraph(n) ? n : ' '), len, tree[n].Code, next_code[len]-1));
+    }
+}
+
+/* ===========================================================================
+ * Construct one Huffman tree and assigns the code bit strings and lengths.
+ * Update the total bit length for the current block.
+ * IN assertion: the field freq is set for all tree elements.
+ * OUT assertions: the fields len and code are set to the optimal bit length
+ *     and corresponding code. The length opt_len is updated; static_len is
+ *     also updated if stree is not null. The field max_code is set.
+ */
+local void build_tree(s, desc)
+    deflate_state *s;
+    tree_desc *desc; /* the tree descriptor */
+{
+    ct_data *tree         = desc->dyn_tree;
+    const ct_data *stree  = desc->stat_desc->static_tree;
+    int elems             = desc->stat_desc->elems;
+    int n, m;          /* iterate over heap elements */
+    int max_code = -1; /* largest code with non zero frequency */
+    int node;          /* new node being created */
+
+    /* Construct the initial heap, with least frequent element in
+     * heap[SMALLEST]. The sons of heap[n] are heap[2*n] and heap[2*n+1].
+     * heap[0] is not used.
+     */
+    s->heap_len = 0, s->heap_max = HEAP_SIZE;
+
+    for (n = 0; n < elems; n++) {
+        if (tree[n].Freq != 0) {
+            s->heap[++(s->heap_len)] = max_code = n;
+            s->depth[n] = 0;
+        } else {
+            tree[n].Len = 0;
+        }
+    }
+
+    /* The pkzip format requires that at least one distance code exists,
+     * and that at least one bit should be sent even if there is only one
+     * possible code. So to avoid special checks later on we force at least
+     * two codes of non zero frequency.
+     */
+    while (s->heap_len < 2) {
+        node = s->heap[++(s->heap_len)] = (max_code < 2 ? ++max_code : 0);
+        tree[node].Freq = 1;
+        s->depth[node] = 0;
+        s->opt_len--; if (stree) s->static_len -= stree[node].Len;
+        /* node is 0 or 1 so it does not have extra bits */
+    }
+    desc->max_code = max_code;
+
+    /* The elements heap[heap_len/2+1 .. heap_len] are leaves of the tree,
+     * establish sub-heaps of increasing lengths:
+     */
+    for (n = s->heap_len/2; n >= 1; n--) pqdownheap(s, tree, n);
+
+    /* Construct the Huffman tree by repeatedly combining the least two
+     * frequent nodes.
+     */
+    node = elems;              /* next internal node of the tree */
+    do {
+        pqremove(s, tree, n);  /* n = node of least frequency */
+        m = s->heap[SMALLEST]; /* m = node of next least frequency */
+
+        s->heap[--(s->heap_max)] = n; /* keep the nodes sorted by frequency */
+        s->heap[--(s->heap_max)] = m;
+
+        /* Create a new node father of n and m */
+        tree[node].Freq = tree[n].Freq + tree[m].Freq;
+        s->depth[node] = (uch)((s->depth[n] >= s->depth[m] ?
+                                s->depth[n] : s->depth[m]) + 1);
+        tree[n].Dad = tree[m].Dad = (ush)node;
+#ifdef DUMP_BL_TREE
+        if (tree == s->bl_tree) {
+            fprintf(stderr,"\nnode %d(%d), sons %d(%d) %d(%d)",
+                    node, tree[node].Freq, n, tree[n].Freq, m, tree[m].Freq);
+        }
+#endif
+        /* and insert the new node in the heap */
+        s->heap[SMALLEST] = node++;
+        pqdownheap(s, tree, SMALLEST);
+
+    } while (s->heap_len >= 2);
+
+    s->heap[--(s->heap_max)] = s->heap[SMALLEST];
+
+    /* At this point, the fields freq and dad are set. We can now
+     * generate the bit lengths.
+     */
+    gen_bitlen(s, (tree_desc *)desc);
+
+    /* The field len is now set, we can generate the bit codes */
+    gen_codes ((ct_data *)tree, max_code, s->bl_count);
+}
+
+/* ===========================================================================
+ * Scan a literal or distance tree to determine the frequencies of the codes
+ * in the bit length tree.
+ */
+local void scan_tree (s, tree, max_code)
+    deflate_state *s;
+    ct_data *tree;   /* the tree to be scanned */
+    int max_code;    /* and its largest code of non zero frequency */
+{
+    int n;                     /* iterates over all tree elements */
+    int prevlen = -1;          /* last emitted length */
+    int curlen;                /* length of current code */
+    int nextlen = tree[0].Len; /* length of next code */
+    int count = 0;             /* repeat count of the current code */
+    int max_count = 7;         /* max repeat count */
+    int min_count = 4;         /* min repeat count */
+
+    if (nextlen == 0) max_count = 138, min_count = 3;
+    tree[max_code+1].Len = (ush)0xffff; /* guard */
+
+    for (n = 0; n <= max_code; n++) {
+        curlen = nextlen; nextlen = tree[n+1].Len;
+        if (++count < max_count && curlen == nextlen) {
+            continue;
+        } else if (count < min_count) {
+            s->bl_tree[curlen].Freq += count;
+        } else if (curlen != 0) {
+            if (curlen != prevlen) s->bl_tree[curlen].Freq++;
+            s->bl_tree[REP_3_6].Freq++;
+        } else if (count <= 10) {
+            s->bl_tree[REPZ_3_10].Freq++;
+        } else {
+            s->bl_tree[REPZ_11_138].Freq++;
+        }
+        count = 0; prevlen = curlen;
+        if (nextlen == 0) {
+            max_count = 138, min_count = 3;
+        } else if (curlen == nextlen) {
+            max_count = 6, min_count = 3;
+        } else {
+            max_count = 7, min_count = 4;
+        }
+    }
+}
+
+/* ===========================================================================
+ * Send a literal or distance tree in compressed form, using the codes in
+ * bl_tree.
+ */
+local void send_tree (s, tree, max_code)
+    deflate_state *s;
+    ct_data *tree; /* the tree to be scanned */
+    int max_code;       /* and its largest code of non zero frequency */
+{
+    int n;                     /* iterates over all tree elements */
+    int prevlen = -1;          /* last emitted length */
+    int curlen;                /* length of current code */
+    int nextlen = tree[0].Len; /* length of next code */
+    int count = 0;             /* repeat count of the current code */
+    int max_count = 7;         /* max repeat count */
+    int min_count = 4;         /* min repeat count */
+
+    /* tree[max_code+1].Len = -1; */  /* guard already set */
+    if (nextlen == 0) max_count = 138, min_count = 3;
+
+    for (n = 0; n <= max_code; n++) {
+        curlen = nextlen; nextlen = tree[n+1].Len;
+        if (++count < max_count && curlen == nextlen) {
+            continue;
+        } else if (count < min_count) {
+            do { send_code(s, curlen, s->bl_tree); } while (--count != 0);
+
+        } else if (curlen != 0) {
+            if (curlen != prevlen) {
+                send_code(s, curlen, s->bl_tree); count--;
+            }
+            Assert(count >= 3 && count <= 6, " 3_6?");
+            send_code(s, REP_3_6, s->bl_tree); send_bits(s, count-3, 2);
+
+        } else if (count <= 10) {
+            send_code(s, REPZ_3_10, s->bl_tree); send_bits(s, count-3, 3);
+
+        } else {
+            send_code(s, REPZ_11_138, s->bl_tree); send_bits(s, count-11, 7);
+        }
+        count = 0; prevlen = curlen;
+        if (nextlen == 0) {
+            max_count = 138, min_count = 3;
+        } else if (curlen == nextlen) {
+            max_count = 6, min_count = 3;
+        } else {
+            max_count = 7, min_count = 4;
+        }
+    }
+}
+
+/* ===========================================================================
+ * Construct the Huffman tree for the bit lengths and return the index in
+ * bl_order of the last bit length code to send.
+ */
+local int build_bl_tree(s)
+    deflate_state *s;
+{
+    int max_blindex;  /* index of last bit length code of non zero freq */
+
+    /* Determine the bit length frequencies for literal and distance trees */
+    scan_tree(s, (ct_data *)s->dyn_ltree, s->l_desc.max_code);
+    scan_tree(s, (ct_data *)s->dyn_dtree, s->d_desc.max_code);
+
+    /* Build the bit length tree: */
+    build_tree(s, (tree_desc *)(&(s->bl_desc)));
+    /* opt_len now includes the length of the tree representations, except
+     * the lengths of the bit lengths codes and the 5+5+4 bits for the counts.
+     */
+
+    /* Determine the number of bit length codes to send. The pkzip format
+     * requires that at least 4 bit length codes be sent. (appnote.txt says
+     * 3 but the actual value used is 4.)
+     */
+    for (max_blindex = BL_CODES-1; max_blindex >= 3; max_blindex--) {
+        if (s->bl_tree[bl_order[max_blindex]].Len != 0) break;
+    }
+    /* Update opt_len to include the bit length tree and counts */
+    s->opt_len += 3*(max_blindex+1) + 5+5+4;
+    Tracev((stderr, "\ndyn trees: dyn %ld, stat %ld",
+            s->opt_len, s->static_len));
+
+    return max_blindex;
+}
+
+/* ===========================================================================
+ * Send the header for a block using dynamic Huffman trees: the counts, the
+ * lengths of the bit length codes, the literal tree and the distance tree.
+ * IN assertion: lcodes >= 257, dcodes >= 1, blcodes >= 4.
+ */
+local void send_all_trees(s, lcodes, dcodes, blcodes)
+    deflate_state *s;
+    int lcodes, dcodes, blcodes; /* number of codes for each tree */
+{
+    int rank;                    /* index in bl_order */
+
+    Assert (lcodes >= 257 && dcodes >= 1 && blcodes >= 4, "not enough codes");
+    Assert (lcodes <= L_CODES && dcodes <= D_CODES && blcodes <= BL_CODES,
+            "too many codes");
+    Tracev((stderr, "\nbl counts: "));
+    send_bits(s, lcodes-257, 5); /* not +255 as stated in appnote.txt */
+    send_bits(s, dcodes-1,   5);
+    send_bits(s, blcodes-4,  4); /* not -3 as stated in appnote.txt */
+    for (rank = 0; rank < blcodes; rank++) {
+        Tracev((stderr, "\nbl code %2d ", bl_order[rank]));
+        send_bits(s, s->bl_tree[bl_order[rank]].Len, 3);
+    }
+    Tracev((stderr, "\nbl tree: sent %ld", s->bits_sent));
+
+    send_tree(s, (ct_data *)s->dyn_ltree, lcodes-1); /* literal tree */
+    Tracev((stderr, "\nlit tree: sent %ld", s->bits_sent));
+
+    send_tree(s, (ct_data *)s->dyn_dtree, dcodes-1); /* distance tree */
+    Tracev((stderr, "\ndist tree: sent %ld", s->bits_sent));
+}
+
+/* ===========================================================================
+ * Send a stored block
+ */
+void _tr_stored_block(s, buf, stored_len, eof)
+    deflate_state *s;
+    charf *buf;       /* input block */
+    ulg stored_len;   /* length of input block */
+    int eof;          /* true if this is the last block for a file */
+{
+    send_bits(s, (STORED_BLOCK<<1)+eof, 3);  /* send block type */
+#ifdef DEBUG
+    s->compressed_len = (s->compressed_len + 3 + 7) & (ulg)~7L;
+    s->compressed_len += (stored_len + 4) << 3;
+#endif
+    copy_block(s, buf, (unsigned)stored_len, 1); /* with header */
+}
+
+/* ===========================================================================
+ * Send one empty static block to give enough lookahead for inflate.
+ * This takes 10 bits, of which 7 may remain in the bit buffer.
+ * The current inflate code requires 9 bits of lookahead. If the
+ * last two codes for the previous block (real code plus EOB) were coded
+ * on 5 bits or less, inflate may have only 5+3 bits of lookahead to decode
+ * the last real code. In this case we send two empty static blocks instead
+ * of one. (There are no problems if the previous block is stored or fixed.)
+ * To simplify the code, we assume the worst case of last real code encoded
+ * on one bit only.
+ */
+void _tr_align(s)
+    deflate_state *s;
+{
+    send_bits(s, STATIC_TREES<<1, 3);
+    send_code(s, END_BLOCK, static_ltree);
+#ifdef DEBUG
+    s->compressed_len += 10L; /* 3 for block type, 7 for EOB */
+#endif
+    bi_flush(s);
+    /* Of the 10 bits for the empty block, we have already sent
+     * (10 - bi_valid) bits. The lookahead for the last real code (before
+     * the EOB of the previous block) was thus at least one plus the length
+     * of the EOB plus what we have just sent of the empty static block.
+     */
+    if (1 + s->last_eob_len + 10 - s->bi_valid < 9) {
+        send_bits(s, STATIC_TREES<<1, 3);
+        send_code(s, END_BLOCK, static_ltree);
+#ifdef DEBUG
+        s->compressed_len += 10L;
+#endif
+        bi_flush(s);
+    }
+    s->last_eob_len = 7;
+}
+
+/* ===========================================================================
+ * Determine the best encoding for the current block: dynamic trees, static
+ * trees or store, and output the encoded block to the zip file.
+ */
+void _tr_flush_block(s, buf, stored_len, eof)
+    deflate_state *s;
+    charf *buf;       /* input block, or NULL if too old */
+    ulg stored_len;   /* length of input block */
+    int eof;          /* true if this is the last block for a file */
+{
+    ulg opt_lenb, static_lenb; /* opt_len and static_len in bytes */
+    int max_blindex = 0;  /* index of last bit length code of non zero freq */
+
+    /* Build the Huffman trees unless a stored block is forced */
+    if (s->level > 0) {
+
+        /* Check if the file is binary or text */
+        if (stored_len > 0 && s->strm->data_type == Z_UNKNOWN)
+            set_data_type(s);
+
+        /* Construct the literal and distance trees */
+        build_tree(s, (tree_desc *)(&(s->l_desc)));
+        Tracev((stderr, "\nlit data: dyn %ld, stat %ld", s->opt_len,
+                s->static_len));
+
+        build_tree(s, (tree_desc *)(&(s->d_desc)));
+        Tracev((stderr, "\ndist data: dyn %ld, stat %ld", s->opt_len,
+                s->static_len));
+        /* At this point, opt_len and static_len are the total bit lengths of
+         * the compressed block data, excluding the tree representations.
+         */
+
+        /* Build the bit length tree for the above two trees, and get the index
+         * in bl_order of the last bit length code to send.
+         */
+        max_blindex = build_bl_tree(s);
+
+        /* Determine the best encoding. Compute the block lengths in bytes. */
+        opt_lenb = (s->opt_len+3+7)>>3;
+        static_lenb = (s->static_len+3+7)>>3;
+
+        Tracev((stderr, "\nopt %lu(%lu) stat %lu(%lu) stored %lu lit %u ",
+                opt_lenb, s->opt_len, static_lenb, s->static_len, stored_len,
+                s->last_lit));
+
+        if (static_lenb <= opt_lenb) opt_lenb = static_lenb;
+
+    } else {
+        Assert(buf != (char*)0, "lost buf");
+        opt_lenb = static_lenb = stored_len + 5; /* force a stored block */
+    }
+
+#ifdef FORCE_STORED
+    if (buf != (char*)0) { /* force stored block */
+#else
+    if (stored_len+4 <= opt_lenb && buf != (char*)0) {
+                       /* 4: two words for the lengths */
+#endif
+        /* The test buf != NULL is only necessary if LIT_BUFSIZE > WSIZE.
+         * Otherwise we can't have processed more than WSIZE input bytes since
+         * the last block flush, because compression would have been
+         * successful. If LIT_BUFSIZE <= WSIZE, it is never too late to
+         * transform a block into a stored block.
+         */
+        _tr_stored_block(s, buf, stored_len, eof);
+
+#ifdef FORCE_STATIC
+    } else if (static_lenb >= 0) { /* force static trees */
+#else
+    } else if (s->strategy == Z_FIXED || static_lenb == opt_lenb) {
+#endif
+        send_bits(s, (STATIC_TREES<<1)+eof, 3);
+        compress_block(s, (ct_data *)static_ltree, (ct_data *)static_dtree);
+#ifdef DEBUG
+        s->compressed_len += 3 + s->static_len;
+#endif
+    } else {
+        send_bits(s, (DYN_TREES<<1)+eof, 3);
+        send_all_trees(s, s->l_desc.max_code+1, s->d_desc.max_code+1,
+                       max_blindex+1);
+        compress_block(s, (ct_data *)s->dyn_ltree, (ct_data *)s->dyn_dtree);
+#ifdef DEBUG
+        s->compressed_len += 3 + s->opt_len;
+#endif
+    }
+    Assert (s->compressed_len == s->bits_sent, "bad compressed size");
+    /* The above check is made mod 2^32, for files larger than 512 MB
+     * and uLong implemented on 32 bits.
+     */
+    init_block(s);
+
+    if (eof) {
+        bi_windup(s);
+#ifdef DEBUG
+        s->compressed_len += 7;  /* align on byte boundary */
+#endif
+    }
+    Tracev((stderr,"\ncomprlen %lu(%lu) ", s->compressed_len>>3,
+           s->compressed_len-7*eof));
+}
+
+/* ===========================================================================
+ * Save the match info and tally the frequency counts. Return true if
+ * the current block must be flushed.
+ */
+int _tr_tally (s, dist, lc)
+    deflate_state *s;
+    unsigned dist;  /* distance of matched string */
+    unsigned lc;    /* match length-MIN_MATCH or unmatched char (if dist==0) */
+{
+    s->d_buf[s->last_lit] = (ush)dist;
+    s->l_buf[s->last_lit++] = (uch)lc;
+    if (dist == 0) {
+        /* lc is the unmatched char */
+        s->dyn_ltree[lc].Freq++;
+    } else {
+        s->matches++;
+        /* Here, lc is the match length - MIN_MATCH */
+        dist--;             /* dist = match distance - 1 */
+        Assert((ush)dist < (ush)MAX_DIST(s) &&
+               (ush)lc <= (ush)(MAX_MATCH-MIN_MATCH) &&
+               (ush)d_code(dist) < (ush)D_CODES,  "_tr_tally: bad match");
+
+        s->dyn_ltree[_length_code[lc]+LITERALS+1].Freq++;
+        s->dyn_dtree[d_code(dist)].Freq++;
+    }
+
+#ifdef TRUNCATE_BLOCK
+    /* Try to guess if it is profitable to stop the current block here */
+    if ((s->last_lit & 0x1fff) == 0 && s->level > 2) {
+        /* Compute an upper bound for the compressed length */
+        ulg out_length = (ulg)s->last_lit*8L;
+        ulg in_length = (ulg)((long)s->strstart - s->block_start);
+        int dcode;
+        for (dcode = 0; dcode < D_CODES; dcode++) {
+            out_length += (ulg)s->dyn_dtree[dcode].Freq *
+                (5L+extra_dbits[dcode]);
+        }
+        out_length >>= 3;
+        Tracev((stderr,"\nlast_lit %u, in %ld, out ~%ld(%ld%%) ",
+               s->last_lit, in_length, out_length,
+               100L - out_length*100L/in_length));
+        if (s->matches < s->last_lit/2 && out_length < in_length/2) return 1;
+    }
+#endif
+    return (s->last_lit == s->lit_bufsize-1);
+    /* We avoid equality with lit_bufsize because of wraparound at 64K
+     * on 16 bit machines and because stored blocks are restricted to
+     * 64K-1 bytes.
+     */
+}
+
+/* ===========================================================================
+ * Send the block data compressed using the given Huffman trees
+ */
+local void compress_block(s, ltree, dtree)
+    deflate_state *s;
+    ct_data *ltree; /* literal tree */
+    ct_data *dtree; /* distance tree */
+{
+    unsigned dist;      /* distance of matched string */
+    int lc;             /* match length or unmatched char (if dist == 0) */
+    unsigned lx = 0;    /* running index in l_buf */
+    unsigned code;      /* the code to send */
+    int extra;          /* number of extra bits to send */
+
+    if (s->last_lit != 0) do {
+        dist = s->d_buf[lx];
+        lc = s->l_buf[lx++];
+        if (dist == 0) {
+            send_code(s, lc, ltree); /* send a literal byte */
+            Tracecv(isgraph(lc), (stderr," '%c' ", lc));
+        } else {
+            /* Here, lc is the match length - MIN_MATCH */
+            code = _length_code[lc];
+            send_code(s, code+LITERALS+1, ltree); /* send the length code */
+            extra = extra_lbits[code];
+            if (extra != 0) {
+                lc -= base_length[code];
+                send_bits(s, lc, extra);       /* send the extra length bits */
+            }
+            dist--; /* dist is now the match distance - 1 */
+            code = d_code(dist);
+            Assert (code < D_CODES, "bad d_code");
+
+            send_code(s, code, dtree);       /* send the distance code */
+            extra = extra_dbits[code];
+            if (extra != 0) {
+                dist -= base_dist[code];
+                send_bits(s, dist, extra);   /* send the extra distance bits */
+            }
+        } /* literal or match pair ? */
+
+        /* Check that the overlay between pending_buf and d_buf+l_buf is ok: */
+        Assert((uInt)(s->pending) < s->lit_bufsize + 2*lx,
+               "pendingBuf overflow");
+
+    } while (lx < s->last_lit);
+
+    send_code(s, END_BLOCK, ltree);
+    s->last_eob_len = ltree[END_BLOCK].Len;
+}
+
+/* ===========================================================================
+ * Set the data type to BINARY or TEXT, using a crude approximation:
+ * set it to Z_TEXT if all symbols are either printable characters (33 to 255)
+ * or white spaces (9 to 13, or 32); or set it to Z_BINARY otherwise.
+ * IN assertion: the fields Freq of dyn_ltree are set.
+ */
+local void set_data_type(s)
+    deflate_state *s;
+{
+    int n;
+
+    for (n = 0; n < 9; n++)
+        if (s->dyn_ltree[n].Freq != 0)
+            break;
+    if (n == 9)
+        for (n = 14; n < 32; n++)
+            if (s->dyn_ltree[n].Freq != 0)
+                break;
+    s->strm->data_type = (n == 32) ? Z_TEXT : Z_BINARY;
+}
+
+/* ===========================================================================
+ * Reverse the first len bits of a code, using straightforward code (a faster
+ * method would use a table)
+ * IN assertion: 1 <= len <= 15
+ */
+local unsigned bi_reverse(code, len)
+    unsigned code; /* the value to invert */
+    int len;       /* its bit length */
+{
+    register unsigned res = 0;
+    do {
+        res |= code & 1;
+        code >>= 1, res <<= 1;
+    } while (--len > 0);
+    return res >> 1;
+}
+
+/* ===========================================================================
+ * Flush the bit buffer, keeping at most 7 bits in it.
+ */
+local void bi_flush(s)
+    deflate_state *s;
+{
+    if (s->bi_valid == 16) {
+        put_short(s, s->bi_buf);
+        s->bi_buf = 0;
+        s->bi_valid = 0;
+    } else if (s->bi_valid >= 8) {
+        put_byte(s, (Byte)s->bi_buf);
+        s->bi_buf >>= 8;
+        s->bi_valid -= 8;
+    }
+}
+
+/* ===========================================================================
+ * Flush the bit buffer and align the output on a byte boundary
+ */
+local void bi_windup(s)
+    deflate_state *s;
+{
+    if (s->bi_valid > 8) {
+        put_short(s, s->bi_buf);
+    } else if (s->bi_valid > 0) {
+        put_byte(s, (Byte)s->bi_buf);
+    }
+    s->bi_buf = 0;
+    s->bi_valid = 0;
+#ifdef DEBUG
+    s->bits_sent = (s->bits_sent+7) & ~7;
+#endif
+}
+
+/* ===========================================================================
+ * Copy a stored block, storing first the length and its
+ * one's complement if requested.
+ */
+local void copy_block(s, buf, len, header)
+    deflate_state *s;
+    charf    *buf;    /* the input data */
+    unsigned len;     /* its length */
+    int      header;  /* true if block header must be written */
+{
+    bi_windup(s);        /* align on byte boundary */
+    s->last_eob_len = 8; /* enough lookahead for inflate */
+
+    if (header) {
+        put_short(s, (ush)len);
+        put_short(s, (ush)~len);
+#ifdef DEBUG
+        s->bits_sent += 2*16;
+#endif
+    }
+#ifdef DEBUG
+    s->bits_sent += (ulg)len<<3;
+#endif
+    while (len--) {
+        put_byte(s, *buf++);
+    }
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/trees.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/trees.h
new file mode 100755
index 0000000..72facf9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/trees.h
@@ -0,0 +1,128 @@
+/* header created automatically with -DGEN_TREES_H */
+
+local const ct_data static_ltree[L_CODES+2] = {
+{{ 12},{  8}}, {{140},{  8}}, {{ 76},{  8}}, {{204},{  8}}, {{ 44},{  8}},
+{{172},{  8}}, {{108},{  8}}, {{236},{  8}}, {{ 28},{  8}}, {{156},{  8}},
+{{ 92},{  8}}, {{220},{  8}}, {{ 60},{  8}}, {{188},{  8}}, {{124},{  8}},
+{{252},{  8}}, {{  2},{  8}}, {{130},{  8}}, {{ 66},{  8}}, {{194},{  8}},
+{{ 34},{  8}}, {{162},{  8}}, {{ 98},{  8}}, {{226},{  8}}, {{ 18},{  8}},
+{{146},{  8}}, {{ 82},{  8}}, {{210},{  8}}, {{ 50},{  8}}, {{178},{  8}},
+{{114},{  8}}, {{242},{  8}}, {{ 10},{  8}}, {{138},{  8}}, {{ 74},{  8}},
+{{202},{  8}}, {{ 42},{  8}}, {{170},{  8}}, {{106},{  8}}, {{234},{  8}},
+{{ 26},{  8}}, {{154},{  8}}, {{ 90},{  8}}, {{218},{  8}}, {{ 58},{  8}},
+{{186},{  8}}, {{122},{  8}}, {{250},{  8}}, {{  6},{  8}}, {{134},{  8}},
+{{ 70},{  8}}, {{198},{  8}}, {{ 38},{  8}}, {{166},{  8}}, {{102},{  8}},
+{{230},{  8}}, {{ 22},{  8}}, {{150},{  8}}, {{ 86},{  8}}, {{214},{  8}},
+{{ 54},{  8}}, {{182},{  8}}, {{118},{  8}}, {{246},{  8}}, {{ 14},{  8}},
+{{142},{  8}}, {{ 78},{  8}}, {{206},{  8}}, {{ 46},{  8}}, {{174},{  8}},
+{{110},{  8}}, {{238},{  8}}, {{ 30},{  8}}, {{158},{  8}}, {{ 94},{  8}},
+{{222},{  8}}, {{ 62},{  8}}, {{190},{  8}}, {{126},{  8}}, {{254},{  8}},
+{{  1},{  8}}, {{129},{  8}}, {{ 65},{  8}}, {{193},{  8}}, {{ 33},{  8}},
+{{161},{  8}}, {{ 97},{  8}}, {{225},{  8}}, {{ 17},{  8}}, {{145},{  8}},
+{{ 81},{  8}}, {{209},{  8}}, {{ 49},{  8}}, {{177},{  8}}, {{113},{  8}},
+{{241},{  8}}, {{  9},{  8}}, {{137},{  8}}, {{ 73},{  8}}, {{201},{  8}},
+{{ 41},{  8}}, {{169},{  8}}, {{105},{  8}}, {{233},{  8}}, {{ 25},{  8}},
+{{153},{  8}}, {{ 89},{  8}}, {{217},{  8}}, {{ 57},{  8}}, {{185},{  8}},
+{{121},{  8}}, {{249},{  8}}, {{  5},{  8}}, {{133},{  8}}, {{ 69},{  8}},
+{{197},{  8}}, {{ 37},{  8}}, {{165},{  8}}, {{101},{  8}}, {{229},{  8}},
+{{ 21},{  8}}, {{149},{  8}}, {{ 85},{  8}}, {{213},{  8}}, {{ 53},{  8}},
+{{181},{  8}}, {{117},{  8}}, {{245},{  8}}, {{ 13},{  8}}, {{141},{  8}},
+{{ 77},{  8}}, {{205},{  8}}, {{ 45},{  8}}, {{173},{  8}}, {{109},{  8}},
+{{237},{  8}}, {{ 29},{  8}}, {{157},{  8}}, {{ 93},{  8}}, {{221},{  8}},
+{{ 61},{  8}}, {{189},{  8}}, {{125},{  8}}, {{253},{  8}}, {{ 19},{  9}},
+{{275},{  9}}, {{147},{  9}}, {{403},{  9}}, {{ 83},{  9}}, {{339},{  9}},
+{{211},{  9}}, {{467},{  9}}, {{ 51},{  9}}, {{307},{  9}}, {{179},{  9}},
+{{435},{  9}}, {{115},{  9}}, {{371},{  9}}, {{243},{  9}}, {{499},{  9}},
+{{ 11},{  9}}, {{267},{  9}}, {{139},{  9}}, {{395},{  9}}, {{ 75},{  9}},
+{{331},{  9}}, {{203},{  9}}, {{459},{  9}}, {{ 43},{  9}}, {{299},{  9}},
+{{171},{  9}}, {{427},{  9}}, {{107},{  9}}, {{363},{  9}}, {{235},{  9}},
+{{491},{  9}}, {{ 27},{  9}}, {{283},{  9}}, {{155},{  9}}, {{411},{  9}},
+{{ 91},{  9}}, {{347},{  9}}, {{219},{  9}}, {{475},{  9}}, {{ 59},{  9}},
+{{315},{  9}}, {{187},{  9}}, {{443},{  9}}, {{123},{  9}}, {{379},{  9}},
+{{251},{  9}}, {{507},{  9}}, {{  7},{  9}}, {{263},{  9}}, {{135},{  9}},
+{{391},{  9}}, {{ 71},{  9}}, {{327},{  9}}, {{199},{  9}}, {{455},{  9}},
+{{ 39},{  9}}, {{295},{  9}}, {{167},{  9}}, {{423},{  9}}, {{103},{  9}},
+{{359},{  9}}, {{231},{  9}}, {{487},{  9}}, {{ 23},{  9}}, {{279},{  9}},
+{{151},{  9}}, {{407},{  9}}, {{ 87},{  9}}, {{343},{  9}}, {{215},{  9}},
+{{471},{  9}}, {{ 55},{  9}}, {{311},{  9}}, {{183},{  9}}, {{439},{  9}},
+{{119},{  9}}, {{375},{  9}}, {{247},{  9}}, {{503},{  9}}, {{ 15},{  9}},
+{{271},{  9}}, {{143},{  9}}, {{399},{  9}}, {{ 79},{  9}}, {{335},{  9}},
+{{207},{  9}}, {{463},{  9}}, {{ 47},{  9}}, {{303},{  9}}, {{175},{  9}},
+{{431},{  9}}, {{111},{  9}}, {{367},{  9}}, {{239},{  9}}, {{495},{  9}},
+{{ 31},{  9}}, {{287},{  9}}, {{159},{  9}}, {{415},{  9}}, {{ 95},{  9}},
+{{351},{  9}}, {{223},{  9}}, {{479},{  9}}, {{ 63},{  9}}, {{319},{  9}},
+{{191},{  9}}, {{447},{  9}}, {{127},{  9}}, {{383},{  9}}, {{255},{  9}},
+{{511},{  9}}, {{  0},{  7}}, {{ 64},{  7}}, {{ 32},{  7}}, {{ 96},{  7}},
+{{ 16},{  7}}, {{ 80},{  7}}, {{ 48},{  7}}, {{112},{  7}}, {{  8},{  7}},
+{{ 72},{  7}}, {{ 40},{  7}}, {{104},{  7}}, {{ 24},{  7}}, {{ 88},{  7}},
+{{ 56},{  7}}, {{120},{  7}}, {{  4},{  7}}, {{ 68},{  7}}, {{ 36},{  7}},
+{{100},{  7}}, {{ 20},{  7}}, {{ 84},{  7}}, {{ 52},{  7}}, {{116},{  7}},
+{{  3},{  8}}, {{131},{  8}}, {{ 67},{  8}}, {{195},{  8}}, {{ 35},{  8}},
+{{163},{  8}}, {{ 99},{  8}}, {{227},{  8}}
+};
+
+local const ct_data static_dtree[D_CODES] = {
+{{ 0},{ 5}}, {{16},{ 5}}, {{ 8},{ 5}}, {{24},{ 5}}, {{ 4},{ 5}},
+{{20},{ 5}}, {{12},{ 5}}, {{28},{ 5}}, {{ 2},{ 5}}, {{18},{ 5}},
+{{10},{ 5}}, {{26},{ 5}}, {{ 6},{ 5}}, {{22},{ 5}}, {{14},{ 5}},
+{{30},{ 5}}, {{ 1},{ 5}}, {{17},{ 5}}, {{ 9},{ 5}}, {{25},{ 5}},
+{{ 5},{ 5}}, {{21},{ 5}}, {{13},{ 5}}, {{29},{ 5}}, {{ 3},{ 5}},
+{{19},{ 5}}, {{11},{ 5}}, {{27},{ 5}}, {{ 7},{ 5}}, {{23},{ 5}}
+};
+
+const uch _dist_code[DIST_CODE_LEN] = {
+ 0,  1,  2,  3,  4,  4,  5,  5,  6,  6,  6,  6,  7,  7,  7,  7,  8,  8,  8,  8,
+ 8,  8,  8,  8,  9,  9,  9,  9,  9,  9,  9,  9, 10, 10, 10, 10, 10, 10, 10, 10,
+10, 10, 10, 10, 10, 10, 10, 10, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11,
+11, 11, 11, 11, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12,
+12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 13, 13, 13, 13,
+13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
+13, 13, 13, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
+14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
+14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
+14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 15, 15, 15, 15, 15, 15, 15, 15,
+15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
+15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
+15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,  0,  0, 16, 17,
+18, 18, 19, 19, 20, 20, 20, 20, 21, 21, 21, 21, 22, 22, 22, 22, 22, 22, 22, 22,
+23, 23, 23, 23, 23, 23, 23, 23, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+24, 24, 24, 24, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25,
+26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26,
+26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 27, 27, 27, 27, 27, 27, 27, 27,
+27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27,
+27, 27, 27, 27, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28,
+28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28,
+28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28,
+28, 28, 28, 28, 28, 28, 28, 28, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29,
+29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29,
+29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29,
+29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29
+};
+
+const uch _length_code[MAX_MATCH-MIN_MATCH+1]= {
+ 0,  1,  2,  3,  4,  5,  6,  7,  8,  8,  9,  9, 10, 10, 11, 11, 12, 12, 12, 12,
+13, 13, 13, 13, 14, 14, 14, 14, 15, 15, 15, 15, 16, 16, 16, 16, 16, 16, 16, 16,
+17, 17, 17, 17, 17, 17, 17, 17, 18, 18, 18, 18, 18, 18, 18, 18, 19, 19, 19, 19,
+19, 19, 19, 19, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20, 20,
+21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 22, 22, 22, 22,
+22, 22, 22, 22, 22, 22, 22, 22, 22, 22, 22, 22, 23, 23, 23, 23, 23, 23, 23, 23,
+23, 23, 23, 23, 23, 23, 23, 23, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24, 24,
+25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25,
+25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 26, 26, 26, 26, 26, 26, 26, 26,
+26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26,
+26, 26, 26, 26, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27,
+27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 28
+};
+
+local const int base_length[LENGTH_CODES] = {
+0, 1, 2, 3, 4, 5, 6, 7, 8, 10, 12, 14, 16, 20, 24, 28, 32, 40, 48, 56,
+64, 80, 96, 112, 128, 160, 192, 224, 0
+};
+
+local const int base_dist[D_CODES] = {
+    0,     1,     2,     3,     4,     6,     8,    12,    16,    24,
+   32,    48,    64,    96,   128,   192,   256,   384,   512,   768,
+ 1024,  1536,  2048,  3072,  4096,  6144,  8192, 12288, 16384, 24576
+};
+
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/uncompr.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/uncompr.c
new file mode 100755
index 0000000..b59e3d0
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/uncompr.c
@@ -0,0 +1,61 @@
+/* uncompr.c -- decompress a memory buffer
+ * Copyright (C) 1995-2003 Jean-loup Gailly.
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* @(#) $Id$ */
+
+#define ZLIB_INTERNAL
+#include "zlib.h"
+
+/* ===========================================================================
+     Decompresses the source buffer into the destination buffer.  sourceLen is
+   the byte length of the source buffer. Upon entry, destLen is the total
+   size of the destination buffer, which must be large enough to hold the
+   entire uncompressed data. (The size of the uncompressed data must have
+   been saved previously by the compressor and transmitted to the decompressor
+   by some mechanism outside the scope of this compression library.)
+   Upon exit, destLen is the actual size of the compressed buffer.
+     This function can be used to decompress a whole file at once if the
+   input file is mmap'ed.
+
+     uncompress returns Z_OK if success, Z_MEM_ERROR if there was not
+   enough memory, Z_BUF_ERROR if there was not enough room in the output
+   buffer, or Z_DATA_ERROR if the input data was corrupted.
+*/
+int ZEXPORT uncompress (dest, destLen, source, sourceLen)
+    Bytef *dest;
+    uLongf *destLen;
+    const Bytef *source;
+    uLong sourceLen;
+{
+    z_stream stream;
+    int err;
+
+    stream.next_in = (Bytef*)source;
+    stream.avail_in = (uInt)sourceLen;
+    /* Check for source > 64K on 16-bit machine: */
+    if ((uLong)stream.avail_in != sourceLen) return Z_BUF_ERROR;
+
+    stream.next_out = dest;
+    stream.avail_out = (uInt)*destLen;
+    if ((uLong)stream.avail_out != *destLen) return Z_BUF_ERROR;
+
+    stream.zalloc = (alloc_func)0;
+    stream.zfree = (free_func)0;
+
+    err = inflateInit(&stream);
+    if (err != Z_OK) return err;
+
+    err = inflate(&stream, Z_FINISH);
+    if (err != Z_STREAM_END) {
+        inflateEnd(&stream);
+        if (err == Z_NEED_DICT || (err == Z_BUF_ERROR && stream.avail_in == 0))
+            return Z_DATA_ERROR;
+        return err;
+    }
+    *destLen = stream.total_out;
+
+    err = inflateEnd(&stream);
+    return err;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zconf.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zconf.h
new file mode 100755
index 0000000..03a9431
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zconf.h
@@ -0,0 +1,332 @@
+/* zconf.h -- configuration of the zlib compression library
+ * Copyright (C) 1995-2005 Jean-loup Gailly.
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* @(#) $Id$ */
+
+#ifndef ZCONF_H
+#define ZCONF_H
+
+/*
+ * If you *really* need a unique prefix for all types and library functions,
+ * compile with -DZ_PREFIX. The "standard" zlib should be compiled without it.
+ */
+#ifdef Z_PREFIX
+#  define deflateInit_          z_deflateInit_
+#  define deflate               z_deflate
+#  define deflateEnd            z_deflateEnd
+#  define inflateInit_          z_inflateInit_
+#  define inflate               z_inflate
+#  define inflateEnd            z_inflateEnd
+#  define deflateInit2_         z_deflateInit2_
+#  define deflateSetDictionary  z_deflateSetDictionary
+#  define deflateCopy           z_deflateCopy
+#  define deflateReset          z_deflateReset
+#  define deflateParams         z_deflateParams
+#  define deflateBound          z_deflateBound
+#  define deflatePrime          z_deflatePrime
+#  define inflateInit2_         z_inflateInit2_
+#  define inflateSetDictionary  z_inflateSetDictionary
+#  define inflateSync           z_inflateSync
+#  define inflateSyncPoint      z_inflateSyncPoint
+#  define inflateCopy           z_inflateCopy
+#  define inflateReset          z_inflateReset
+#  define inflateBack           z_inflateBack
+#  define inflateBackEnd        z_inflateBackEnd
+#  define compress              z_compress
+#  define compress2             z_compress2
+#  define compressBound         z_compressBound
+#  define uncompress            z_uncompress
+#  define adler32               z_adler32
+#  define crc32                 z_crc32
+#  define get_crc_table         z_get_crc_table
+#  define zError                z_zError
+
+#  define alloc_func            z_alloc_func
+#  define free_func             z_free_func
+#  define in_func               z_in_func
+#  define out_func              z_out_func
+#  define Byte                  z_Byte
+#  define uInt                  z_uInt
+#  define uLong                 z_uLong
+#  define Bytef                 z_Bytef
+#  define charf                 z_charf
+#  define intf                  z_intf
+#  define uIntf                 z_uIntf
+#  define uLongf                z_uLongf
+#  define voidpf                z_voidpf
+#  define voidp                 z_voidp
+#endif
+
+#if defined(__MSDOS__) && !defined(MSDOS)
+#  define MSDOS
+#endif
+#if (defined(OS_2) || defined(__OS2__)) && !defined(OS2)
+#  define OS2
+#endif
+#if defined(_WINDOWS) && !defined(WINDOWS)
+#  define WINDOWS
+#endif
+#if defined(_WIN32) || defined(_WIN32_WCE) || defined(__WIN32__)
+#  ifndef WIN32
+#    define WIN32
+#  endif
+#endif
+#if (defined(MSDOS) || defined(OS2) || defined(WINDOWS)) && !defined(WIN32)
+#  if !defined(__GNUC__) && !defined(__FLAT__) && !defined(__386__)
+#    ifndef SYS16BIT
+#      define SYS16BIT
+#    endif
+#  endif
+#endif
+
+/*
+ * Compile with -DMAXSEG_64K if the alloc function cannot allocate more
+ * than 64k bytes at a time (needed on systems with 16-bit int).
+ */
+#ifdef SYS16BIT
+#  define MAXSEG_64K
+#endif
+#ifdef MSDOS
+#  define UNALIGNED_OK
+#endif
+
+#ifdef __STDC_VERSION__
+#  ifndef STDC
+#    define STDC
+#  endif
+#  if __STDC_VERSION__ >= 199901L
+#    ifndef STDC99
+#      define STDC99
+#    endif
+#  endif
+#endif
+#if !defined(STDC) && (defined(__STDC__) || defined(__cplusplus))
+#  define STDC
+#endif
+#if !defined(STDC) && (defined(__GNUC__) || defined(__BORLANDC__))
+#  define STDC
+#endif
+#if !defined(STDC) && (defined(MSDOS) || defined(WINDOWS) || defined(WIN32))
+#  define STDC
+#endif
+#if !defined(STDC) && (defined(OS2) || defined(__HOS_AIX__))
+#  define STDC
+#endif
+
+#if defined(__OS400__) && !defined(STDC)    /* iSeries (formerly AS/400). */
+#  define STDC
+#endif
+
+#ifndef STDC
+#  ifndef const /* cannot use !defined(STDC) && !defined(const) on Mac */
+#    define const       /* note: need a more gentle solution here */
+#  endif
+#endif
+
+/* Some Mac compilers merge all .h files incorrectly: */
+#if defined(__MWERKS__)||defined(applec)||defined(THINK_C)||defined(__SC__)
+#  define NO_DUMMY_DECL
+#endif
+
+/* Maximum value for memLevel in deflateInit2 */
+#ifndef MAX_MEM_LEVEL
+#  ifdef MAXSEG_64K
+#    define MAX_MEM_LEVEL 8
+#  else
+#    define MAX_MEM_LEVEL 9
+#  endif
+#endif
+
+/* Maximum value for windowBits in deflateInit2 and inflateInit2.
+ * WARNING: reducing MAX_WBITS makes minigzip unable to extract .gz files
+ * created by gzip. (Files created by minigzip can still be extracted by
+ * gzip.)
+ */
+#ifndef MAX_WBITS
+#  define MAX_WBITS   15 /* 32K LZ77 window */
+#endif
+
+/* The memory requirements for deflate are (in bytes):
+            (1 << (windowBits+2)) +  (1 << (memLevel+9))
+ that is: 128K for windowBits=15  +  128K for memLevel = 8  (default values)
+ plus a few kilobytes for small objects. For example, if you want to reduce
+ the default memory requirements from 256K to 128K, compile with
+     make CFLAGS="-O -DMAX_WBITS=14 -DMAX_MEM_LEVEL=7"
+ Of course this will generally degrade compression (there's no free lunch).
+
+   The memory requirements for inflate are (in bytes) 1 << windowBits
+ that is, 32K for windowBits=15 (default value) plus a few kilobytes
+ for small objects.
+*/
+
+                        /* Type declarations */
+
+#ifndef OF /* function prototypes */
+#  ifdef STDC
+#    define OF(args)  args
+#  else
+#    define OF(args)  ()
+#  endif
+#endif
+
+/* The following definitions for FAR are needed only for MSDOS mixed
+ * model programming (small or medium model with some far allocations).
+ * This was tested only with MSC; for other MSDOS compilers you may have
+ * to define NO_MEMCPY in zutil.h.  If you don't need the mixed model,
+ * just define FAR to be empty.
+ */
+#ifdef SYS16BIT
+#  if defined(M_I86SM) || defined(M_I86MM)
+     /* MSC small or medium model */
+#    define SMALL_MEDIUM
+#    ifdef _MSC_VER
+#      define FAR _far
+#    else
+#      define FAR far
+#    endif
+#  endif
+#  if (defined(__SMALL__) || defined(__MEDIUM__))
+     /* Turbo C small or medium model */
+#    define SMALL_MEDIUM
+#    ifdef __BORLANDC__
+#      define FAR _far
+#    else
+#      define FAR far
+#    endif
+#  endif
+#endif
+
+#if defined(WINDOWS) || defined(WIN32)
+   /* If building or using zlib as a DLL, define ZLIB_DLL.
+    * This is not mandatory, but it offers a little performance increase.
+    */
+#  ifdef ZLIB_DLL
+#    if defined(WIN32) && (!defined(__BORLANDC__) || (__BORLANDC__ >= 0x500))
+#      ifdef ZLIB_INTERNAL
+#        define ZEXTERN extern __declspec(dllexport)
+#      else
+#        define ZEXTERN extern __declspec(dllimport)
+#      endif
+#    endif
+#  endif  /* ZLIB_DLL */
+   /* If building or using zlib with the WINAPI/WINAPIV calling convention,
+    * define ZLIB_WINAPI.
+    * Caution: the standard ZLIB1.DLL is NOT compiled using ZLIB_WINAPI.
+    */
+#  ifdef ZLIB_WINAPI
+#    ifdef FAR
+#      undef FAR
+#    endif
+#    include <windows.h>
+     /* No need for _export, use ZLIB.DEF instead. */
+     /* For complete Windows compatibility, use WINAPI, not __stdcall. */
+#    define ZEXPORT WINAPI
+#    ifdef WIN32
+#      define ZEXPORTVA WINAPIV
+#    else
+#      define ZEXPORTVA FAR CDECL
+#    endif
+#  endif
+#endif
+
+#if defined (__BEOS__)
+#  ifdef ZLIB_DLL
+#    ifdef ZLIB_INTERNAL
+#      define ZEXPORT   __declspec(dllexport)
+#      define ZEXPORTVA __declspec(dllexport)
+#    else
+#      define ZEXPORT   __declspec(dllimport)
+#      define ZEXPORTVA __declspec(dllimport)
+#    endif
+#  endif
+#endif
+
+#ifndef ZEXTERN
+#  define ZEXTERN extern
+#endif
+#ifndef ZEXPORT
+#  define ZEXPORT
+#endif
+#ifndef ZEXPORTVA
+#  define ZEXPORTVA
+#endif
+
+#ifndef FAR
+#  define FAR
+#endif
+
+#if !defined(__MACTYPES__)
+typedef unsigned char  Byte;  /* 8 bits */
+#endif
+typedef unsigned int   uInt;  /* 16 bits or more */
+typedef unsigned long  uLong; /* 32 bits or more */
+
+#ifdef SMALL_MEDIUM
+   /* Borland C/C++ and some old MSC versions ignore FAR inside typedef */
+#  define Bytef Byte FAR
+#else
+   typedef Byte  FAR Bytef;
+#endif
+typedef char  FAR charf;
+typedef int   FAR intf;
+typedef uInt  FAR uIntf;
+typedef uLong FAR uLongf;
+
+#ifdef STDC
+   typedef void const *voidpc;
+   typedef void FAR   *voidpf;
+   typedef void       *voidp;
+#else
+   typedef Byte const *voidpc;
+   typedef Byte FAR   *voidpf;
+   typedef Byte       *voidp;
+#endif
+
+#if 0           /* HAVE_UNISTD_H -- this line is updated by ./configure */
+#  include <sys/types.h> /* for off_t */
+#  include <unistd.h>    /* for SEEK_* and off_t */
+#  ifdef VMS
+#    include <unixio.h>   /* for off_t */
+#  endif
+#  define z_off_t off_t
+#endif
+#ifndef SEEK_SET
+#  define SEEK_SET        0       /* Seek from beginning of file.  */
+#  define SEEK_CUR        1       /* Seek from current position.  */
+#  define SEEK_END        2       /* Set file pointer to EOF plus "offset" */
+#endif
+#ifndef z_off_t
+#  define z_off_t long
+#endif
+
+#if defined(__OS400__)
+#  define NO_vsnprintf
+#endif
+
+#if defined(__MVS__)
+#  define NO_vsnprintf
+#  ifdef FAR
+#    undef FAR
+#  endif
+#endif
+
+/* MVS linker does not support external names larger than 8 bytes */
+#if defined(__MVS__)
+#   pragma map(deflateInit_,"DEIN")
+#   pragma map(deflateInit2_,"DEIN2")
+#   pragma map(deflateEnd,"DEEND")
+#   pragma map(deflateBound,"DEBND")
+#   pragma map(inflateInit_,"ININ")
+#   pragma map(inflateInit2_,"ININ2")
+#   pragma map(inflateEnd,"INEND")
+#   pragma map(inflateSync,"INSY")
+#   pragma map(inflateSetDictionary,"INSEDI")
+#   pragma map(compressBound,"CMBND")
+#   pragma map(inflate_table,"INTABL")
+#   pragma map(inflate_fast,"INFA")
+#   pragma map(inflate_copyright,"INCOPY")
+#endif
+
+#endif /* ZCONF_H */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zconf.in.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zconf.in.h
new file mode 100755
index 0000000..03a9431
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zconf.in.h
@@ -0,0 +1,332 @@
+/* zconf.h -- configuration of the zlib compression library
+ * Copyright (C) 1995-2005 Jean-loup Gailly.
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* @(#) $Id$ */
+
+#ifndef ZCONF_H
+#define ZCONF_H
+
+/*
+ * If you *really* need a unique prefix for all types and library functions,
+ * compile with -DZ_PREFIX. The "standard" zlib should be compiled without it.
+ */
+#ifdef Z_PREFIX
+#  define deflateInit_          z_deflateInit_
+#  define deflate               z_deflate
+#  define deflateEnd            z_deflateEnd
+#  define inflateInit_          z_inflateInit_
+#  define inflate               z_inflate
+#  define inflateEnd            z_inflateEnd
+#  define deflateInit2_         z_deflateInit2_
+#  define deflateSetDictionary  z_deflateSetDictionary
+#  define deflateCopy           z_deflateCopy
+#  define deflateReset          z_deflateReset
+#  define deflateParams         z_deflateParams
+#  define deflateBound          z_deflateBound
+#  define deflatePrime          z_deflatePrime
+#  define inflateInit2_         z_inflateInit2_
+#  define inflateSetDictionary  z_inflateSetDictionary
+#  define inflateSync           z_inflateSync
+#  define inflateSyncPoint      z_inflateSyncPoint
+#  define inflateCopy           z_inflateCopy
+#  define inflateReset          z_inflateReset
+#  define inflateBack           z_inflateBack
+#  define inflateBackEnd        z_inflateBackEnd
+#  define compress              z_compress
+#  define compress2             z_compress2
+#  define compressBound         z_compressBound
+#  define uncompress            z_uncompress
+#  define adler32               z_adler32
+#  define crc32                 z_crc32
+#  define get_crc_table         z_get_crc_table
+#  define zError                z_zError
+
+#  define alloc_func            z_alloc_func
+#  define free_func             z_free_func
+#  define in_func               z_in_func
+#  define out_func              z_out_func
+#  define Byte                  z_Byte
+#  define uInt                  z_uInt
+#  define uLong                 z_uLong
+#  define Bytef                 z_Bytef
+#  define charf                 z_charf
+#  define intf                  z_intf
+#  define uIntf                 z_uIntf
+#  define uLongf                z_uLongf
+#  define voidpf                z_voidpf
+#  define voidp                 z_voidp
+#endif
+
+#if defined(__MSDOS__) && !defined(MSDOS)
+#  define MSDOS
+#endif
+#if (defined(OS_2) || defined(__OS2__)) && !defined(OS2)
+#  define OS2
+#endif
+#if defined(_WINDOWS) && !defined(WINDOWS)
+#  define WINDOWS
+#endif
+#if defined(_WIN32) || defined(_WIN32_WCE) || defined(__WIN32__)
+#  ifndef WIN32
+#    define WIN32
+#  endif
+#endif
+#if (defined(MSDOS) || defined(OS2) || defined(WINDOWS)) && !defined(WIN32)
+#  if !defined(__GNUC__) && !defined(__FLAT__) && !defined(__386__)
+#    ifndef SYS16BIT
+#      define SYS16BIT
+#    endif
+#  endif
+#endif
+
+/*
+ * Compile with -DMAXSEG_64K if the alloc function cannot allocate more
+ * than 64k bytes at a time (needed on systems with 16-bit int).
+ */
+#ifdef SYS16BIT
+#  define MAXSEG_64K
+#endif
+#ifdef MSDOS
+#  define UNALIGNED_OK
+#endif
+
+#ifdef __STDC_VERSION__
+#  ifndef STDC
+#    define STDC
+#  endif
+#  if __STDC_VERSION__ >= 199901L
+#    ifndef STDC99
+#      define STDC99
+#    endif
+#  endif
+#endif
+#if !defined(STDC) && (defined(__STDC__) || defined(__cplusplus))
+#  define STDC
+#endif
+#if !defined(STDC) && (defined(__GNUC__) || defined(__BORLANDC__))
+#  define STDC
+#endif
+#if !defined(STDC) && (defined(MSDOS) || defined(WINDOWS) || defined(WIN32))
+#  define STDC
+#endif
+#if !defined(STDC) && (defined(OS2) || defined(__HOS_AIX__))
+#  define STDC
+#endif
+
+#if defined(__OS400__) && !defined(STDC)    /* iSeries (formerly AS/400). */
+#  define STDC
+#endif
+
+#ifndef STDC
+#  ifndef const /* cannot use !defined(STDC) && !defined(const) on Mac */
+#    define const       /* note: need a more gentle solution here */
+#  endif
+#endif
+
+/* Some Mac compilers merge all .h files incorrectly: */
+#if defined(__MWERKS__)||defined(applec)||defined(THINK_C)||defined(__SC__)
+#  define NO_DUMMY_DECL
+#endif
+
+/* Maximum value for memLevel in deflateInit2 */
+#ifndef MAX_MEM_LEVEL
+#  ifdef MAXSEG_64K
+#    define MAX_MEM_LEVEL 8
+#  else
+#    define MAX_MEM_LEVEL 9
+#  endif
+#endif
+
+/* Maximum value for windowBits in deflateInit2 and inflateInit2.
+ * WARNING: reducing MAX_WBITS makes minigzip unable to extract .gz files
+ * created by gzip. (Files created by minigzip can still be extracted by
+ * gzip.)
+ */
+#ifndef MAX_WBITS
+#  define MAX_WBITS   15 /* 32K LZ77 window */
+#endif
+
+/* The memory requirements for deflate are (in bytes):
+            (1 << (windowBits+2)) +  (1 << (memLevel+9))
+ that is: 128K for windowBits=15  +  128K for memLevel = 8  (default values)
+ plus a few kilobytes for small objects. For example, if you want to reduce
+ the default memory requirements from 256K to 128K, compile with
+     make CFLAGS="-O -DMAX_WBITS=14 -DMAX_MEM_LEVEL=7"
+ Of course this will generally degrade compression (there's no free lunch).
+
+   The memory requirements for inflate are (in bytes) 1 << windowBits
+ that is, 32K for windowBits=15 (default value) plus a few kilobytes
+ for small objects.
+*/
+
+                        /* Type declarations */
+
+#ifndef OF /* function prototypes */
+#  ifdef STDC
+#    define OF(args)  args
+#  else
+#    define OF(args)  ()
+#  endif
+#endif
+
+/* The following definitions for FAR are needed only for MSDOS mixed
+ * model programming (small or medium model with some far allocations).
+ * This was tested only with MSC; for other MSDOS compilers you may have
+ * to define NO_MEMCPY in zutil.h.  If you don't need the mixed model,
+ * just define FAR to be empty.
+ */
+#ifdef SYS16BIT
+#  if defined(M_I86SM) || defined(M_I86MM)
+     /* MSC small or medium model */
+#    define SMALL_MEDIUM
+#    ifdef _MSC_VER
+#      define FAR _far
+#    else
+#      define FAR far
+#    endif
+#  endif
+#  if (defined(__SMALL__) || defined(__MEDIUM__))
+     /* Turbo C small or medium model */
+#    define SMALL_MEDIUM
+#    ifdef __BORLANDC__
+#      define FAR _far
+#    else
+#      define FAR far
+#    endif
+#  endif
+#endif
+
+#if defined(WINDOWS) || defined(WIN32)
+   /* If building or using zlib as a DLL, define ZLIB_DLL.
+    * This is not mandatory, but it offers a little performance increase.
+    */
+#  ifdef ZLIB_DLL
+#    if defined(WIN32) && (!defined(__BORLANDC__) || (__BORLANDC__ >= 0x500))
+#      ifdef ZLIB_INTERNAL
+#        define ZEXTERN extern __declspec(dllexport)
+#      else
+#        define ZEXTERN extern __declspec(dllimport)
+#      endif
+#    endif
+#  endif  /* ZLIB_DLL */
+   /* If building or using zlib with the WINAPI/WINAPIV calling convention,
+    * define ZLIB_WINAPI.
+    * Caution: the standard ZLIB1.DLL is NOT compiled using ZLIB_WINAPI.
+    */
+#  ifdef ZLIB_WINAPI
+#    ifdef FAR
+#      undef FAR
+#    endif
+#    include <windows.h>
+     /* No need for _export, use ZLIB.DEF instead. */
+     /* For complete Windows compatibility, use WINAPI, not __stdcall. */
+#    define ZEXPORT WINAPI
+#    ifdef WIN32
+#      define ZEXPORTVA WINAPIV
+#    else
+#      define ZEXPORTVA FAR CDECL
+#    endif
+#  endif
+#endif
+
+#if defined (__BEOS__)
+#  ifdef ZLIB_DLL
+#    ifdef ZLIB_INTERNAL
+#      define ZEXPORT   __declspec(dllexport)
+#      define ZEXPORTVA __declspec(dllexport)
+#    else
+#      define ZEXPORT   __declspec(dllimport)
+#      define ZEXPORTVA __declspec(dllimport)
+#    endif
+#  endif
+#endif
+
+#ifndef ZEXTERN
+#  define ZEXTERN extern
+#endif
+#ifndef ZEXPORT
+#  define ZEXPORT
+#endif
+#ifndef ZEXPORTVA
+#  define ZEXPORTVA
+#endif
+
+#ifndef FAR
+#  define FAR
+#endif
+
+#if !defined(__MACTYPES__)
+typedef unsigned char  Byte;  /* 8 bits */
+#endif
+typedef unsigned int   uInt;  /* 16 bits or more */
+typedef unsigned long  uLong; /* 32 bits or more */
+
+#ifdef SMALL_MEDIUM
+   /* Borland C/C++ and some old MSC versions ignore FAR inside typedef */
+#  define Bytef Byte FAR
+#else
+   typedef Byte  FAR Bytef;
+#endif
+typedef char  FAR charf;
+typedef int   FAR intf;
+typedef uInt  FAR uIntf;
+typedef uLong FAR uLongf;
+
+#ifdef STDC
+   typedef void const *voidpc;
+   typedef void FAR   *voidpf;
+   typedef void       *voidp;
+#else
+   typedef Byte const *voidpc;
+   typedef Byte FAR   *voidpf;
+   typedef Byte       *voidp;
+#endif
+
+#if 0           /* HAVE_UNISTD_H -- this line is updated by ./configure */
+#  include <sys/types.h> /* for off_t */
+#  include <unistd.h>    /* for SEEK_* and off_t */
+#  ifdef VMS
+#    include <unixio.h>   /* for off_t */
+#  endif
+#  define z_off_t off_t
+#endif
+#ifndef SEEK_SET
+#  define SEEK_SET        0       /* Seek from beginning of file.  */
+#  define SEEK_CUR        1       /* Seek from current position.  */
+#  define SEEK_END        2       /* Set file pointer to EOF plus "offset" */
+#endif
+#ifndef z_off_t
+#  define z_off_t long
+#endif
+
+#if defined(__OS400__)
+#  define NO_vsnprintf
+#endif
+
+#if defined(__MVS__)
+#  define NO_vsnprintf
+#  ifdef FAR
+#    undef FAR
+#  endif
+#endif
+
+/* MVS linker does not support external names larger than 8 bytes */
+#if defined(__MVS__)
+#   pragma map(deflateInit_,"DEIN")
+#   pragma map(deflateInit2_,"DEIN2")
+#   pragma map(deflateEnd,"DEEND")
+#   pragma map(deflateBound,"DEBND")
+#   pragma map(inflateInit_,"ININ")
+#   pragma map(inflateInit2_,"ININ2")
+#   pragma map(inflateEnd,"INEND")
+#   pragma map(inflateSync,"INSY")
+#   pragma map(inflateSetDictionary,"INSEDI")
+#   pragma map(compressBound,"CMBND")
+#   pragma map(inflate_table,"INTABL")
+#   pragma map(inflate_fast,"INFA")
+#   pragma map(inflate_copyright,"INCOPY")
+#endif
+
+#endif /* ZCONF_H */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zlib.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zlib.h
new file mode 100755
index 0000000..0228179
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zlib.h
@@ -0,0 +1,1357 @@
+/* zlib.h -- interface of the 'zlib' general purpose compression library
+  version 1.2.3, July 18th, 2005
+
+  Copyright (C) 1995-2005 Jean-loup Gailly and Mark Adler
+
+  This software is provided 'as-is', without any express or implied
+  warranty.  In no event will the authors be held liable for any damages
+  arising from the use of this software.
+
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+
+  1. The origin of this software must not be misrepresented; you must not
+     claim that you wrote the original software. If you use this software
+     in a product, an acknowledgment in the product documentation would be
+     appreciated but is not required.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+
+  Jean-loup Gailly        Mark Adler
+  jloup@gzip.org          madler@alumni.caltech.edu
+
+
+  The data format used by the zlib library is described by RFCs (Request for
+  Comments) 1950 to 1952 in the files http://www.ietf.org/rfc/rfc1950.txt
+  (zlib format), rfc1951.txt (deflate format) and rfc1952.txt (gzip format).
+*/
+
+#ifndef ZLIB_H
+#define ZLIB_H
+
+#include "zconf.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ZLIB_VERSION "1.2.3"
+#define ZLIB_VERNUM 0x1230
+
+/*
+     The 'zlib' compression library provides in-memory compression and
+  decompression functions, including integrity checks of the uncompressed
+  data.  This version of the library supports only one compression method
+  (deflation) but other algorithms will be added later and will have the same
+  stream interface.
+
+     Compression can be done in a single step if the buffers are large
+  enough (for example if an input file is mmap'ed), or can be done by
+  repeated calls of the compression function.  In the latter case, the
+  application must provide more input and/or consume the output
+  (providing more output space) before each call.
+
+     The compressed data format used by default by the in-memory functions is
+  the zlib format, which is a zlib wrapper documented in RFC 1950, wrapped
+  around a deflate stream, which is itself documented in RFC 1951.
+
+     The library also supports reading and writing files in gzip (.gz) format
+  with an interface similar to that of stdio using the functions that start
+  with "gz".  The gzip format is different from the zlib format.  gzip is a
+  gzip wrapper, documented in RFC 1952, wrapped around a deflate stream.
+
+     This library can optionally read and write gzip streams in memory as well.
+
+     The zlib format was designed to be compact and fast for use in memory
+  and on communications channels.  The gzip format was designed for single-
+  file compression on file systems, has a larger header than zlib to maintain
+  directory information, and uses a different, slower check method than zlib.
+
+     The library does not install any signal handler. The decoder checks
+  the consistency of the compressed data, so the library should never
+  crash even in case of corrupted input.
+*/
+
+typedef voidpf (*alloc_func) OF((voidpf opaque, uInt items, uInt size));
+typedef void   (*free_func)  OF((voidpf opaque, voidpf address));
+
+struct internal_state;
+
+typedef struct z_stream_s {
+    Bytef    *next_in;  /* next input byte */
+    uInt     avail_in;  /* number of bytes available at next_in */
+    uLong    total_in;  /* total nb of input bytes read so far */
+
+    Bytef    *next_out; /* next output byte should be put there */
+    uInt     avail_out; /* remaining free space at next_out */
+    uLong    total_out; /* total nb of bytes output so far */
+
+    char     *msg;      /* last error message, NULL if no error */
+    struct internal_state FAR *state; /* not visible by applications */
+
+    alloc_func zalloc;  /* used to allocate the internal state */
+    free_func  zfree;   /* used to free the internal state */
+    voidpf     opaque;  /* private data object passed to zalloc and zfree */
+
+    int     data_type;  /* best guess about the data type: binary or text */
+    uLong   adler;      /* adler32 value of the uncompressed data */
+    uLong   reserved;   /* reserved for future use */
+} z_stream;
+
+typedef z_stream FAR *z_streamp;
+
+/*
+     gzip header information passed to and from zlib routines.  See RFC 1952
+  for more details on the meanings of these fields.
+*/
+typedef struct gz_header_s {
+    int     text;       /* true if compressed data believed to be text */
+    uLong   time;       /* modification time */
+    int     xflags;     /* extra flags (not used when writing a gzip file) */
+    int     os;         /* operating system */
+    Bytef   *extra;     /* pointer to extra field or Z_NULL if none */
+    uInt    extra_len;  /* extra field length (valid if extra != Z_NULL) */
+    uInt    extra_max;  /* space at extra (only when reading header) */
+    Bytef   *name;      /* pointer to zero-terminated file name or Z_NULL */
+    uInt    name_max;   /* space at name (only when reading header) */
+    Bytef   *comment;   /* pointer to zero-terminated comment or Z_NULL */
+    uInt    comm_max;   /* space at comment (only when reading header) */
+    int     hcrc;       /* true if there was or will be a header crc */
+    int     done;       /* true when done reading gzip header (not used
+                           when writing a gzip file) */
+} gz_header;
+
+typedef gz_header FAR *gz_headerp;
+
+/*
+   The application must update next_in and avail_in when avail_in has
+   dropped to zero. It must update next_out and avail_out when avail_out
+   has dropped to zero. The application must initialize zalloc, zfree and
+   opaque before calling the init function. All other fields are set by the
+   compression library and must not be updated by the application.
+
+   The opaque value provided by the application will be passed as the first
+   parameter for calls of zalloc and zfree. This can be useful for custom
+   memory management. The compression library attaches no meaning to the
+   opaque value.
+
+   zalloc must return Z_NULL if there is not enough memory for the object.
+   If zlib is used in a multi-threaded application, zalloc and zfree must be
+   thread safe.
+
+   On 16-bit systems, the functions zalloc and zfree must be able to allocate
+   exactly 65536 bytes, but will not be required to allocate more than this
+   if the symbol MAXSEG_64K is defined (see zconf.h). WARNING: On MSDOS,
+   pointers returned by zalloc for objects of exactly 65536 bytes *must*
+   have their offset normalized to zero. The default allocation function
+   provided by this library ensures this (see zutil.c). To reduce memory
+   requirements and avoid any allocation of 64K objects, at the expense of
+   compression ratio, compile the library with -DMAX_WBITS=14 (see zconf.h).
+
+   The fields total_in and total_out can be used for statistics or
+   progress reports. After compression, total_in holds the total size of
+   the uncompressed data and may be saved for use in the decompressor
+   (particularly if the decompressor wants to decompress everything in
+   a single step).
+*/
+
+                        /* constants */
+
+#define Z_NO_FLUSH      0
+#define Z_PARTIAL_FLUSH 1 /* will be removed, use Z_SYNC_FLUSH instead */
+#define Z_SYNC_FLUSH    2
+#define Z_FULL_FLUSH    3
+#define Z_FINISH        4
+#define Z_BLOCK         5
+/* Allowed flush values; see deflate() and inflate() below for details */
+
+#define Z_OK            0
+#define Z_STREAM_END    1
+#define Z_NEED_DICT     2
+#define Z_ERRNO        (-1)
+#define Z_STREAM_ERROR (-2)
+#define Z_DATA_ERROR   (-3)
+#define Z_MEM_ERROR    (-4)
+#define Z_BUF_ERROR    (-5)
+#define Z_VERSION_ERROR (-6)
+/* Return codes for the compression/decompression functions. Negative
+ * values are errors, positive values are used for special but normal events.
+ */
+
+#define Z_NO_COMPRESSION         0
+#define Z_BEST_SPEED             1
+#define Z_BEST_COMPRESSION       9
+#define Z_DEFAULT_COMPRESSION  (-1)
+/* compression levels */
+
+#define Z_FILTERED            1
+#define Z_HUFFMAN_ONLY        2
+#define Z_RLE                 3
+#define Z_FIXED               4
+#define Z_DEFAULT_STRATEGY    0
+/* compression strategy; see deflateInit2() below for details */
+
+#define Z_BINARY   0
+#define Z_TEXT     1
+#define Z_ASCII    Z_TEXT   /* for compatibility with 1.2.2 and earlier */
+#define Z_UNKNOWN  2
+/* Possible values of the data_type field (though see inflate()) */
+
+#define Z_DEFLATED   8
+/* The deflate compression method (the only one supported in this version) */
+
+#define Z_NULL  0  /* for initializing zalloc, zfree, opaque */
+
+#define zlib_version zlibVersion()
+/* for compatibility with versions < 1.0.2 */
+
+                        /* basic functions */
+
+ZEXTERN const char * ZEXPORT zlibVersion OF((void));
+/* The application can compare zlibVersion and ZLIB_VERSION for consistency.
+   If the first character differs, the library code actually used is
+   not compatible with the zlib.h header file used by the application.
+   This check is automatically made by deflateInit and inflateInit.
+ */
+
+/*
+ZEXTERN int ZEXPORT deflateInit OF((z_streamp strm, int level));
+
+     Initializes the internal stream state for compression. The fields
+   zalloc, zfree and opaque must be initialized before by the caller.
+   If zalloc and zfree are set to Z_NULL, deflateInit updates them to
+   use default allocation functions.
+
+     The compression level must be Z_DEFAULT_COMPRESSION, or between 0 and 9:
+   1 gives best speed, 9 gives best compression, 0 gives no compression at
+   all (the input data is simply copied a block at a time).
+   Z_DEFAULT_COMPRESSION requests a default compromise between speed and
+   compression (currently equivalent to level 6).
+
+     deflateInit returns Z_OK if success, Z_MEM_ERROR if there was not
+   enough memory, Z_STREAM_ERROR if level is not a valid compression level,
+   Z_VERSION_ERROR if the zlib library version (zlib_version) is incompatible
+   with the version assumed by the caller (ZLIB_VERSION).
+   msg is set to null if there is no error message.  deflateInit does not
+   perform any compression: this will be done by deflate().
+*/
+
+
+ZEXTERN int ZEXPORT deflate OF((z_streamp strm, int flush));
+/*
+    deflate compresses as much data as possible, and stops when the input
+  buffer becomes empty or the output buffer becomes full. It may introduce some
+  output latency (reading input without producing any output) except when
+  forced to flush.
+
+    The detailed semantics are as follows. deflate performs one or both of the
+  following actions:
+
+  - Compress more input starting at next_in and update next_in and avail_in
+    accordingly. If not all input can be processed (because there is not
+    enough room in the output buffer), next_in and avail_in are updated and
+    processing will resume at this point for the next call of deflate().
+
+  - Provide more output starting at next_out and update next_out and avail_out
+    accordingly. This action is forced if the parameter flush is non zero.
+    Forcing flush frequently degrades the compression ratio, so this parameter
+    should be set only when necessary (in interactive applications).
+    Some output may be provided even if flush is not set.
+
+  Before the call of deflate(), the application should ensure that at least
+  one of the actions is possible, by providing more input and/or consuming
+  more output, and updating avail_in or avail_out accordingly; avail_out
+  should never be zero before the call. The application can consume the
+  compressed output when it wants, for example when the output buffer is full
+  (avail_out == 0), or after each call of deflate(). If deflate returns Z_OK
+  and with zero avail_out, it must be called again after making room in the
+  output buffer because there might be more output pending.
+
+    Normally the parameter flush is set to Z_NO_FLUSH, which allows deflate to
+  decide how much data to accumualte before producing output, in order to
+  maximize compression.
+
+    If the parameter flush is set to Z_SYNC_FLUSH, all pending output is
+  flushed to the output buffer and the output is aligned on a byte boundary, so
+  that the decompressor can get all input data available so far. (In particular
+  avail_in is zero after the call if enough output space has been provided
+  before the call.)  Flushing may degrade compression for some compression
+  algorithms and so it should be used only when necessary.
+
+    If flush is set to Z_FULL_FLUSH, all output is flushed as with
+  Z_SYNC_FLUSH, and the compression state is reset so that decompression can
+  restart from this point if previous compressed data has been damaged or if
+  random access is desired. Using Z_FULL_FLUSH too often can seriously degrade
+  compression.
+
+    If deflate returns with avail_out == 0, this function must be called again
+  with the same value of the flush parameter and more output space (updated
+  avail_out), until the flush is complete (deflate returns with non-zero
+  avail_out). In the case of a Z_FULL_FLUSH or Z_SYNC_FLUSH, make sure that
+  avail_out is greater than six to avoid repeated flush markers due to
+  avail_out == 0 on return.
+
+    If the parameter flush is set to Z_FINISH, pending input is processed,
+  pending output is flushed and deflate returns with Z_STREAM_END if there
+  was enough output space; if deflate returns with Z_OK, this function must be
+  called again with Z_FINISH and more output space (updated avail_out) but no
+  more input data, until it returns with Z_STREAM_END or an error. After
+  deflate has returned Z_STREAM_END, the only possible operations on the
+  stream are deflateReset or deflateEnd.
+
+    Z_FINISH can be used immediately after deflateInit if all the compression
+  is to be done in a single step. In this case, avail_out must be at least
+  the value returned by deflateBound (see below). If deflate does not return
+  Z_STREAM_END, then it must be called again as described above.
+
+    deflate() sets strm->adler to the adler32 checksum of all input read
+  so far (that is, total_in bytes).
+
+    deflate() may update strm->data_type if it can make a good guess about
+  the input data type (Z_BINARY or Z_TEXT). In doubt, the data is considered
+  binary. This field is only for information purposes and does not affect
+  the compression algorithm in any manner.
+
+    deflate() returns Z_OK if some progress has been made (more input
+  processed or more output produced), Z_STREAM_END if all input has been
+  consumed and all output has been produced (only when flush is set to
+  Z_FINISH), Z_STREAM_ERROR if the stream state was inconsistent (for example
+  if next_in or next_out was NULL), Z_BUF_ERROR if no progress is possible
+  (for example avail_in or avail_out was zero). Note that Z_BUF_ERROR is not
+  fatal, and deflate() can be called again with more input and more output
+  space to continue compressing.
+*/
+
+
+ZEXTERN int ZEXPORT deflateEnd OF((z_streamp strm));
+/*
+     All dynamically allocated data structures for this stream are freed.
+   This function discards any unprocessed input and does not flush any
+   pending output.
+
+     deflateEnd returns Z_OK if success, Z_STREAM_ERROR if the
+   stream state was inconsistent, Z_DATA_ERROR if the stream was freed
+   prematurely (some input or output was discarded). In the error case,
+   msg may be set but then points to a static string (which must not be
+   deallocated).
+*/
+
+
+/*
+ZEXTERN int ZEXPORT inflateInit OF((z_streamp strm));
+
+     Initializes the internal stream state for decompression. The fields
+   next_in, avail_in, zalloc, zfree and opaque must be initialized before by
+   the caller. If next_in is not Z_NULL and avail_in is large enough (the exact
+   value depends on the compression method), inflateInit determines the
+   compression method from the zlib header and allocates all data structures
+   accordingly; otherwise the allocation will be deferred to the first call of
+   inflate.  If zalloc and zfree are set to Z_NULL, inflateInit updates them to
+   use default allocation functions.
+
+     inflateInit returns Z_OK if success, Z_MEM_ERROR if there was not enough
+   memory, Z_VERSION_ERROR if the zlib library version is incompatible with the
+   version assumed by the caller.  msg is set to null if there is no error
+   message. inflateInit does not perform any decompression apart from reading
+   the zlib header if present: this will be done by inflate().  (So next_in and
+   avail_in may be modified, but next_out and avail_out are unchanged.)
+*/
+
+
+ZEXTERN int ZEXPORT inflate OF((z_streamp strm, int flush));
+/*
+    inflate decompresses as much data as possible, and stops when the input
+  buffer becomes empty or the output buffer becomes full. It may introduce
+  some output latency (reading input without producing any output) except when
+  forced to flush.
+
+  The detailed semantics are as follows. inflate performs one or both of the
+  following actions:
+
+  - Decompress more input starting at next_in and update next_in and avail_in
+    accordingly. If not all input can be processed (because there is not
+    enough room in the output buffer), next_in is updated and processing
+    will resume at this point for the next call of inflate().
+
+  - Provide more output starting at next_out and update next_out and avail_out
+    accordingly.  inflate() provides as much output as possible, until there
+    is no more input data or no more space in the output buffer (see below
+    about the flush parameter).
+
+  Before the call of inflate(), the application should ensure that at least
+  one of the actions is possible, by providing more input and/or consuming
+  more output, and updating the next_* and avail_* values accordingly.
+  The application can consume the uncompressed output when it wants, for
+  example when the output buffer is full (avail_out == 0), or after each
+  call of inflate(). If inflate returns Z_OK and with zero avail_out, it
+  must be called again after making room in the output buffer because there
+  might be more output pending.
+
+    The flush parameter of inflate() can be Z_NO_FLUSH, Z_SYNC_FLUSH,
+  Z_FINISH, or Z_BLOCK. Z_SYNC_FLUSH requests that inflate() flush as much
+  output as possible to the output buffer. Z_BLOCK requests that inflate() stop
+  if and when it gets to the next deflate block boundary. When decoding the
+  zlib or gzip format, this will cause inflate() to return immediately after
+  the header and before the first block. When doing a raw inflate, inflate()
+  will go ahead and process the first block, and will return when it gets to
+  the end of that block, or when it runs out of data.
+
+    The Z_BLOCK option assists in appending to or combining deflate streams.
+  Also to assist in this, on return inflate() will set strm->data_type to the
+  number of unused bits in the last byte taken from strm->next_in, plus 64
+  if inflate() is currently decoding the last block in the deflate stream,
+  plus 128 if inflate() returned immediately after decoding an end-of-block
+  code or decoding the complete header up to just before the first byte of the
+  deflate stream. The end-of-block will not be indicated until all of the
+  uncompressed data from that block has been written to strm->next_out.  The
+  number of unused bits may in general be greater than seven, except when
+  bit 7 of data_type is set, in which case the number of unused bits will be
+  less than eight.
+
+    inflate() should normally be called until it returns Z_STREAM_END or an
+  error. However if all decompression is to be performed in a single step
+  (a single call of inflate), the parameter flush should be set to
+  Z_FINISH. In this case all pending input is processed and all pending
+  output is flushed; avail_out must be large enough to hold all the
+  uncompressed data. (The size of the uncompressed data may have been saved
+  by the compressor for this purpose.) The next operation on this stream must
+  be inflateEnd to deallocate the decompression state. The use of Z_FINISH
+  is never required, but can be used to inform inflate that a faster approach
+  may be used for the single inflate() call.
+
+     In this implementation, inflate() always flushes as much output as
+  possible to the output buffer, and always uses the faster approach on the
+  first call. So the only effect of the flush parameter in this implementation
+  is on the return value of inflate(), as noted below, or when it returns early
+  because Z_BLOCK is used.
+
+     If a preset dictionary is needed after this call (see inflateSetDictionary
+  below), inflate sets strm->adler to the adler32 checksum of the dictionary
+  chosen by the compressor and returns Z_NEED_DICT; otherwise it sets
+  strm->adler to the adler32 checksum of all output produced so far (that is,
+  total_out bytes) and returns Z_OK, Z_STREAM_END or an error code as described
+  below. At the end of the stream, inflate() checks that its computed adler32
+  checksum is equal to that saved by the compressor and returns Z_STREAM_END
+  only if the checksum is correct.
+
+    inflate() will decompress and check either zlib-wrapped or gzip-wrapped
+  deflate data.  The header type is detected automatically.  Any information
+  contained in the gzip header is not retained, so applications that need that
+  information should instead use raw inflate, see inflateInit2() below, or
+  inflateBack() and perform their own processing of the gzip header and
+  trailer.
+
+    inflate() returns Z_OK if some progress has been made (more input processed
+  or more output produced), Z_STREAM_END if the end of the compressed data has
+  been reached and all uncompressed output has been produced, Z_NEED_DICT if a
+  preset dictionary is needed at this point, Z_DATA_ERROR if the input data was
+  corrupted (input stream not conforming to the zlib format or incorrect check
+  value), Z_STREAM_ERROR if the stream structure was inconsistent (for example
+  if next_in or next_out was NULL), Z_MEM_ERROR if there was not enough memory,
+  Z_BUF_ERROR if no progress is possible or if there was not enough room in the
+  output buffer when Z_FINISH is used. Note that Z_BUF_ERROR is not fatal, and
+  inflate() can be called again with more input and more output space to
+  continue decompressing. If Z_DATA_ERROR is returned, the application may then
+  call inflateSync() to look for a good compression block if a partial recovery
+  of the data is desired.
+*/
+
+
+ZEXTERN int ZEXPORT inflateEnd OF((z_streamp strm));
+/*
+     All dynamically allocated data structures for this stream are freed.
+   This function discards any unprocessed input and does not flush any
+   pending output.
+
+     inflateEnd returns Z_OK if success, Z_STREAM_ERROR if the stream state
+   was inconsistent. In the error case, msg may be set but then points to a
+   static string (which must not be deallocated).
+*/
+
+                        /* Advanced functions */
+
+/*
+    The following functions are needed only in some special applications.
+*/
+
+/*
+ZEXTERN int ZEXPORT deflateInit2 OF((z_streamp strm,
+                                     int  level,
+                                     int  method,
+                                     int  windowBits,
+                                     int  memLevel,
+                                     int  strategy));
+
+     This is another version of deflateInit with more compression options. The
+   fields next_in, zalloc, zfree and opaque must be initialized before by
+   the caller.
+
+     The method parameter is the compression method. It must be Z_DEFLATED in
+   this version of the library.
+
+     The windowBits parameter is the base two logarithm of the window size
+   (the size of the history buffer). It should be in the range 8..15 for this
+   version of the library. Larger values of this parameter result in better
+   compression at the expense of memory usage. The default value is 15 if
+   deflateInit is used instead.
+
+     windowBits can also be -8..-15 for raw deflate. In this case, -windowBits
+   determines the window size. deflate() will then generate raw deflate data
+   with no zlib header or trailer, and will not compute an adler32 check value.
+
+     windowBits can also be greater than 15 for optional gzip encoding. Add
+   16 to windowBits to write a simple gzip header and trailer around the
+   compressed data instead of a zlib wrapper. The gzip header will have no
+   file name, no extra data, no comment, no modification time (set to zero),
+   no header crc, and the operating system will be set to 255 (unknown).  If a
+   gzip stream is being written, strm->adler is a crc32 instead of an adler32.
+
+     The memLevel parameter specifies how much memory should be allocated
+   for the internal compression state. memLevel=1 uses minimum memory but
+   is slow and reduces compression ratio; memLevel=9 uses maximum memory
+   for optimal speed. The default value is 8. See zconf.h for total memory
+   usage as a function of windowBits and memLevel.
+
+     The strategy parameter is used to tune the compression algorithm. Use the
+   value Z_DEFAULT_STRATEGY for normal data, Z_FILTERED for data produced by a
+   filter (or predictor), Z_HUFFMAN_ONLY to force Huffman encoding only (no
+   string match), or Z_RLE to limit match distances to one (run-length
+   encoding). Filtered data consists mostly of small values with a somewhat
+   random distribution. In this case, the compression algorithm is tuned to
+   compress them better. The effect of Z_FILTERED is to force more Huffman
+   coding and less string matching; it is somewhat intermediate between
+   Z_DEFAULT and Z_HUFFMAN_ONLY. Z_RLE is designed to be almost as fast as
+   Z_HUFFMAN_ONLY, but give better compression for PNG image data. The strategy
+   parameter only affects the compression ratio but not the correctness of the
+   compressed output even if it is not set appropriately.  Z_FIXED prevents the
+   use of dynamic Huffman codes, allowing for a simpler decoder for special
+   applications.
+
+      deflateInit2 returns Z_OK if success, Z_MEM_ERROR if there was not enough
+   memory, Z_STREAM_ERROR if a parameter is invalid (such as an invalid
+   method). msg is set to null if there is no error message.  deflateInit2 does
+   not perform any compression: this will be done by deflate().
+*/
+
+ZEXTERN int ZEXPORT deflateSetDictionary OF((z_streamp strm,
+                                             const Bytef *dictionary,
+                                             uInt  dictLength));
+/*
+     Initializes the compression dictionary from the given byte sequence
+   without producing any compressed output. This function must be called
+   immediately after deflateInit, deflateInit2 or deflateReset, before any
+   call of deflate. The compressor and decompressor must use exactly the same
+   dictionary (see inflateSetDictionary).
+
+     The dictionary should consist of strings (byte sequences) that are likely
+   to be encountered later in the data to be compressed, with the most commonly
+   used strings preferably put towards the end of the dictionary. Using a
+   dictionary is most useful when the data to be compressed is short and can be
+   predicted with good accuracy; the data can then be compressed better than
+   with the default empty dictionary.
+
+     Depending on the size of the compression data structures selected by
+   deflateInit or deflateInit2, a part of the dictionary may in effect be
+   discarded, for example if the dictionary is larger than the window size in
+   deflate or deflate2. Thus the strings most likely to be useful should be
+   put at the end of the dictionary, not at the front. In addition, the
+   current implementation of deflate will use at most the window size minus
+   262 bytes of the provided dictionary.
+
+     Upon return of this function, strm->adler is set to the adler32 value
+   of the dictionary; the decompressor may later use this value to determine
+   which dictionary has been used by the compressor. (The adler32 value
+   applies to the whole dictionary even if only a subset of the dictionary is
+   actually used by the compressor.) If a raw deflate was requested, then the
+   adler32 value is not computed and strm->adler is not set.
+
+     deflateSetDictionary returns Z_OK if success, or Z_STREAM_ERROR if a
+   parameter is invalid (such as NULL dictionary) or the stream state is
+   inconsistent (for example if deflate has already been called for this stream
+   or if the compression method is bsort). deflateSetDictionary does not
+   perform any compression: this will be done by deflate().
+*/
+
+ZEXTERN int ZEXPORT deflateCopy OF((z_streamp dest,
+                                    z_streamp source));
+/*
+     Sets the destination stream as a complete copy of the source stream.
+
+     This function can be useful when several compression strategies will be
+   tried, for example when there are several ways of pre-processing the input
+   data with a filter. The streams that will be discarded should then be freed
+   by calling deflateEnd.  Note that deflateCopy duplicates the internal
+   compression state which can be quite large, so this strategy is slow and
+   can consume lots of memory.
+
+     deflateCopy returns Z_OK if success, Z_MEM_ERROR if there was not
+   enough memory, Z_STREAM_ERROR if the source stream state was inconsistent
+   (such as zalloc being NULL). msg is left unchanged in both source and
+   destination.
+*/
+
+ZEXTERN int ZEXPORT deflateReset OF((z_streamp strm));
+/*
+     This function is equivalent to deflateEnd followed by deflateInit,
+   but does not free and reallocate all the internal compression state.
+   The stream will keep the same compression level and any other attributes
+   that may have been set by deflateInit2.
+
+      deflateReset returns Z_OK if success, or Z_STREAM_ERROR if the source
+   stream state was inconsistent (such as zalloc or state being NULL).
+*/
+
+ZEXTERN int ZEXPORT deflateParams OF((z_streamp strm,
+                                      int level,
+                                      int strategy));
+/*
+     Dynamically update the compression level and compression strategy.  The
+   interpretation of level and strategy is as in deflateInit2.  This can be
+   used to switch between compression and straight copy of the input data, or
+   to switch to a different kind of input data requiring a different
+   strategy. If the compression level is changed, the input available so far
+   is compressed with the old level (and may be flushed); the new level will
+   take effect only at the next call of deflate().
+
+     Before the call of deflateParams, the stream state must be set as for
+   a call of deflate(), since the currently available input may have to
+   be compressed and flushed. In particular, strm->avail_out must be non-zero.
+
+     deflateParams returns Z_OK if success, Z_STREAM_ERROR if the source
+   stream state was inconsistent or if a parameter was invalid, Z_BUF_ERROR
+   if strm->avail_out was zero.
+*/
+
+ZEXTERN int ZEXPORT deflateTune OF((z_streamp strm,
+                                    int good_length,
+                                    int max_lazy,
+                                    int nice_length,
+                                    int max_chain));
+/*
+     Fine tune deflate's internal compression parameters.  This should only be
+   used by someone who understands the algorithm used by zlib's deflate for
+   searching for the best matching string, and even then only by the most
+   fanatic optimizer trying to squeeze out the last compressed bit for their
+   specific input data.  Read the deflate.c source code for the meaning of the
+   max_lazy, good_length, nice_length, and max_chain parameters.
+
+     deflateTune() can be called after deflateInit() or deflateInit2(), and
+   returns Z_OK on success, or Z_STREAM_ERROR for an invalid deflate stream.
+ */
+
+ZEXTERN uLong ZEXPORT deflateBound OF((z_streamp strm,
+                                       uLong sourceLen));
+/*
+     deflateBound() returns an upper bound on the compressed size after
+   deflation of sourceLen bytes.  It must be called after deflateInit()
+   or deflateInit2().  This would be used to allocate an output buffer
+   for deflation in a single pass, and so would be called before deflate().
+*/
+
+ZEXTERN int ZEXPORT deflatePrime OF((z_streamp strm,
+                                     int bits,
+                                     int value));
+/*
+     deflatePrime() inserts bits in the deflate output stream.  The intent
+  is that this function is used to start off the deflate output with the
+  bits leftover from a previous deflate stream when appending to it.  As such,
+  this function can only be used for raw deflate, and must be used before the
+  first deflate() call after a deflateInit2() or deflateReset().  bits must be
+  less than or equal to 16, and that many of the least significant bits of
+  value will be inserted in the output.
+
+      deflatePrime returns Z_OK if success, or Z_STREAM_ERROR if the source
+   stream state was inconsistent.
+*/
+
+ZEXTERN int ZEXPORT deflateSetHeader OF((z_streamp strm,
+                                         gz_headerp head));
+/*
+      deflateSetHeader() provides gzip header information for when a gzip
+   stream is requested by deflateInit2().  deflateSetHeader() may be called
+   after deflateInit2() or deflateReset() and before the first call of
+   deflate().  The text, time, os, extra field, name, and comment information
+   in the provided gz_header structure are written to the gzip header (xflag is
+   ignored -- the extra flags are set according to the compression level).  The
+   caller must assure that, if not Z_NULL, name and comment are terminated with
+   a zero byte, and that if extra is not Z_NULL, that extra_len bytes are
+   available there.  If hcrc is true, a gzip header crc is included.  Note that
+   the current versions of the command-line version of gzip (up through version
+   1.3.x) do not support header crc's, and will report that it is a "multi-part
+   gzip file" and give up.
+
+      If deflateSetHeader is not used, the default gzip header has text false,
+   the time set to zero, and os set to 255, with no extra, name, or comment
+   fields.  The gzip header is returned to the default state by deflateReset().
+
+      deflateSetHeader returns Z_OK if success, or Z_STREAM_ERROR if the source
+   stream state was inconsistent.
+*/
+
+/*
+ZEXTERN int ZEXPORT inflateInit2 OF((z_streamp strm,
+                                     int  windowBits));
+
+     This is another version of inflateInit with an extra parameter. The
+   fields next_in, avail_in, zalloc, zfree and opaque must be initialized
+   before by the caller.
+
+     The windowBits parameter is the base two logarithm of the maximum window
+   size (the size of the history buffer).  It should be in the range 8..15 for
+   this version of the library. The default value is 15 if inflateInit is used
+   instead. windowBits must be greater than or equal to the windowBits value
+   provided to deflateInit2() while compressing, or it must be equal to 15 if
+   deflateInit2() was not used. If a compressed stream with a larger window
+   size is given as input, inflate() will return with the error code
+   Z_DATA_ERROR instead of trying to allocate a larger window.
+
+     windowBits can also be -8..-15 for raw inflate. In this case, -windowBits
+   determines the window size. inflate() will then process raw deflate data,
+   not looking for a zlib or gzip header, not generating a check value, and not
+   looking for any check values for comparison at the end of the stream. This
+   is for use with other formats that use the deflate compressed data format
+   such as zip.  Those formats provide their own check values. If a custom
+   format is developed using the raw deflate format for compressed data, it is
+   recommended that a check value such as an adler32 or a crc32 be applied to
+   the uncompressed data as is done in the zlib, gzip, and zip formats.  For
+   most applications, the zlib format should be used as is. Note that comments
+   above on the use in deflateInit2() applies to the magnitude of windowBits.
+
+     windowBits can also be greater than 15 for optional gzip decoding. Add
+   32 to windowBits to enable zlib and gzip decoding with automatic header
+   detection, or add 16 to decode only the gzip format (the zlib format will
+   return a Z_DATA_ERROR).  If a gzip stream is being decoded, strm->adler is
+   a crc32 instead of an adler32.
+
+     inflateInit2 returns Z_OK if success, Z_MEM_ERROR if there was not enough
+   memory, Z_STREAM_ERROR if a parameter is invalid (such as a null strm). msg
+   is set to null if there is no error message.  inflateInit2 does not perform
+   any decompression apart from reading the zlib header if present: this will
+   be done by inflate(). (So next_in and avail_in may be modified, but next_out
+   and avail_out are unchanged.)
+*/
+
+ZEXTERN int ZEXPORT inflateSetDictionary OF((z_streamp strm,
+                                             const Bytef *dictionary,
+                                             uInt  dictLength));
+/*
+     Initializes the decompression dictionary from the given uncompressed byte
+   sequence. This function must be called immediately after a call of inflate,
+   if that call returned Z_NEED_DICT. The dictionary chosen by the compressor
+   can be determined from the adler32 value returned by that call of inflate.
+   The compressor and decompressor must use exactly the same dictionary (see
+   deflateSetDictionary).  For raw inflate, this function can be called
+   immediately after inflateInit2() or inflateReset() and before any call of
+   inflate() to set the dictionary.  The application must insure that the
+   dictionary that was used for compression is provided.
+
+     inflateSetDictionary returns Z_OK if success, Z_STREAM_ERROR if a
+   parameter is invalid (such as NULL dictionary) or the stream state is
+   inconsistent, Z_DATA_ERROR if the given dictionary doesn't match the
+   expected one (incorrect adler32 value). inflateSetDictionary does not
+   perform any decompression: this will be done by subsequent calls of
+   inflate().
+*/
+
+ZEXTERN int ZEXPORT inflateSync OF((z_streamp strm));
+/*
+    Skips invalid compressed data until a full flush point (see above the
+  description of deflate with Z_FULL_FLUSH) can be found, or until all
+  available input is skipped. No output is provided.
+
+    inflateSync returns Z_OK if a full flush point has been found, Z_BUF_ERROR
+  if no more input was provided, Z_DATA_ERROR if no flush point has been found,
+  or Z_STREAM_ERROR if the stream structure was inconsistent. In the success
+  case, the application may save the current current value of total_in which
+  indicates where valid compressed data was found. In the error case, the
+  application may repeatedly call inflateSync, providing more input each time,
+  until success or end of the input data.
+*/
+
+ZEXTERN int ZEXPORT inflateCopy OF((z_streamp dest,
+                                    z_streamp source));
+/*
+     Sets the destination stream as a complete copy of the source stream.
+
+     This function can be useful when randomly accessing a large stream.  The
+   first pass through the stream can periodically record the inflate state,
+   allowing restarting inflate at those points when randomly accessing the
+   stream.
+
+     inflateCopy returns Z_OK if success, Z_MEM_ERROR if there was not
+   enough memory, Z_STREAM_ERROR if the source stream state was inconsistent
+   (such as zalloc being NULL). msg is left unchanged in both source and
+   destination.
+*/
+
+ZEXTERN int ZEXPORT inflateReset OF((z_streamp strm));
+/*
+     This function is equivalent to inflateEnd followed by inflateInit,
+   but does not free and reallocate all the internal decompression state.
+   The stream will keep attributes that may have been set by inflateInit2.
+
+      inflateReset returns Z_OK if success, or Z_STREAM_ERROR if the source
+   stream state was inconsistent (such as zalloc or state being NULL).
+*/
+
+ZEXTERN int ZEXPORT inflatePrime OF((z_streamp strm,
+                                     int bits,
+                                     int value));
+/*
+     This function inserts bits in the inflate input stream.  The intent is
+  that this function is used to start inflating at a bit position in the
+  middle of a byte.  The provided bits will be used before any bytes are used
+  from next_in.  This function should only be used with raw inflate, and
+  should be used before the first inflate() call after inflateInit2() or
+  inflateReset().  bits must be less than or equal to 16, and that many of the
+  least significant bits of value will be inserted in the input.
+
+      inflatePrime returns Z_OK if success, or Z_STREAM_ERROR if the source
+   stream state was inconsistent.
+*/
+
+ZEXTERN int ZEXPORT inflateGetHeader OF((z_streamp strm,
+                                         gz_headerp head));
+/*
+      inflateGetHeader() requests that gzip header information be stored in the
+   provided gz_header structure.  inflateGetHeader() may be called after
+   inflateInit2() or inflateReset(), and before the first call of inflate().
+   As inflate() processes the gzip stream, head->done is zero until the header
+   is completed, at which time head->done is set to one.  If a zlib stream is
+   being decoded, then head->done is set to -1 to indicate that there will be
+   no gzip header information forthcoming.  Note that Z_BLOCK can be used to
+   force inflate() to return immediately after header processing is complete
+   and before any actual data is decompressed.
+
+      The text, time, xflags, and os fields are filled in with the gzip header
+   contents.  hcrc is set to true if there is a header CRC.  (The header CRC
+   was valid if done is set to one.)  If extra is not Z_NULL, then extra_max
+   contains the maximum number of bytes to write to extra.  Once done is true,
+   extra_len contains the actual extra field length, and extra contains the
+   extra field, or that field truncated if extra_max is less than extra_len.
+   If name is not Z_NULL, then up to name_max characters are written there,
+   terminated with a zero unless the length is greater than name_max.  If
+   comment is not Z_NULL, then up to comm_max characters are written there,
+   terminated with a zero unless the length is greater than comm_max.  When
+   any of extra, name, or comment are not Z_NULL and the respective field is
+   not present in the header, then that field is set to Z_NULL to signal its
+   absence.  This allows the use of deflateSetHeader() with the returned
+   structure to duplicate the header.  However if those fields are set to
+   allocated memory, then the application will need to save those pointers
+   elsewhere so that they can be eventually freed.
+
+      If inflateGetHeader is not used, then the header information is simply
+   discarded.  The header is always checked for validity, including the header
+   CRC if present.  inflateReset() will reset the process to discard the header
+   information.  The application would need to call inflateGetHeader() again to
+   retrieve the header from the next gzip stream.
+
+      inflateGetHeader returns Z_OK if success, or Z_STREAM_ERROR if the source
+   stream state was inconsistent.
+*/
+
+/*
+ZEXTERN int ZEXPORT inflateBackInit OF((z_streamp strm, int windowBits,
+                                        unsigned char FAR *window));
+
+     Initialize the internal stream state for decompression using inflateBack()
+   calls.  The fields zalloc, zfree and opaque in strm must be initialized
+   before the call.  If zalloc and zfree are Z_NULL, then the default library-
+   derived memory allocation routines are used.  windowBits is the base two
+   logarithm of the window size, in the range 8..15.  window is a caller
+   supplied buffer of that size.  Except for special applications where it is
+   assured that deflate was used with small window sizes, windowBits must be 15
+   and a 32K byte window must be supplied to be able to decompress general
+   deflate streams.
+
+     See inflateBack() for the usage of these routines.
+
+     inflateBackInit will return Z_OK on success, Z_STREAM_ERROR if any of
+   the paramaters are invalid, Z_MEM_ERROR if the internal state could not
+   be allocated, or Z_VERSION_ERROR if the version of the library does not
+   match the version of the header file.
+*/
+
+typedef unsigned (*in_func) OF((void FAR *, unsigned char FAR * FAR *));
+typedef int (*out_func) OF((void FAR *, unsigned char FAR *, unsigned));
+
+ZEXTERN int ZEXPORT inflateBack OF((z_streamp strm,
+                                    in_func in, void FAR *in_desc,
+                                    out_func out, void FAR *out_desc));
+/*
+     inflateBack() does a raw inflate with a single call using a call-back
+   interface for input and output.  This is more efficient than inflate() for
+   file i/o applications in that it avoids copying between the output and the
+   sliding window by simply making the window itself the output buffer.  This
+   function trusts the application to not change the output buffer passed by
+   the output function, at least until inflateBack() returns.
+
+     inflateBackInit() must be called first to allocate the internal state
+   and to initialize the state with the user-provided window buffer.
+   inflateBack() may then be used multiple times to inflate a complete, raw
+   deflate stream with each call.  inflateBackEnd() is then called to free
+   the allocated state.
+
+     A raw deflate stream is one with no zlib or gzip header or trailer.
+   This routine would normally be used in a utility that reads zip or gzip
+   files and writes out uncompressed files.  The utility would decode the
+   header and process the trailer on its own, hence this routine expects
+   only the raw deflate stream to decompress.  This is different from the
+   normal behavior of inflate(), which expects either a zlib or gzip header and
+   trailer around the deflate stream.
+
+     inflateBack() uses two subroutines supplied by the caller that are then
+   called by inflateBack() for input and output.  inflateBack() calls those
+   routines until it reads a complete deflate stream and writes out all of the
+   uncompressed data, or until it encounters an error.  The function's
+   parameters and return types are defined above in the in_func and out_func
+   typedefs.  inflateBack() will call in(in_desc, &buf) which should return the
+   number of bytes of provided input, and a pointer to that input in buf.  If
+   there is no input available, in() must return zero--buf is ignored in that
+   case--and inflateBack() will return a buffer error.  inflateBack() will call
+   out(out_desc, buf, len) to write the uncompressed data buf[0..len-1].  out()
+   should return zero on success, or non-zero on failure.  If out() returns
+   non-zero, inflateBack() will return with an error.  Neither in() nor out()
+   are permitted to change the contents of the window provided to
+   inflateBackInit(), which is also the buffer that out() uses to write from.
+   The length written by out() will be at most the window size.  Any non-zero
+   amount of input may be provided by in().
+
+     For convenience, inflateBack() can be provided input on the first call by
+   setting strm->next_in and strm->avail_in.  If that input is exhausted, then
+   in() will be called.  Therefore strm->next_in must be initialized before
+   calling inflateBack().  If strm->next_in is Z_NULL, then in() will be called
+   immediately for input.  If strm->next_in is not Z_NULL, then strm->avail_in
+   must also be initialized, and then if strm->avail_in is not zero, input will
+   initially be taken from strm->next_in[0 .. strm->avail_in - 1].
+
+     The in_desc and out_desc parameters of inflateBack() is passed as the
+   first parameter of in() and out() respectively when they are called.  These
+   descriptors can be optionally used to pass any information that the caller-
+   supplied in() and out() functions need to do their job.
+
+     On return, inflateBack() will set strm->next_in and strm->avail_in to
+   pass back any unused input that was provided by the last in() call.  The
+   return values of inflateBack() can be Z_STREAM_END on success, Z_BUF_ERROR
+   if in() or out() returned an error, Z_DATA_ERROR if there was a format
+   error in the deflate stream (in which case strm->msg is set to indicate the
+   nature of the error), or Z_STREAM_ERROR if the stream was not properly
+   initialized.  In the case of Z_BUF_ERROR, an input or output error can be
+   distinguished using strm->next_in which will be Z_NULL only if in() returned
+   an error.  If strm->next is not Z_NULL, then the Z_BUF_ERROR was due to
+   out() returning non-zero.  (in() will always be called before out(), so
+   strm->next_in is assured to be defined if out() returns non-zero.)  Note
+   that inflateBack() cannot return Z_OK.
+*/
+
+ZEXTERN int ZEXPORT inflateBackEnd OF((z_streamp strm));
+/*
+     All memory allocated by inflateBackInit() is freed.
+
+     inflateBackEnd() returns Z_OK on success, or Z_STREAM_ERROR if the stream
+   state was inconsistent.
+*/
+
+ZEXTERN uLong ZEXPORT zlibCompileFlags OF((void));
+/* Return flags indicating compile-time options.
+
+    Type sizes, two bits each, 00 = 16 bits, 01 = 32, 10 = 64, 11 = other:
+     1.0: size of uInt
+     3.2: size of uLong
+     5.4: size of voidpf (pointer)
+     7.6: size of z_off_t
+
+    Compiler, assembler, and debug options:
+     8: DEBUG
+     9: ASMV or ASMINF -- use ASM code
+     10: ZLIB_WINAPI -- exported functions use the WINAPI calling convention
+     11: 0 (reserved)
+
+    One-time table building (smaller code, but not thread-safe if true):
+     12: BUILDFIXED -- build static block decoding tables when needed
+     13: DYNAMIC_CRC_TABLE -- build CRC calculation tables when needed
+     14,15: 0 (reserved)
+
+    Library content (indicates missing functionality):
+     16: NO_GZCOMPRESS -- gz* functions cannot compress (to avoid linking
+                          deflate code when not needed)
+     17: NO_GZIP -- deflate can't write gzip streams, and inflate can't detect
+                    and decode gzip streams (to avoid linking crc code)
+     18-19: 0 (reserved)
+
+    Operation variations (changes in library functionality):
+     20: PKZIP_BUG_WORKAROUND -- slightly more permissive inflate
+     21: FASTEST -- deflate algorithm with only one, lowest compression level
+     22,23: 0 (reserved)
+
+    The sprintf variant used by gzprintf (zero is best):
+     24: 0 = vs*, 1 = s* -- 1 means limited to 20 arguments after the format
+     25: 0 = *nprintf, 1 = *printf -- 1 means gzprintf() not secure!
+     26: 0 = returns value, 1 = void -- 1 means inferred string length returned
+
+    Remainder:
+     27-31: 0 (reserved)
+ */
+
+
+                        /* utility functions */
+
+/*
+     The following utility functions are implemented on top of the
+   basic stream-oriented functions. To simplify the interface, some
+   default options are assumed (compression level and memory usage,
+   standard memory allocation functions). The source code of these
+   utility functions can easily be modified if you need special options.
+*/
+
+ZEXTERN int ZEXPORT compress OF((Bytef *dest,   uLongf *destLen,
+                                 const Bytef *source, uLong sourceLen));
+/*
+     Compresses the source buffer into the destination buffer.  sourceLen is
+   the byte length of the source buffer. Upon entry, destLen is the total
+   size of the destination buffer, which must be at least the value returned
+   by compressBound(sourceLen). Upon exit, destLen is the actual size of the
+   compressed buffer.
+     This function can be used to compress a whole file at once if the
+   input file is mmap'ed.
+     compress returns Z_OK if success, Z_MEM_ERROR if there was not
+   enough memory, Z_BUF_ERROR if there was not enough room in the output
+   buffer.
+*/
+
+ZEXTERN int ZEXPORT compress2 OF((Bytef *dest,   uLongf *destLen,
+                                  const Bytef *source, uLong sourceLen,
+                                  int level));
+/*
+     Compresses the source buffer into the destination buffer. The level
+   parameter has the same meaning as in deflateInit.  sourceLen is the byte
+   length of the source buffer. Upon entry, destLen is the total size of the
+   destination buffer, which must be at least the value returned by
+   compressBound(sourceLen). Upon exit, destLen is the actual size of the
+   compressed buffer.
+
+     compress2 returns Z_OK if success, Z_MEM_ERROR if there was not enough
+   memory, Z_BUF_ERROR if there was not enough room in the output buffer,
+   Z_STREAM_ERROR if the level parameter is invalid.
+*/
+
+ZEXTERN uLong ZEXPORT compressBound OF((uLong sourceLen));
+/*
+     compressBound() returns an upper bound on the compressed size after
+   compress() or compress2() on sourceLen bytes.  It would be used before
+   a compress() or compress2() call to allocate the destination buffer.
+*/
+
+ZEXTERN int ZEXPORT uncompress OF((Bytef *dest,   uLongf *destLen,
+                                   const Bytef *source, uLong sourceLen));
+/*
+     Decompresses the source buffer into the destination buffer.  sourceLen is
+   the byte length of the source buffer. Upon entry, destLen is the total
+   size of the destination buffer, which must be large enough to hold the
+   entire uncompressed data. (The size of the uncompressed data must have
+   been saved previously by the compressor and transmitted to the decompressor
+   by some mechanism outside the scope of this compression library.)
+   Upon exit, destLen is the actual size of the compressed buffer.
+     This function can be used to decompress a whole file at once if the
+   input file is mmap'ed.
+
+     uncompress returns Z_OK if success, Z_MEM_ERROR if there was not
+   enough memory, Z_BUF_ERROR if there was not enough room in the output
+   buffer, or Z_DATA_ERROR if the input data was corrupted or incomplete.
+*/
+
+
+typedef voidp gzFile;
+
+ZEXTERN gzFile ZEXPORT gzopen  OF((const char *path, const char *mode));
+/*
+     Opens a gzip (.gz) file for reading or writing. The mode parameter
+   is as in fopen ("rb" or "wb") but can also include a compression level
+   ("wb9") or a strategy: 'f' for filtered data as in "wb6f", 'h' for
+   Huffman only compression as in "wb1h", or 'R' for run-length encoding
+   as in "wb1R". (See the description of deflateInit2 for more information
+   about the strategy parameter.)
+
+     gzopen can be used to read a file which is not in gzip format; in this
+   case gzread will directly read from the file without decompression.
+
+     gzopen returns NULL if the file could not be opened or if there was
+   insufficient memory to allocate the (de)compression state; errno
+   can be checked to distinguish the two cases (if errno is zero, the
+   zlib error is Z_MEM_ERROR).  */
+
+ZEXTERN gzFile ZEXPORT gzdopen  OF((int fd, const char *mode));
+/*
+     gzdopen() associates a gzFile with the file descriptor fd.  File
+   descriptors are obtained from calls like open, dup, creat, pipe or
+   fileno (in the file has been previously opened with fopen).
+   The mode parameter is as in gzopen.
+     The next call of gzclose on the returned gzFile will also close the
+   file descriptor fd, just like fclose(fdopen(fd), mode) closes the file
+   descriptor fd. If you want to keep fd open, use gzdopen(dup(fd), mode).
+     gzdopen returns NULL if there was insufficient memory to allocate
+   the (de)compression state.
+*/
+
+ZEXTERN int ZEXPORT gzsetparams OF((gzFile file, int level, int strategy));
+/*
+     Dynamically update the compression level or strategy. See the description
+   of deflateInit2 for the meaning of these parameters.
+     gzsetparams returns Z_OK if success, or Z_STREAM_ERROR if the file was not
+   opened for writing.
+*/
+
+ZEXTERN int ZEXPORT    gzread  OF((gzFile file, voidp buf, unsigned len));
+/*
+     Reads the given number of uncompressed bytes from the compressed file.
+   If the input file was not in gzip format, gzread copies the given number
+   of bytes into the buffer.
+     gzread returns the number of uncompressed bytes actually read (0 for
+   end of file, -1 for error). */
+
+ZEXTERN int ZEXPORT    gzwrite OF((gzFile file,
+                                   voidpc buf, unsigned len));
+/*
+     Writes the given number of uncompressed bytes into the compressed file.
+   gzwrite returns the number of uncompressed bytes actually written
+   (0 in case of error).
+*/
+
+ZEXTERN int ZEXPORTVA   gzprintf OF((gzFile file, const char *format, ...));
+/*
+     Converts, formats, and writes the args to the compressed file under
+   control of the format string, as in fprintf. gzprintf returns the number of
+   uncompressed bytes actually written (0 in case of error).  The number of
+   uncompressed bytes written is limited to 4095. The caller should assure that
+   this limit is not exceeded. If it is exceeded, then gzprintf() will return
+   return an error (0) with nothing written. In this case, there may also be a
+   buffer overflow with unpredictable consequences, which is possible only if
+   zlib was compiled with the insecure functions sprintf() or vsprintf()
+   because the secure snprintf() or vsnprintf() functions were not available.
+*/
+
+ZEXTERN int ZEXPORT gzputs OF((gzFile file, const char *s));
+/*
+      Writes the given null-terminated string to the compressed file, excluding
+   the terminating null character.
+      gzputs returns the number of characters written, or -1 in case of error.
+*/
+
+ZEXTERN char * ZEXPORT gzgets OF((gzFile file, char *buf, int len));
+/*
+      Reads bytes from the compressed file until len-1 characters are read, or
+   a newline character is read and transferred to buf, or an end-of-file
+   condition is encountered.  The string is then terminated with a null
+   character.
+      gzgets returns buf, or Z_NULL in case of error.
+*/
+
+ZEXTERN int ZEXPORT    gzputc OF((gzFile file, int c));
+/*
+      Writes c, converted to an unsigned char, into the compressed file.
+   gzputc returns the value that was written, or -1 in case of error.
+*/
+
+ZEXTERN int ZEXPORT    gzgetc OF((gzFile file));
+/*
+      Reads one byte from the compressed file. gzgetc returns this byte
+   or -1 in case of end of file or error.
+*/
+
+ZEXTERN int ZEXPORT    gzungetc OF((int c, gzFile file));
+/*
+      Push one character back onto the stream to be read again later.
+   Only one character of push-back is allowed.  gzungetc() returns the
+   character pushed, or -1 on failure.  gzungetc() will fail if a
+   character has been pushed but not read yet, or if c is -1. The pushed
+   character will be discarded if the stream is repositioned with gzseek()
+   or gzrewind().
+*/
+
+ZEXTERN int ZEXPORT    gzflush OF((gzFile file, int flush));
+/*
+     Flushes all pending output into the compressed file. The parameter
+   flush is as in the deflate() function. The return value is the zlib
+   error number (see function gzerror below). gzflush returns Z_OK if
+   the flush parameter is Z_FINISH and all output could be flushed.
+     gzflush should be called only when strictly necessary because it can
+   degrade compression.
+*/
+
+ZEXTERN z_off_t ZEXPORT    gzseek OF((gzFile file,
+                                      z_off_t offset, int whence));
+/*
+      Sets the starting position for the next gzread or gzwrite on the
+   given compressed file. The offset represents a number of bytes in the
+   uncompressed data stream. The whence parameter is defined as in lseek(2);
+   the value SEEK_END is not supported.
+     If the file is opened for reading, this function is emulated but can be
+   extremely slow. If the file is opened for writing, only forward seeks are
+   supported; gzseek then compresses a sequence of zeroes up to the new
+   starting position.
+
+      gzseek returns the resulting offset location as measured in bytes from
+   the beginning of the uncompressed stream, or -1 in case of error, in
+   particular if the file is opened for writing and the new starting position
+   would be before the current position.
+*/
+
+ZEXTERN int ZEXPORT    gzrewind OF((gzFile file));
+/*
+     Rewinds the given file. This function is supported only for reading.
+
+   gzrewind(file) is equivalent to (int)gzseek(file, 0L, SEEK_SET)
+*/
+
+ZEXTERN z_off_t ZEXPORT    gztell OF((gzFile file));
+/*
+     Returns the starting position for the next gzread or gzwrite on the
+   given compressed file. This position represents a number of bytes in the
+   uncompressed data stream.
+
+   gztell(file) is equivalent to gzseek(file, 0L, SEEK_CUR)
+*/
+
+ZEXTERN int ZEXPORT gzeof OF((gzFile file));
+/*
+     Returns 1 when EOF has previously been detected reading the given
+   input stream, otherwise zero.
+*/
+
+ZEXTERN int ZEXPORT gzdirect OF((gzFile file));
+/*
+     Returns 1 if file is being read directly without decompression, otherwise
+   zero.
+*/
+
+ZEXTERN int ZEXPORT    gzclose OF((gzFile file));
+/*
+     Flushes all pending output if necessary, closes the compressed file
+   and deallocates all the (de)compression state. The return value is the zlib
+   error number (see function gzerror below).
+*/
+
+ZEXTERN const char * ZEXPORT gzerror OF((gzFile file, int *errnum));
+/*
+     Returns the error message for the last error which occurred on the
+   given compressed file. errnum is set to zlib error number. If an
+   error occurred in the file system and not in the compression library,
+   errnum is set to Z_ERRNO and the application may consult errno
+   to get the exact error code.
+*/
+
+ZEXTERN void ZEXPORT gzclearerr OF((gzFile file));
+/*
+     Clears the error and end-of-file flags for file. This is analogous to the
+   clearerr() function in stdio. This is useful for continuing to read a gzip
+   file that is being written concurrently.
+*/
+
+                        /* checksum functions */
+
+/*
+     These functions are not related to compression but are exported
+   anyway because they might be useful in applications using the
+   compression library.
+*/
+
+ZEXTERN uLong ZEXPORT adler32 OF((uLong adler, const Bytef *buf, uInt len));
+/*
+     Update a running Adler-32 checksum with the bytes buf[0..len-1] and
+   return the updated checksum. If buf is NULL, this function returns
+   the required initial value for the checksum.
+   An Adler-32 checksum is almost as reliable as a CRC32 but can be computed
+   much faster. Usage example:
+
+     uLong adler = adler32(0L, Z_NULL, 0);
+
+     while (read_buffer(buffer, length) != EOF) {
+       adler = adler32(adler, buffer, length);
+     }
+     if (adler != original_adler) error();
+*/
+
+ZEXTERN uLong ZEXPORT adler32_combine OF((uLong adler1, uLong adler2,
+                                          z_off_t len2));
+/*
+     Combine two Adler-32 checksums into one.  For two sequences of bytes, seq1
+   and seq2 with lengths len1 and len2, Adler-32 checksums were calculated for
+   each, adler1 and adler2.  adler32_combine() returns the Adler-32 checksum of
+   seq1 and seq2 concatenated, requiring only adler1, adler2, and len2.
+*/
+
+ZEXTERN uLong ZEXPORT crc32   OF((uLong crc, const Bytef *buf, uInt len));
+/*
+     Update a running CRC-32 with the bytes buf[0..len-1] and return the
+   updated CRC-32. If buf is NULL, this function returns the required initial
+   value for the for the crc. Pre- and post-conditioning (one's complement) is
+   performed within this function so it shouldn't be done by the application.
+   Usage example:
+
+     uLong crc = crc32(0L, Z_NULL, 0);
+
+     while (read_buffer(buffer, length) != EOF) {
+       crc = crc32(crc, buffer, length);
+     }
+     if (crc != original_crc) error();
+*/
+
+ZEXTERN uLong ZEXPORT crc32_combine OF((uLong crc1, uLong crc2, z_off_t len2));
+
+/*
+     Combine two CRC-32 check values into one.  For two sequences of bytes,
+   seq1 and seq2 with lengths len1 and len2, CRC-32 check values were
+   calculated for each, crc1 and crc2.  crc32_combine() returns the CRC-32
+   check value of seq1 and seq2 concatenated, requiring only crc1, crc2, and
+   len2.
+*/
+
+
+                        /* various hacks, don't look :) */
+
+/* deflateInit and inflateInit are macros to allow checking the zlib version
+ * and the compiler's view of z_stream:
+ */
+ZEXTERN int ZEXPORT deflateInit_ OF((z_streamp strm, int level,
+                                     const char *version, int stream_size));
+ZEXTERN int ZEXPORT inflateInit_ OF((z_streamp strm,
+                                     const char *version, int stream_size));
+ZEXTERN int ZEXPORT deflateInit2_ OF((z_streamp strm, int  level, int  method,
+                                      int windowBits, int memLevel,
+                                      int strategy, const char *version,
+                                      int stream_size));
+ZEXTERN int ZEXPORT inflateInit2_ OF((z_streamp strm, int  windowBits,
+                                      const char *version, int stream_size));
+ZEXTERN int ZEXPORT inflateBackInit_ OF((z_streamp strm, int windowBits,
+                                         unsigned char FAR *window,
+                                         const char *version,
+                                         int stream_size));
+#define deflateInit(strm, level) \
+        deflateInit_((strm), (level),       ZLIB_VERSION, sizeof(z_stream))
+#define inflateInit(strm) \
+        inflateInit_((strm),                ZLIB_VERSION, sizeof(z_stream))
+#define deflateInit2(strm, level, method, windowBits, memLevel, strategy) \
+        deflateInit2_((strm),(level),(method),(windowBits),(memLevel),\
+                      (strategy),           ZLIB_VERSION, sizeof(z_stream))
+#define inflateInit2(strm, windowBits) \
+        inflateInit2_((strm), (windowBits), ZLIB_VERSION, sizeof(z_stream))
+#define inflateBackInit(strm, windowBits, window) \
+        inflateBackInit_((strm), (windowBits), (window), \
+        ZLIB_VERSION, sizeof(z_stream))
+
+
+#if !defined(ZUTIL_H) && !defined(NO_DUMMY_DECL)
+    struct internal_state {int dummy;}; /* hack for buggy compilers */
+#endif
+
+ZEXTERN const char   * ZEXPORT zError           OF((int));
+ZEXTERN int            ZEXPORT inflateSyncPoint OF((z_streamp z));
+ZEXTERN const uLongf * ZEXPORT get_crc_table    OF((void));
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZLIB_H */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zutil.c b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zutil.c
new file mode 100755
index 0000000..d55f594
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zutil.c
@@ -0,0 +1,318 @@
+/* zutil.c -- target dependent utility functions for the compression library
+ * Copyright (C) 1995-2005 Jean-loup Gailly.
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* @(#) $Id$ */
+
+#include "zutil.h"
+
+#ifndef NO_DUMMY_DECL
+struct internal_state      {int dummy;}; /* for buggy compilers */
+#endif
+
+const char * const z_errmsg[10] = {
+"need dictionary",     /* Z_NEED_DICT       2  */
+"stream end",          /* Z_STREAM_END      1  */
+"",                    /* Z_OK              0  */
+"file error",          /* Z_ERRNO         (-1) */
+"stream error",        /* Z_STREAM_ERROR  (-2) */
+"data error",          /* Z_DATA_ERROR    (-3) */
+"insufficient memory", /* Z_MEM_ERROR     (-4) */
+"buffer error",        /* Z_BUF_ERROR     (-5) */
+"incompatible version",/* Z_VERSION_ERROR (-6) */
+""};
+
+
+const char * ZEXPORT zlibVersion()
+{
+    return ZLIB_VERSION;
+}
+
+uLong ZEXPORT zlibCompileFlags()
+{
+    uLong flags;
+
+    flags = 0;
+    switch (sizeof(uInt)) {
+    case 2:     break;
+    case 4:     flags += 1;     break;
+    case 8:     flags += 2;     break;
+    default:    flags += 3;
+    }
+    switch (sizeof(uLong)) {
+    case 2:     break;
+    case 4:     flags += 1 << 2;        break;
+    case 8:     flags += 2 << 2;        break;
+    default:    flags += 3 << 2;
+    }
+    switch (sizeof(voidpf)) {
+    case 2:     break;
+    case 4:     flags += 1 << 4;        break;
+    case 8:     flags += 2 << 4;        break;
+    default:    flags += 3 << 4;
+    }
+    switch (sizeof(z_off_t)) {
+    case 2:     break;
+    case 4:     flags += 1 << 6;        break;
+    case 8:     flags += 2 << 6;        break;
+    default:    flags += 3 << 6;
+    }
+#ifdef DEBUG
+    flags += 1 << 8;
+#endif
+#if defined(ASMV) || defined(ASMINF)
+    flags += 1 << 9;
+#endif
+#ifdef ZLIB_WINAPI
+    flags += 1 << 10;
+#endif
+#ifdef BUILDFIXED
+    flags += 1 << 12;
+#endif
+#ifdef DYNAMIC_CRC_TABLE
+    flags += 1 << 13;
+#endif
+#ifdef NO_GZCOMPRESS
+    flags += 1L << 16;
+#endif
+#ifdef NO_GZIP
+    flags += 1L << 17;
+#endif
+#ifdef PKZIP_BUG_WORKAROUND
+    flags += 1L << 20;
+#endif
+#ifdef FASTEST
+    flags += 1L << 21;
+#endif
+#ifdef STDC
+#  ifdef NO_vsnprintf
+        flags += 1L << 25;
+#    ifdef HAS_vsprintf_void
+        flags += 1L << 26;
+#    endif
+#  else
+#    ifdef HAS_vsnprintf_void
+        flags += 1L << 26;
+#    endif
+#  endif
+#else
+        flags += 1L << 24;
+#  ifdef NO_snprintf
+        flags += 1L << 25;
+#    ifdef HAS_sprintf_void
+        flags += 1L << 26;
+#    endif
+#  else
+#    ifdef HAS_snprintf_void
+        flags += 1L << 26;
+#    endif
+#  endif
+#endif
+    return flags;
+}
+
+#ifdef DEBUG
+
+#  ifndef verbose
+#    define verbose 0
+#  endif
+int z_verbose = verbose;
+
+void z_error (m)
+    char *m;
+{
+    fprintf(stderr, "%s\n", m);
+    exit(1);
+}
+#endif
+
+/* exported to allow conversion of error code to string for compress() and
+ * uncompress()
+ */
+const char * ZEXPORT zError(err)
+    int err;
+{
+    return ERR_MSG(err);
+}
+
+#if defined(_WIN32_WCE)
+    /* The Microsoft C Run-Time Library for Windows CE doesn't have
+     * errno.  We define it as a global variable to simplify porting.
+     * Its value is always 0 and should not be used.
+     */
+    int errno = 0;
+#endif
+
+#ifndef HAVE_MEMCPY
+
+void zmemcpy(dest, source, len)
+    Bytef* dest;
+    const Bytef* source;
+    uInt  len;
+{
+    if (len == 0) return;
+    do {
+        *dest++ = *source++; /* ??? to be unrolled */
+    } while (--len != 0);
+}
+
+int zmemcmp(s1, s2, len)
+    const Bytef* s1;
+    const Bytef* s2;
+    uInt  len;
+{
+    uInt j;
+
+    for (j = 0; j < len; j++) {
+        if (s1[j] != s2[j]) return 2*(s1[j] > s2[j])-1;
+    }
+    return 0;
+}
+
+void zmemzero(dest, len)
+    Bytef* dest;
+    uInt  len;
+{
+    if (len == 0) return;
+    do {
+        *dest++ = 0;  /* ??? to be unrolled */
+    } while (--len != 0);
+}
+#endif
+
+
+#ifdef SYS16BIT
+
+#ifdef __TURBOC__
+/* Turbo C in 16-bit mode */
+
+#  define MY_ZCALLOC
+
+/* Turbo C malloc() does not allow dynamic allocation of 64K bytes
+ * and farmalloc(64K) returns a pointer with an offset of 8, so we
+ * must fix the pointer. Warning: the pointer must be put back to its
+ * original form in order to free it, use zcfree().
+ */
+
+#define MAX_PTR 10
+/* 10*64K = 640K */
+
+local int next_ptr = 0;
+
+typedef struct ptr_table_s {
+    voidpf org_ptr;
+    voidpf new_ptr;
+} ptr_table;
+
+local ptr_table table[MAX_PTR];
+/* This table is used to remember the original form of pointers
+ * to large buffers (64K). Such pointers are normalized with a zero offset.
+ * Since MSDOS is not a preemptive multitasking OS, this table is not
+ * protected from concurrent access. This hack doesn't work anyway on
+ * a protected system like OS/2. Use Microsoft C instead.
+ */
+
+voidpf zcalloc (voidpf opaque, unsigned items, unsigned size)
+{
+    voidpf buf = opaque; /* just to make some compilers happy */
+    ulg bsize = (ulg)items*size;
+
+    /* If we allocate less than 65520 bytes, we assume that farmalloc
+     * will return a usable pointer which doesn't have to be normalized.
+     */
+    if (bsize < 65520L) {
+        buf = farmalloc(bsize);
+        if (*(ush*)&buf != 0) return buf;
+    } else {
+        buf = farmalloc(bsize + 16L);
+    }
+    if (buf == NULL || next_ptr >= MAX_PTR) return NULL;
+    table[next_ptr].org_ptr = buf;
+
+    /* Normalize the pointer to seg:0 */
+    *((ush*)&buf+1) += ((ush)((uch*)buf-0) + 15) >> 4;
+    *(ush*)&buf = 0;
+    table[next_ptr++].new_ptr = buf;
+    return buf;
+}
+
+void  zcfree (voidpf opaque, voidpf ptr)
+{
+    int n;
+    if (*(ush*)&ptr != 0) { /* object < 64K */
+        farfree(ptr);
+        return;
+    }
+    /* Find the original pointer */
+    for (n = 0; n < next_ptr; n++) {
+        if (ptr != table[n].new_ptr) continue;
+
+        farfree(table[n].org_ptr);
+        while (++n < next_ptr) {
+            table[n-1] = table[n];
+        }
+        next_ptr--;
+        return;
+    }
+    ptr = opaque; /* just to make some compilers happy */
+    Assert(0, "zcfree: ptr not found");
+}
+
+#endif /* __TURBOC__ */
+
+
+#ifdef M_I86
+/* Microsoft C in 16-bit mode */
+
+#  define MY_ZCALLOC
+
+#if (!defined(_MSC_VER) || (_MSC_VER <= 600))
+#  define _halloc  halloc
+#  define _hfree   hfree
+#endif
+
+voidpf zcalloc (voidpf opaque, unsigned items, unsigned size)
+{
+    if (opaque) opaque = 0; /* to make compiler happy */
+    return _halloc((long)items, size);
+}
+
+void  zcfree (voidpf opaque, voidpf ptr)
+{
+    if (opaque) opaque = 0; /* to make compiler happy */
+    _hfree(ptr);
+}
+
+#endif /* M_I86 */
+
+#endif /* SYS16BIT */
+
+
+#ifndef MY_ZCALLOC /* Any system without a special alloc function */
+
+#ifndef STDC
+extern voidp  malloc OF((uInt size));
+extern voidp  calloc OF((uInt items, uInt size));
+extern void   free   OF((voidpf ptr));
+#endif
+
+voidpf zcalloc (opaque, items, size)
+    voidpf opaque;
+    unsigned items;
+    unsigned size;
+{
+    if (opaque) items += size - size; /* make compiler happy */
+    return sizeof(uInt) > 2 ? (voidpf)malloc(items * size) :
+                              (voidpf)calloc(items, size);
+}
+
+void  zcfree (opaque, ptr)
+    voidpf opaque;
+    voidpf ptr;
+{
+    free(ptr);
+    if (opaque) return; /* make compiler happy */
+}
+
+#endif /* MY_ZCALLOC */
diff --git a/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zutil.h b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zutil.h
new file mode 100755
index 0000000..b7d5eff
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/io_png/libs/zlib/zutil.h
@@ -0,0 +1,269 @@
+/* zutil.h -- internal interface and configuration of the compression library
+ * Copyright (C) 1995-2005 Jean-loup Gailly.
+ * For conditions of distribution and use, see copyright notice in zlib.h
+ */
+
+/* WARNING: this file should *not* be used by applications. It is
+   part of the implementation of the compression library and is
+   subject to change. Applications should only use zlib.h.
+ */
+
+/* @(#) $Id$ */
+
+#ifndef ZUTIL_H
+#define ZUTIL_H
+
+#define ZLIB_INTERNAL
+#include "zlib.h"
+
+#ifdef STDC
+#  ifndef _WIN32_WCE
+#    include <stddef.h>
+#  endif
+#  include <string.h>
+#  include <stdlib.h>
+#endif
+#ifdef NO_ERRNO_H
+#   ifdef _WIN32_WCE
+      /* The Microsoft C Run-Time Library for Windows CE doesn't have
+       * errno.  We define it as a global variable to simplify porting.
+       * Its value is always 0 and should not be used.  We rename it to
+       * avoid conflict with other libraries that use the same workaround.
+       */
+#     define errno z_errno
+#   endif
+    extern int errno;
+#else
+#  ifndef _WIN32_WCE
+#    include <errno.h>
+#  endif
+#endif
+
+#ifndef local
+#  define local static
+#endif
+/* compile with -Dlocal if your debugger can't find static symbols */
+
+typedef unsigned char  uch;
+typedef uch FAR uchf;
+typedef unsigned short ush;
+typedef ush FAR ushf;
+typedef unsigned long  ulg;
+
+extern const char * const z_errmsg[10]; /* indexed by 2-zlib_error */
+/* (size given to avoid silly warnings with Visual C++) */
+
+#define ERR_MSG(err) z_errmsg[Z_NEED_DICT-(err)]
+
+#define ERR_RETURN(strm,err) \
+  return (strm->msg = (char*)ERR_MSG(err), (err))
+/* To be used only when the state is known to be valid */
+
+        /* common constants */
+
+#ifndef DEF_WBITS
+#  define DEF_WBITS MAX_WBITS
+#endif
+/* default windowBits for decompression. MAX_WBITS is for compression only */
+
+#if MAX_MEM_LEVEL >= 8
+#  define DEF_MEM_LEVEL 8
+#else
+#  define DEF_MEM_LEVEL  MAX_MEM_LEVEL
+#endif
+/* default memLevel */
+
+#define STORED_BLOCK 0
+#define STATIC_TREES 1
+#define DYN_TREES    2
+/* The three kinds of block type */
+
+#define MIN_MATCH  3
+#define MAX_MATCH  258
+/* The minimum and maximum match lengths */
+
+#define PRESET_DICT 0x20 /* preset dictionary flag in zlib header */
+
+        /* target dependencies */
+
+#if defined(MSDOS) || (defined(WINDOWS) && !defined(WIN32))
+#  define OS_CODE  0x00
+#  if defined(__TURBOC__) || defined(__BORLANDC__)
+#    if(__STDC__ == 1) && (defined(__LARGE__) || defined(__COMPACT__))
+       /* Allow compilation with ANSI keywords only enabled */
+       void _Cdecl farfree( void *block );
+       void *_Cdecl farmalloc( unsigned long nbytes );
+#    else
+#      include <alloc.h>
+#    endif
+#  else /* MSC or DJGPP */
+#    include <malloc.h>
+#  endif
+#endif
+
+#ifdef AMIGA
+#  define OS_CODE  0x01
+#endif
+
+#if defined(VAXC) || defined(VMS)
+#  define OS_CODE  0x02
+#  define F_OPEN(name, mode) \
+     fopen((name), (mode), "mbc=60", "ctx=stm", "rfm=fix", "mrs=512")
+#endif
+
+#if defined(ATARI) || defined(atarist)
+#  define OS_CODE  0x05
+#endif
+
+#ifdef OS2
+#  define OS_CODE  0x06
+#  ifdef M_I86
+     #include <malloc.h>
+#  endif
+#endif
+
+#if defined(MACOS) || defined(TARGET_OS_MAC)
+#  define OS_CODE  0x07
+#  if defined(__MWERKS__) && __dest_os != __be_os && __dest_os != __win32_os
+#    include <unix.h> /* for fdopen */
+#  else
+#    ifndef fdopen
+#      define fdopen(fd,mode) NULL /* No fdopen() */
+#    endif
+#  endif
+#endif
+
+#ifdef TOPS20
+#  define OS_CODE  0x0a
+#endif
+
+#ifdef WIN32
+#  ifndef __CYGWIN__  /* Cygwin is Unix, not Win32 */
+#    define OS_CODE  0x0b
+#  endif
+#endif
+
+#ifdef __50SERIES /* Prime/PRIMOS */
+#  define OS_CODE  0x0f
+#endif
+
+#if defined(_BEOS_) || defined(RISCOS)
+#  define fdopen(fd,mode) NULL /* No fdopen() */
+#endif
+
+#if (defined(_MSC_VER) && (_MSC_VER > 600))
+#  if defined(_WIN32_WCE)
+#    define fdopen(fd,mode) NULL /* No fdopen() */
+#    ifndef _PTRDIFF_T_DEFINED
+       typedef int ptrdiff_t;
+#      define _PTRDIFF_T_DEFINED
+#    endif
+#  else
+#    define fdopen(fd,type)  _fdopen(fd,type)
+#  endif
+#endif
+
+        /* common defaults */
+
+#ifndef OS_CODE
+#  define OS_CODE  0x03  /* assume Unix */
+#endif
+
+#ifndef F_OPEN
+#  define F_OPEN(name, mode) fopen((name), (mode))
+#endif
+
+         /* functions */
+
+#if defined(STDC99) || (defined(__TURBOC__) && __TURBOC__ >= 0x550)
+#  ifndef HAVE_VSNPRINTF
+#    define HAVE_VSNPRINTF
+#  endif
+#endif
+#if defined(__CYGWIN__)
+#  ifndef HAVE_VSNPRINTF
+#    define HAVE_VSNPRINTF
+#  endif
+#endif
+#ifndef HAVE_VSNPRINTF
+#  ifdef MSDOS
+     /* vsnprintf may exist on some MS-DOS compilers (DJGPP?),
+        but for now we just assume it doesn't. */
+#    define NO_vsnprintf
+#  endif
+#  ifdef __TURBOC__
+#    define NO_vsnprintf
+#  endif
+#  ifdef WIN32
+     /* In Win32, vsnprintf is available as the "non-ANSI" _vsnprintf. */
+#    if !defined(vsnprintf) && !defined(NO_vsnprintf)
+#      define vsnprintf _vsnprintf
+#    endif
+#  endif
+#  ifdef __SASC
+#    define NO_vsnprintf
+#  endif
+#endif
+#ifdef VMS
+#  define NO_vsnprintf
+#endif
+
+#if defined(pyr)
+#  define NO_MEMCPY
+#endif
+#if defined(SMALL_MEDIUM) && !defined(_MSC_VER) && !defined(__SC__)
+ /* Use our own functions for small and medium model with MSC <= 5.0.
+  * You may have to use the same strategy for Borland C (untested).
+  * The __SC__ check is for Symantec.
+  */
+#  define NO_MEMCPY
+#endif
+#if defined(STDC) && !defined(HAVE_MEMCPY) && !defined(NO_MEMCPY)
+#  define HAVE_MEMCPY
+#endif
+#ifdef HAVE_MEMCPY
+#  ifdef SMALL_MEDIUM /* MSDOS small or medium model */
+#    define zmemcpy _fmemcpy
+#    define zmemcmp _fmemcmp
+#    define zmemzero(dest, len) _fmemset(dest, 0, len)
+#  else
+#    define zmemcpy memcpy
+#    define zmemcmp memcmp
+#    define zmemzero(dest, len) memset(dest, 0, len)
+#  endif
+#else
+   extern void zmemcpy  OF((Bytef* dest, const Bytef* source, uInt len));
+   extern int  zmemcmp  OF((const Bytef* s1, const Bytef* s2, uInt len));
+   extern void zmemzero OF((Bytef* dest, uInt len));
+#endif
+
+/* Diagnostic functions */
+#ifdef DEBUG
+#  include <stdio.h>
+   extern int z_verbose;
+   extern void z_error    OF((char *m));
+#  define Assert(cond,msg) {if(!(cond)) z_error(msg);}
+#  define Trace(x) {if (z_verbose>=0) fprintf x ;}
+#  define Tracev(x) {if (z_verbose>0) fprintf x ;}
+#  define Tracevv(x) {if (z_verbose>1) fprintf x ;}
+#  define Tracec(c,x) {if (z_verbose>0 && (c)) fprintf x ;}
+#  define Tracecv(c,x) {if (z_verbose>1 && (c)) fprintf x ;}
+#else
+#  define Assert(cond,msg)
+#  define Trace(x)
+#  define Tracev(x)
+#  define Tracevv(x)
+#  define Tracec(c,x)
+#  define Tracecv(c,x)
+#endif
+
+
+voidpf zcalloc OF((voidpf opaque, unsigned items, unsigned size));
+void   zcfree  OF((voidpf opaque, voidpf ptr));
+
+#define ZALLOC(strm, items, size) \
+           (*((strm)->zalloc))((strm)->opaque, (items), (size))
+#define ZFREE(strm, addr)  (*((strm)->zfree))((strm)->opaque, (voidpf)(addr))
+#define TRY_FREE(s, p) {if (p) ZFREE(s, p);}
+
+#endif /* ZUTIL_H */
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index 0000000..7d48ed2
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+// know who are the authors of this file, let us know, so we can give the 
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+
+#include "match.h"
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+        }
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+            f << it->x1 << " " << it->y1 << " "
+              << it->x2 << " " << it->y2 << std::endl;
+    }
+    return f.is_open();
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+// 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 MATCH_H
+#define MATCH_H
+
+#include <vector>
+
+struct Match {
+    float x1, y1, x2, y2;
+};
+
+bool loadMatch(const char* nameFile, std::vector<Match>& match);
+bool saveMatch(const char* nameFile, const std::vector<Match>& match);
+
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+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(MAKE) -f libNumerics/CMakeFiles/Numerics.dir/build.make libNumerics/CMakeFiles/Numerics.dir/vector.cpp.s
+.PHONY : vector.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 "... Numerics"
+	@echo "... edit_cache"
+	@echo "... rebuild_cache"
+	@echo "... computeH.o"
+	@echo "... computeH.i"
+	@echo "... computeH.s"
+	@echo "... homography.o"
+	@echo "... homography.i"
+	@echo "... homography.s"
+	@echo "... matrix.o"
+	@echo "... matrix.i"
+	@echo "... matrix.s"
+	@echo "... numerics.o"
+	@echo "... numerics.i"
+	@echo "... numerics.s"
+	@echo "... rodrigues.o"
+	@echo "... rodrigues.i"
+	@echo "... rodrigues.s"
+	@echo "... vector.o"
+	@echo "... vector.i"
+	@echo "... vector.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/harle/catkin_ws/src/demo_ASIFT_src && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/cmake_install.cmake b/ASIFT_tests/demo_ASIFT_src/libNumerics/cmake_install.cmake
new file mode 100644
index 0000000..a221acb
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /home/harle/catkin_ws/src/demo_ASIFT_src/libNumerics
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" 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)
+
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/computeH.cpp b/ASIFT_tests/demo_ASIFT_src/libNumerics/computeH.cpp
new file mode 100755
index 0000000..a7d2f7c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/computeH.cpp
@@ -0,0 +1,651 @@
+// 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 "homography.h"
+#include "numerics.h"
+
+#include <algorithm>
+#include <math.h> /* For sqrt */
+#include <string.h>
+
+static const float minEigenValue = 1e-3f; // For regular matrix
+
+namespace libNumerics {
+
+/// Constructor. Field `b' used only for error computation.
+ComputeH::ComputeH(Type type)
+: _type(type), n( size(type) ), b(0)
+{
+    clear();
+}
+
+// Destructor
+ComputeH::~ComputeH()
+{}
+
+// Dimension of matrix w.r.t. type
+int ComputeH::size(Type type)
+{
+    switch(type) {
+    case Translation:
+        return 2;
+    case Zoom:
+        return 3;
+    case Rotation: // In fact 3, but nonlinear system
+    case GeneralZoom:
+    case Similarity:
+        return 4;
+    case Affine:
+        return 6;
+    case Projective:
+        return 8;
+    }
+    return 8;
+}
+
+// Return less general motion
+ComputeH::Type ComputeH::restrict(Type t)
+{
+    switch(t) {
+    case Translation:
+        return Translation; // Should return identity
+    case Rotation:
+    case Zoom:
+        return Translation;
+    case Similarity:
+        return Zoom; // Rotation also correct. Arbitrary choice.
+    case GeneralZoom:
+        return Zoom;
+    case Affine:
+        return Similarity;
+    case Projective:
+        return Affine;
+    }
+    return Affine;
+}
+
+// Reinitialize
+void ComputeH::clear()
+{
+    memset(Ann, 0, n*n*sizeof(double));
+    memset(Bn,  0, n*sizeof(double));
+    b = 0;
+}
+
+// Add two corresponding points
+void ComputeH::add(float x, float y, float X, float Y, float w)
+{
+    if(_type <= Similarity) { // Separate for readability
+        add_4parameters(x, y, X, Y, w);
+        return;
+    }
+    double x2 = x*x, y2 = y*y, xy = x*y;
+    double xX = x*X, yX = y*X, xY = x*Y, yY = y*Y;
+    double *A = Ann, *B = Bn;
+
+    *A++ += w* x2; // Equation 1
+    *A++ += w* xy;
+    A += 2;
+    *A++ += w* x;
+    A++;
+    if(_type == Projective) {
+        *A++ -= w* x*xX;
+        *A++ -= w* x*yX;
+    }
+    *B++ += w* x*X;
+	
+    A++; // Equation 2
+    *A++ += w* y2;
+    A += 2;
+    *A++ += w* y;
+    A++;
+    if(_type == Projective) {
+        *A++ -= w* y*xX;
+        *A++ -= w* y*yX;
+    }
+    *B++ += w* y*X;
+	
+    A +=2; // Equation 3
+    *A++ += w* x2;
+    *A++ += w* xy;
+    A++;
+    *A++ += w* x;
+    if(_type == Projective) {
+        *A++ -= w* x*xY;
+        *A++ -= w* x*yY;
+    }
+    *B++ += w* x*Y;
+	
+    A +=3; // Equation 4
+    *A++ += w* y2;
+    A++;
+    *A++ += w* y;
+    if(_type == Projective) {
+        *A++ -= w* y*xY;
+        *A++ -= w* y*yY;
+    }
+    *B++ += w* y*Y;
+	 
+    A+= 4; // Equation 5
+    *A++ += w;
+    A++;
+    if(_type == Projective) {
+        *A++ -= w* xX;
+        *A++ -= w* yX;
+    }
+    *B++ += w* X;
+	
+    A += 5; // Equation 6
+    *A++ += w;
+    *B++ += w* Y;
+    if(_type == Projective) {
+        *A++ -= w* xY;
+        *A++ -= w* yY;
+	
+        A += 6; // Equation 7
+        *A++ += w* (xX*xX + xY*xY);
+        *A++ += w* (xX*yX + xY*yY);
+        *B++ -= w* (xX*X  + xY*Y);
+	
+        A+= 7; // Equation 8
+        *A++ += w* (yX*yX + yY*yY);
+        *B++ -= w* (yX*X  + yY*Y);
+    }
+    b += w* (X*X + Y*Y);
+}
+
+// Add two corresponding points, type involving at most 4 parameters
+void ComputeH::add_4parameters(float x, float y, float X, float Y, float w)
+{
+    double *A = Ann, *B = Bn;
+	
+    if(_type == Translation) {
+        A[0] += w;
+        A[3] += w;
+        B[0] += w* (X - x);
+        B[1] += w* (Y - y);
+        b += w* ((X-x)*(X-x) + (Y-y)*(Y-y));
+        return;
+    }
+    b += w* (X*X + Y*Y);
+    if(_type == GeneralZoom) {
+        A[0] += w* x*x;
+        A[2] += w* x;
+        B[0] += w* x*X;
+
+        A[5] += w* y*y;
+        A[7] += w* y;
+        B[1] += w* y*Y;
+
+        A[10]+= w;
+        B[2] += w* X;
+
+        A[15]+= w;
+        B[3] += w* Y;
+        return;
+    }
+
+    *A++ += w* (x*x + y*y); // Equation 1
+    if(_type != Zoom) // Similarity or Rotation
+        A++;
+    *A++ += w* x;
+    *A++ += w* y;
+    *B++ += w* (x*X + y*Y);
+
+    if(_type != Zoom) { // Similarity or Rotation
+        A++; // Equation 2
+        *A++ += w* (x*x + y*y);
+        *A++ += w* y;
+        *A++ -= w* x;
+        *B++ += w* (y*X - x*Y);
+        A++; // Prepare for next line
+    }
+
+    A++; // Equation 3
+    *A++ += w;
+    A++;
+    *B++ += w* X;
+
+    A += n-1; // Equation 4
+    *A++ += w;
+    *B++ += w* Y;
+}
+
+// Add corresponding lines of equation ux + by + x = 0
+void ComputeH::add(float x, float y, float z, float X, float Y, float Z,
+                    float w)
+{
+    float s = 1.0f / (float)sqrt(x*x + y*y);
+    x *= s;
+    y *= s;
+    z *= s;
+    s = 1.0f / (float)sqrt(X*X + Y*Y);
+    X *= s;
+    Y *= s;
+    Z *= s;
+    if(_type <= Similarity) { // Separate for readability
+        add_4parameters(x, y, z, X, Y, Z, w);
+        return;
+    }
+
+    double x2 = x*x, y2 = y*y, z2 = z*z, xy = x*y, xz = x*z, yz = y*z;
+    double X2 = X*X, Y2 = Y*Y, Z2 = Z*Z, XY = X*Y, XZ = X*Z, YZ = Y*Z;
+    double *A = Ann, *B = Bn;
+
+    *A++ += w* (y2+z2) * X2; // Equation 1
+    *A++ -= w* xy * X2;
+    *A++ += w* (y2+z2) * XY;
+    *A++ -= w* xy * XY;
+    *A++ -= w* xz * X2;
+    *A++ -= w* xz * XY;
+    if(_type == Projective) {
+        *A++ += w* (y2+z2) * XZ;
+        *A++ -= w* xy * XZ;
+    }
+    *B++ += w* xz * XZ;
+
+    A++; // Equation 2
+    *A++ += w* (x2+z2) * X2;
+    *A++ -= w* xy * XY;
+    *A++ += w* (x2+z2) * XY;
+    *A++ -= w* yz * X2;
+    *A++ -= w* yz * XY;
+    if(_type == Projective) {
+        *A++ -= w* xy * XZ;
+        *A++ += w* (x2+z2) * XZ;
+    }
+    *B++ -= w* yz * XZ;
+	
+    A += 2; // Equation 3
+    *A++ += w* (y2+z2) * Y2;
+    *A++ -= w* xy * Y2;
+    *A++ -= w* xz * XY;
+    *A++ -= w* xz * Y2;
+    if(_type == Projective) {
+        *A++ += w* (y2+z2) * YZ;
+        *A++ -= w* xy * YZ;
+    }
+    *B++ += w* xz * YZ;
+
+    A += 3; // Equation 4
+    *A++ += w* (x2+z2) * Y2;
+    *A++ -= w* yz * XY;
+    *A++ -= w* yz * Y2;
+    if(_type == Projective) {
+        *A++ -= w* xy * YZ;
+        *A++ += w* (x2+z2) * YZ;
+    }
+    *B++ += w* yz * YZ;
+
+    A += 4; // Equation 5
+    *A++ += w* X2; // *(x2+y2=1)
+    *A++ += w* XY; // *(x2+y2=1)
+    if(_type == Projective) {
+        *A++ -= w* xz * XZ;
+        *A++ -= w* yz * XZ;
+    }
+    *B++ -= w* XZ; // *(x2+y2=1)
+
+    A += 5; // Equation 6
+    *A++ += w* Y2; // *(x2+y2=1)
+    *B++ -= w* YZ; // *(x2+y2=1)
+    if(_type == Projective) {
+        *A++ -= w* xz * YZ;
+        *A++ -= w* yz * YZ;
+
+        A += 6; // Equation 7
+        *A++ += w* (y2+z2) * Y2;
+        *A++ -= w* xy * Z2;
+        *B++ += w* xz * Z2;
+
+        A += 7; // Equation 8
+        *A++ += w* (x2+z2) * Z2;
+        *B++ += w* yz * Z2;
+    }
+    b += w* Z2; // *(x2+y2=1) 
+}
+
+// Add two corresponding lines, type involving at most 4 parameters
+void ComputeH::add_4parameters(float x, float y, float z,
+                                float X, float Y, float Z, float w)
+{
+    double x2 = x*x, y2 = y*y, z2 = z*z, xy = x*y, xz = x*z, yz = y*z;
+    double X2 = X*X, Y2 = Y*Y, Z2 = Z*Z, XY = X*Y, XZ = X*Z, YZ = Y*Z;
+    double *A = Ann, *B = Bn;
+    if(_type == Translation) {
+        *A++ += w* X2; // *(x2+y2=1)
+        *A++ += w* XY; // *(x2+y2=1)
+        *B++ += w* (yz*XY + xz*X2 - XZ/* *(x2+y2=1) */);
+
+        A++;
+        *A++ += w* Y2; // *(x2+y2=1)
+        *B++ += w* (xz*XY + yz*Y2 - YZ/* *(x2+y2=1) */);
+
+        b += w* (z2 + Z2 + y2*X2 + x2*Z2 - 2*(xz*XZ + yz*YZ + xy*XZ));
+        return;
+    }
+    b += w* Z2; // *(x2+y2=1)
+    if(_type == GeneralZoom) {
+        *A++ += w* (y2+z2) * X2;
+        *A++ -= w* xy * XY;
+        *A++ -= w* xz * X2;
+        *A++ -= w* xz * XY;
+        *B++ += w* xz * XZ;
+
+        A++;
+        *A++ += w* (x2+z2) * Y2;
+        *A++ -= w* yz * XY;
+        *A++ -= w* yz * Y2;
+        *B++ += w* yz * YZ;
+
+        A += 2;
+        *A++ += w* X2; // *(x2+y2=1)
+        *A++ += w* XY; // *(x2+y2=1)
+        *B++ -= w* XZ; // *(x2+y2=1)
+
+        A += 3;
+        *A++ += w* Y2; // *(x2+y2=1)
+        *B++ -= w* YZ; // *(x2+y2=1)
+        return;
+    }
+	
+    if(_type == Zoom) {
+        *A++ += w* (z2/* *(X2+Y2=1)*/ + y2*X2 + x2*Y2 - 2*xy*XY);
+        *A++ -= w* (yz*XY + xz*X2);
+        *A++ -= w* (yz*Y2 + xz*XY);
+        *B++ += w* (yz*YZ + xz*X2);
+    } else { // Similarity or Rotation
+        *A++ += w* (1 /* =x2+y2*/+ 2*(z2 - xy)) * X2;
+        *A++ += w* (x2 - y2) * XY;
+        *A++ -= w* (xz + yz) * X2;
+        *A++ -= w* (xz + yz) * XY;
+        *B++ += w* (xz + yz) * XZ;
+
+        A++;
+        *A++ += w* (1 /* =x2+y2*/+ 2*(z2 + xy)) * Y2;
+        *A++ += w* (xz - yz) * XY;
+        *A++ += w* (xz - yz) * Y2;
+        *B++ += w* (yz - xz) * YZ;
+        A++; // Prepare for next line
+    }
+
+    A++;
+    *A++ += w* X2; // *(x2+y2=1)
+    *A++ += w* XY; // *(x2+y2=1)
+    *B++ -= w* XZ; // *(x2+y2=1)
+
+    A += n-1;
+    *A++ += w* Y2; // *(x2+y2=1)
+    *B++ -= w* YZ; // *(x2+y2=1)
+}	
+
+// Wrap vector of unknowns `v' into structure `map'
+void ComputeH::wrap(Homography& h, const vector<double>& v) const
+{
+    int i = 0;
+    h.mat()(0,0) = (_type==Translation)? 1.0f: v(i++);
+    h.mat()(0,1) = (_type==Translation || _type==Zoom || _type==GeneralZoom) ?
+        0: v(i++);
+    if(n >= 6) {
+        h.mat()(1,0) = v(i++);
+        h.mat()(1,1) = v(i++);
+    } else {
+        h.mat()(1,0) = -h.mat()(0,1);
+        h.mat()(1,1) = (_type==GeneralZoom)? v(i++): h.mat()(0,0);
+    }
+    h.mat()(0,2) = v(i++);
+    h.mat()(1,2) = v(i++);
+    if(_type == Projective) {
+        h.mat()(2,0) = v(i++);
+        h.mat()(2,1) = v(i++);
+    } else
+        h.mat()(2,0) = h.mat()(2,1) = 0;
+    h.mat()(2,2) = 1.0;
+}
+
+/// Unwrap parameters in \a h into vector of unknowns \a v.
+void ComputeH::unwrap(const Homography& h, vector<double>& v) const
+{
+    int i = 0;
+    if(_type != Translation) {
+        v(i++) = h.mat()(0,0);
+        if(_type != Zoom) {
+            if(_type != GeneralZoom) {
+                v(i++) = h.mat()(0,1); // Rotation or Similarity or...
+                if(n >= 6) // Affine or Projective
+                    v(i++) = h.mat()(1,0);
+            }
+            if(_type==GeneralZoom || _type==Affine || _type==Projective)
+                v(i++) = h.mat()(1,1);
+        }
+    }
+    v(i++) = h.mat()(0,2);
+    v(i++) = h.mat()(1,2);
+    if(_type == Projective) {
+        v(i++) = h.mat()(2,0);
+        v(i++) = h.mat()(2,1);
+    }
+}
+
+// Sum of weights (=#correspondences)
+float ComputeH::weight() const
+{
+    // Diagonal coefficient affecting translation
+    int i = (_type == Projective) ? 6 : n;
+    return static_cast<float>(Ann[(i-1)*(n+1)]); // Element (i-1,i-1)
+}
+
+
+// Return quadratic error when mapping with `motion'
+float ComputeH::q_error(const Homography& map) const
+{
+    vector<double> v(n);
+    unwrap(map, v);
+    return q_error(v);
+}
+
+// Idem, with arguments in a vector
+float ComputeH::q_error(const vector<double>& v) const
+{
+    double e = b;
+    // Diagonal terms
+    const double* A = Ann + n*n-1;
+    for(int i = n-1; i >= 0; i--, A -= n+1)
+        e += *A * v(i) * v(i);
+    // Cross terms
+    A = Ann + (n-1)*n; // Last row
+    for(int i = n-1; i >= 0; i--, A -= n) {
+        double vi = v(i);
+        e -= 2.0 * Bn[i] * vi;
+        for(int j = n-1; j > i; j--)
+            e += 2.0 * A[j] * vi * v(j);
+    }
+    return static_cast<float>(e);
+}
+
+// LSE for rotation: solve linear system under quadratic constraint
+bool ComputeH::compute_rotation(vector<double>& B) const
+{
+    if(Ann[15] <= 0) // No point added or absurd value
+        return false;
+    B(0) = Ann[15] * Bn[0] - Ann[2] * Bn[2] - Ann[3] * Bn[3];
+    B(1) = Ann[15] * Bn[1] - Ann[3] * Bn[2] + Ann[2] * Bn[3];
+    double root = sqrt(B(0)*B(0) + B(1)*B(1));
+    if(root < minEigenValue)
+        return false;
+    // Test first solution
+    double lambda1 = (Ann[2]*Ann[2] + Ann[3]*Ann[3] + root) / Ann[15];
+    B(0) /= root;
+    B(1) /= root;
+    B(2) = (-Ann[2]*Bn[0] - Ann[3]*Bn[1] + lambda1 * Bn[2]) / root;
+    B(3) = (-Ann[3]*Bn[0] + Ann[2]*Bn[1] + lambda1 * Bn[3]) / root;
+    float v1 = q_error(B);
+    // Test second solution
+    vector<double> C(4);
+    double lambda2 = (Ann[2]*Ann[2] + Ann[3]*Ann[3] - root) / Ann[15];
+    C(0) = -B(0);
+    C(1) = -B(1);
+    C(2) = -(-Ann[2]*Bn[0] - Ann[3]*Bn[1] + lambda2 * Bn[2]) / root;
+    C(3) = -(-Ann[3]*Bn[0] + Ann[2]*Bn[1] + lambda2 * Bn[3]) / root;
+    if(v1 > q_error(C)) // Keep second solution
+        B = C;
+    return true;
+}
+
+// Return LSE motion and the sum of weights
+float ComputeH::compute(Homography& map) const
+{
+    vector<double> B(n);
+    B.read(Bn);
+
+    if(_type == Rotation) {
+        if(! compute_rotation(B))
+            return 0;
+    } else {
+        matrix<double> A(n,n);
+        A.read(Ann);
+        Normalization left, right;
+        if(_type == Projective && !normalize(left, A, B, right))
+            return 0;
+        A.symUpper();
+
+        vector<double> oldB(B);
+        if(! solveLU(A, B))
+            return 0;
+
+        if(_type == Projective && ! de_normalize(left, B, right))
+            return 0;
+    }
+
+    wrap(map, B);
+    return weight();
+}
+
+// Normalize independently original and final points so that the new
+// origin is their centroid and their mean square distance (to it) is 2
+bool ComputeH::normalize(Normalization& left,
+                         matrix<double>& A, vector<double>& B,
+                         Normalization& right) const
+{
+    double w = A(5,5); // Total weight
+    if(w < minEigenValue)
+        return false;
+    double invW = 1.0 / w;
+
+    // Find normalizations (zoom-translation)
+    right.s = (A(0,0) + A(1,1)) - (A(0,4)*A(0,4) + A(1,4)*A(1,4))*invW;
+    if(right.s < minEigenValue)
+        return false;
+    right.s = sqrt(2.0*w / right.s);
+    right.x = - invW * right.s * A(0,4);
+    right.y = - invW * right.s * A(1,4);
+
+    left.s = b - (B(4)*B(4) + B(5)*B(5))*invW;
+    if(left.s < minEigenValue)
+        return false;
+    left.s = sqrt(2.0*w / left.s);
+    left.x = - invW * left.s * B(4);
+    left.y = - invW * left.s * B(5);
+    double norm = left.x*left.x + left.y*left.y;
+
+    double s2 = right.s*right.s, sS = right.s*left.s, S2 = left.s*left.s;
+
+    // Normalization of vector B
+    double b0 = B(0), b1 = B(1), b2 = B(2), b3 = B(3);
+    B(0) = sS * B(0) - w*right.x*left.x;
+    B(1) = sS * B(1) - w*right.y*left.x;
+    B(2) = sS * B(2) - w*right.x*left.y;
+    B(3) = sS * B(3) - w*right.y*left.y;
+    B(4) = B(5) = 0;
+    B(6) = sS*(left.s*B(6) - 2*(left.x*b0 + left.y*b2)) +
+        w*right.x*(norm - 2.0);
+    B(7) = sS*(left.s*B(7) - 2*(left.x*b1 + left.y*b3)) +
+        w*right.y*(norm - 2.0);
+
+    // Normalization of matrix A
+    double a0 = A(0,0), a1 = A(0,1), a6 = A(0,6), a7 = A(0,7), a9 = A(1,1);
+    double a15 = A(1,7), a22 = A(2,6), a23 = A(2,7), a31 = A(3,7);
+
+    A(0,0) = s2 * A(0,0) - w*right.x*right.x;
+    A(0,1) = s2 * A(0,1) - w*right.x*right.y;
+    A(0,4) = 0;
+    A(0,6) = right.s*(sS*A(0,6) - right.s*left.x*a0 - left.s*right.x*b0) +
+        w*right.x*left.x*right.x - right.x * B(0);
+    A(0,7) = right.s*(sS*A(0,7) - right.s*left.x*a1 - left.s*right.x*b1) +
+        w*right.x*left.x*right.y - right.y * B(0);
+
+    A(1,1) = s2 * A(1,1) - w*right.y*right.y;
+    A(1,4) = 0;
+    A(1,6) = A(0,7);
+    A(1,7) = right.s*(sS*A(1,7) - right.s*left.x*a9 - left.s*right.y*b1) +
+        w*right.y*left.x*right.y - right.y * B(1);
+
+    A(2,2) = A(0,0);
+    A(2,3) = A(0,1);
+    A(2,5) = 0;
+    A(2,6) = right.s*(sS*A(2,6) - right.s*left.y*a0 - left.s*right.x*b2) +
+        w*right.x*left.y*right.x - right.x * B(2);
+    A(2,7) = right.s*(sS*A(2,7) - right.s*left.y*a1 - left.s*right.x*b3) +
+        w*right.x*left.y*right.y - right.y * B(2);
+
+    A(3,3) = A(1,1);
+    A(3,5) = 0;
+    A(3,6) = A(2,7);
+    A(3,7) = right.s*(sS*A(3,7) - right.s*left.y*a9 - left.s*right.y*b3) +
+        w*right.y*left.y*right.y - right.y * B(3);
+
+    A(4,6) = -B(0);
+    A(4,7) = -B(1);
+
+    A(5,6) = -B(2);
+    A(5,7) = -B(3);
+
+    A(6,6) = s2*(S2*A(6,6) - 2*left.s*(left.x*a6+left.y*a22) + a0*norm) -
+        2*right.x*(B(6) + w*right.x);
+    A(6,7) = s2*(S2*A(6,7) - 2*left.s*(left.x*a7+left.y*a23) + a1*norm) -
+        right.x*B(7) - right.y*B(6) - 2*w*right.x*right.y;
+
+    A(7,7) = s2*(S2*A(7,7) - 2*left.s*(left.x*a15+left.y*a31) + a9*norm) -
+        2*right.y*(B(7) + w*right.y);
+    return true;
+}
+
+// `l' (left) and 'r' (right) representing zoom-translation normalizations,
+// and `B' the parameters of a projective motion,
+// compute l^-1 B r
+bool ComputeH::de_normalize(const Normalization& l,
+                            vector<double>& B,
+                            const Normalization& r)
+{
+    // B := B r
+    B(4) += r.x * B(0) + r.y * B(1); // Line 1
+    B(0) *= r.s;
+    B(1) *= r.s;
+
+    B(5) += r.x * B(2) + r.y * B(3); // Line 2
+    B(2) *= r.s;
+    B(3) *= r.s;
+
+    double f = r.x * B(6) + r.y * B(7) + 1.0; // Line 3
+    if(-minEigenValue < f && f < minEigenValue)
+        return false; // Origin of right normalization on line at infinity
+    B(6) *= r.s;
+    B(7) *= r.s;
+
+	// B := l^-1 B
+    double s = 1.0 / (l.s * f);
+    B(0) = (B(0) - l.x*B(6)) * s; // Line 1
+    B(1) = (B(1) - l.x*B(7)) * s;
+    B(4) = (B(4) - l.x* f  ) * s;
+
+    B(2) = (B(2) - l.y*B(6)) * s; // Line 2
+    B(3) = (B(3) - l.y*B(7)) * s;
+    B(5) = (B(5) - l.y* f  ) * s;
+
+    B(6) /= f; // Line 3
+    B(7) /= f;
+    return true;
+}
+
+} // libNumerics
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/homography.cpp b/ASIFT_tests/demo_ASIFT_src/libNumerics/homography.cpp
new file mode 100755
index 0000000..af2a9cc
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/homography.cpp
@@ -0,0 +1,73 @@
+// 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 "homography.h"
+
+namespace libNumerics {
+
+/// Constructor.
+Homography::Homography()
+: m_H( matrix<double>::eye(3) )
+{}
+
+/// Put to identity.
+void Homography::setId()
+{
+    m_H = matrix<double>::eye(3);
+}
+
+/// Set to translation.
+void Homography::setTrans(double dx, double dy)
+{
+    setId();
+    m_H(0,2) = dx;
+    m_H(1,2) = dy;
+}
+
+/// Set to zoom.
+void Homography::setZoom(double zx, double zy)
+{
+    setId();
+    m_H(0,0) = zx;
+    m_H(1,1) = zy;
+}
+
+/// Apply homography.
+void Homography::operator()(double& x, double& y) const
+{
+    vector<double> m(3);
+    m(0) = x;
+    m(1) = y;
+    m(2) = 1.0f;
+    m = m_H * m;
+    double z_1 = 1.0 / m(2);
+    x = m(0) * z_1;
+    y = m(1) * z_1;
+}
+
+/// Compose homographies.
+Homography Homography::operator*(const Homography& rhs) const
+{
+    Homography h;
+    h.m_H = m_H * rhs.m_H;
+    h.normalize();
+    return h;
+}
+
+/// Inverse homography.
+Homography Homography::inverse() const
+{
+    Homography h;
+    h.m_H = m_H.inv();
+    h.normalize();
+    return h;
+}
+
+/// Put coef(2,2) to 1.
+void Homography::normalize()
+{
+    m_H /= m_H(2,2);
+}
+
+} // libNumerics
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/homography.h b/ASIFT_tests/demo_ASIFT_src/libNumerics/homography.h
new file mode 100755
index 0000000..54ac80f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/homography.h
@@ -0,0 +1,83 @@
+#ifndef HOMOGRAPHY_H
+#define HOMOGRAPHY_H
+
+#include "matrix.h"
+
+namespace libNumerics {
+
+/// 2-D homography transform.
+class Homography {
+public:
+    Homography();
+
+    void setId();
+    void setTrans(double dx, double dy);
+    void setZoom(double zx, double zy);
+
+    matrix<double>& mat() { return m_H; }
+    const matrix<double>& mat() const { return m_H; }
+
+    void operator()(double& x, double& y) const;
+    Homography operator*(const Homography& rhs) const;
+    Homography inverse() const;
+private:
+    matrix<double> m_H;
+    void normalize();
+};
+
+/// Homography (and more restricted transforms) estimation.
+class ComputeH {
+public:
+    enum Type { Translation, //                              (2 parameters)
+                Rotation,    // Rotation/Translation         (3 parameters)
+                Zoom,	     // Zoom/Translation             (3 parameters)
+                GeneralZoom, // Non uniform zoom/Translation (4 parameters)
+                Similarity,  // Zoom/Rotation/Translation    (4 parameters)
+                Affine,      //                              (6 parameters)
+                Projective   //                              (8 parameters)
+    };
+    static Type restrict(Type t); // Return less general motion
+public:
+    ComputeH(Type type);
+    ~ComputeH();
+
+    Type type() const { return _type; }
+    void clear();
+
+    /// Add corresponding points (x1,y1) and (x2,y2)
+    void add(float x1, float y1, float x2, float y2, float w = 1.0f);
+    /// Add corresponding lines of equation u x + v y + w = 0
+    void add(float a1, float b1, float c1,
+             float a2, float b2, float c2, float w = 1.0f);
+
+    float weight() const; ///< Sum of weights (=#correspondences)
+    float q_error(const Homography& map) const; ///< Quadratic error
+    float compute(Homography& map) const; ///< LSE motion, return support weight
+private:
+    Type _type;
+    int n; ///< Dimension of matrix = # unknown parameters
+    double Ann[64], Bn[8], b; // Min (X 1) (A B) (X 1)^T is X^T = Ann^-1 Bn
+
+    static int size(Type type);
+    void add_4parameters(float x1, float y1, float x2, float y2, float w);
+    void add_4parameters(float a1, float b1, float c1,
+                         float a2, float b2, float c2, float w);
+    void wrap(Homography& map, const vector<double>& v) const;
+    void unwrap(const Homography& map, vector<double>& v) const;
+    float q_error(const vector<double>& v) const; // Quadratic error
+
+    bool compute_rotation(vector<double>& B) const;
+
+    /// For Projective, data normalization is required
+    class Normalization { public: double x, y, s; };
+    bool normalize(Normalization& left,
+                   matrix<double>& A, vector<double>& B,
+                   Normalization& right) const;
+    static bool de_normalize(const Normalization& left,
+                             vector<double>& B,
+                             const Normalization& right);
+};
+
+} // libNumerics
+
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/libNumerics.a b/ASIFT_tests/demo_ASIFT_src/libNumerics/libNumerics.a
new file mode 100644
index 0000000..429d9fb
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/libNumerics/libNumerics.a differ
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/matrix.cpp b/ASIFT_tests/demo_ASIFT_src/libNumerics/matrix.cpp
new file mode 100755
index 0000000..8733950
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/matrix.cpp
@@ -0,0 +1,565 @@
+// 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.
+
+#ifdef MATRIX_H // Do nothing if not included from matrix.h
+
+#define INDEX(i,j) ((i) * m_cols + (j))
+
+namespace libNumerics {
+
+/// Constructor for \a m*\a n matrix.
+/// \param m number of rows.
+/// \param n number of columns.
+template <typename T>
+matrix<T>::matrix(int m, int n)
+{
+    alloc(m, n);
+}
+
+/// Copy constructor.
+template <typename T>
+matrix<T>::matrix(const matrix<T>& m)
+{
+    alloc(m.m_rows, m.m_cols);
+    for(int i = nElements()-1; i >= 0; i--)
+        p[i] = m.p[i];
+}
+
+/// Destructor.
+template <typename T>
+matrix<T>::~matrix()
+{
+    free();
+}
+
+/// Assignment operator.
+template <typename T>
+matrix<T>& matrix<T>::operator=(const matrix<T>& m)
+{
+    if(&m == this) return *this;
+    if(m.nElements() != nElements()){
+        free();
+        alloc(m.m_rows, m.m_cols);
+    } else {
+        m_rows = m.m_rows;
+        m_cols = m.m_cols;
+    }
+    for(int i = nElements()-1; i >= 0; i--)
+        p[i] = m.p[i];
+    return *this;
+}
+
+/// Access the coefficient on the \a i-th row, \a j-th column.
+template <typename T>
+inline T matrix<T>::operator() (int i, int j) const
+{
+    assert(i >= 0 && i < m_rows && j >= 0 && j < m_cols);
+    return p[INDEX(i,j)];
+}
+
+/// Access the coefficient on the \a i-th row, \a j-th column.
+template <typename T>
+inline T& matrix<T>::operator() (int i, int j)
+{
+    assert(i >= 0 && i < m_rows && j >= 0 && j < m_cols);
+    return p[INDEX(i,j)];
+}
+
+template <typename T>
+inline T matrix<T>::operator() (int i) const
+{
+    assert(i >= 0 && i < nElements());
+    return p[i];
+}
+
+template <typename T>
+inline T& matrix<T>::operator() (int i)
+{
+    assert(i >= 0 && i < nElements());
+    return p[i];
+}
+
+/// Set matrix at constant value.
+///
+/// Assign all coefficients to the value \a a.
+template <typename T>
+inline void matrix<T>::operator=(T a)
+{
+    for(int i = nElements()-1; i >= 0; i--)
+        p[i] = a;
+}
+
+/// Multiply a matrix by scalar.
+/// \param a a scalar.
+template <typename T>
+matrix<T> matrix<T>::operator*(T a) const
+{
+    matrix<T> prod(m_rows, m_cols);
+    for(int i = nElements()-1; i >= 0; i--)
+        prod.p[i] = a * p[i];
+    return prod;
+}
+
+/// Multiply a matrix by scalar.
+/// \param a a scalar.
+template <typename T>
+void matrix<T>::operator*=(T a)
+{
+    for(int i = nElements()-1; i >= 0; i--)
+        p[i] *= a;
+}
+
+/// Divide a matrix by scalar.
+/// \param a a scalar.
+template <typename T>
+matrix<T> matrix<T>::operator/(T a) const
+{
+    return (*this) * ((T)1/a);
+}
+
+/// Divide a matrix by scalar.
+/// \param a a scalar.
+template <typename T>
+void matrix<T>::operator/=(T a)
+{
+    *this *= (T)1 / a;
+}
+
+/// Matrix sum.
+template <typename T>
+matrix<T> matrix<T>::operator+(const matrix<T>& m) const
+{
+    assert(m.m_rows == m_rows && m.m_cols == m_cols);
+    matrix<T> sum(m_rows,m_cols);
+    for(int i = nElements()-1; i >= 0; i--)
+        sum.p[i] = p[i] + m.p[i];
+    return sum;
+}
+
+/// Matrix sum.
+template <typename T>
+void matrix<T>::operator+=(const matrix<T>& m)
+{
+    assert(m.m_rows == m_rows && m.m_cols == m_cols);
+    for(int i = nElements()-1; i >= 0; i--)
+        p[i] += m.p[i];
+}
+
+/// Matrix subtraction.
+template <typename T>
+matrix<T> matrix<T>::operator-(const matrix<T>& m) const
+{
+    assert(m.m_rows == m_rows && m.m_cols == m_cols);
+    matrix<T> sub(m_rows,m_cols);
+    for(int i = nElements()-1; i >= 0; i--)
+        sub.p[i] = p[i] - m.p[i];
+    return sub;
+}
+
+/// Matrix subtraction.
+template <typename T>
+void matrix<T>::operator-=(const matrix<T>& m)
+{
+    assert(m.m_rows == m_rows && m.m_cols == m_cols);
+    for(int i = nElements()-1; i >= 0; i--)
+        p[i] -= m.p[i];
+}
+
+template <typename T>
+matrix<T> matrix<T>::operator-() const
+{
+    matrix<T> opp(m_rows, m_cols);
+    for(int i = nElements()-1; i >= 0; i--)
+        opp.p[i] = -p[i];
+    return opp;
+}
+
+/// Matrix multiplication.
+template <typename T>
+matrix<T> matrix<T>::operator*(const matrix<T>& m) const
+{
+    assert(m_cols == m.m_rows);
+    matrix<T> prod(m_rows, m.m_cols);
+    T* out = prod.p;
+    for(int i = 0; i < prod.m_rows; i++) {
+        const T* left = p + i*m_cols;
+        for(int j = 0; j < prod.m_cols; j++, out++) {
+            const T* right = m.p + j;
+            *out = 0;
+            for(int k = 0; k < m_cols; k++) {
+                *out += left[k] * *right;
+                right += m.m_cols;
+            }
+        }
+    }
+    return prod;
+}
+
+/// Matrix-vector multiplication.
+template <typename T>
+vector<T> matrix<T>::operator*(const vector<T>& m) const
+{
+    assert(m_cols == m.m_rows);
+    vector<T> prod(m_rows);
+    T* out = prod.p;
+    for(int i = 0; i < prod.m_rows; i++, out++) {
+        const T* left = p + i*m_cols;
+        const T* right = m.p;
+        *out = 0;
+        for(int k = 0; k < m_cols; k++)
+            *out += left[k] * right[k];
+    }
+    return prod;
+}
+
+/// Tranposed of matrix.
+template <typename T>
+matrix<T> matrix<T>::t() const
+{
+    matrix<T> t(ncol(), nrow());
+    T* out = t.p;
+    for(int i = 0; i < t.nrow(); i++) {
+        const T* in = p + i;
+        for(int j = 0; j < t.ncol(); j++) {
+            *out++ = *in;
+            in += ncol();
+        }
+    }
+    return t;
+}
+
+/// Symmetrize upper part of matrix.
+template <typename T>
+void matrix<T>::symUpper()
+{
+    assert(m_rows == m_cols);
+    for(int i = 1; i < m_rows; i++) {
+        const T* in = p + i;
+        T* out = p + m_cols*i;
+        for(int j = 0; j < i; j++) {
+            *out++ = *in;
+            in += m_cols;
+        }
+    }
+}
+
+/// Symmetrize lower part of matrix.
+template <typename T>
+void matrix<T>::symLower()
+{
+    assert(m_rows == m_cols);
+    for(int i = 1; i < m_rows; i++) {
+        const T* in = p + m_cols*i;
+        T* out = p + i;
+        for(int j = 0; j < i; j++) {
+            *out = *in++;
+            out += m_cols;
+        }
+    }
+}
+
+template <typename T>
+vector<T> matrix<T>::diag() const
+{
+    assert(m_rows == m_cols);
+    vector<T> t(m_rows);
+    for(int i = 0; i < m_rows; i++)
+        t.p[i] = p[i*(m_cols+1)];
+    return t;
+}
+
+/// Matrix made of zeros.
+template <typename T>
+matrix<T> matrix<T>::zeros(int m, int n)
+{
+    matrix<T> M(m,n);
+    for(int i = M.nElements()-1; i >= 0; i--)
+        M.p[i] = (T)0;
+    return M;
+}
+
+/// Matrix made of ones.
+template <typename T>
+matrix<T> matrix<T>::ones(int m, int n)
+{
+    matrix<T> M(m,n);
+    for(int i = M.nElements()-1; i >= 0; i--)
+        M.p[i] = (T)1;
+    return M;
+}
+
+/// Identity matrix.
+template <typename T>
+matrix<T> matrix<T>::eye(int n)
+{
+    matrix<T> M(n,n);
+    for(int i = M.nElements()-1; i >= 0; i--)
+        M.p[i] = (T)0;
+    for(int i = n-1; i >= 0; i--)
+        M.p[i*(n+1)] = (T)1;
+    return M;
+}
+
+/// Extract the submatrix [i0,i1]x[j0,j1].
+/// \param i0 first row
+/// \param i1 last row
+/// \param j0 first column
+/// \param j1 last column
+template <typename T>
+matrix<T> matrix<T>::copy(int i0, int i1, int j0, int j1) const 
+{
+    assert(0 <= i0 && i0 <= i1 && i1 <= m_rows &&
+           0 <= j0 && j0 <= j1 && j1 <= m_cols);
+    matrix<T> sub(i1-i0+1,j1-j0+1);
+    T* out = sub.p;
+    for(int i = i0; i <= i1; i++) {
+        const T* in = p + INDEX(i, j0);
+        for(int j = j0; j <= j1; j++)
+            *out++ = *in++;
+    }
+    return sub;
+}
+
+/// Extract the columns of index in [j0,j1].
+/// \param j0 first column
+/// \param j1 last column
+template <typename T>
+matrix<T> matrix<T>::copyCols(int j0, int j1) const 
+{
+    return copy(0, lastRow(), j0, j1);
+}
+
+/// Extract the rows of index in [i0,i1].
+/// \param i0 first row
+/// \param i1 last row
+template <typename T>
+matrix<T> matrix<T>::copyRows(int i0, int i1) const 
+{
+    return copy(i0, i1, 0, lastCol());
+}
+
+/// Paste a matrix in another one, at position (\a i0,\a j0)
+/// \param i0 first row where to paste in
+/// \param j0 first column where to paste in
+/// \param matrix to paste
+template <typename T>
+void matrix<T>::paste(int i0, int j0, const matrix<T>& m)
+{
+    assert(i0 >= 0 && i0+m.m_rows <= m_rows &&
+           j0 >= 0 && j0+m.m_cols <= m_cols);
+    const T* in = m.p;
+    for(int i = 0; i < m.m_rows; i++) {
+        T* out = p + INDEX(i0+i, j0);
+        for(int j = 0; j < m.m_cols; j++)
+            *out++ = *in++;
+    }
+}
+
+/// Concatenate matrices.
+template <typename T>
+matrix<T> cat(const matrix<T>& m1, const matrix<T>& m2)
+{
+    assert(m1.m_rows == m2.m_rows);
+    matrix<T> m(m1.m_rows, m1.m_cols+m2.m_cols);
+    m.paste(0, 0, m1);
+    m.paste(0, m1.m_cols, m2);
+    return m;
+}
+
+/// Copy column number \a j.
+template <typename T>
+vector<T> matrix<T>::col(int j) const
+{
+    assert(j >= 0 && j < m_cols);
+    vector<T> c(m_rows);
+    const T* in = p + j;
+    for(int i = 0; i < m_rows; i++) {
+        c(i) = *in;
+        in += m_cols;
+    }
+    return c;
+}
+
+/// Copy row number \a i.
+template <typename T>
+inline matrix<T> matrix<T>::row(int i) const
+{
+    return copy(i, i, 0, lastCol());
+}
+
+template <class T>
+void swap(matrix<T>& A, matrix<T>& B)
+{
+    int i=A.m_rows;
+    A.m_rows = B.m_rows;
+    B.m_rows = i;
+    i = A.m_cols;
+    A.m_cols = B.m_cols;
+    B.m_cols = i;
+    T* p = A.p;
+    A.p = B.p;
+    B.p = p;
+}
+
+template <typename T>
+void matrix<T>::swapRows(int i0, int i1)
+{
+    assert(0 <= i0 && i0 < m_rows &&
+           0 <= i1 && i1 < m_rows);
+    T* row0 = p + i0*m_cols;
+    T* row1 = p + i1*m_cols;
+    for(int j = m_cols-1; j >= 0; j--) {
+        T tmp = *row0; *row0++ = *row1; *row1++ = tmp;
+    }
+}
+
+template <typename T>
+void matrix<T>::swapCols(int j0, int j1)
+{
+    assert(0 <= j0 && j0 < m_cols &&
+           0 <= j1 && j1 < m_cols);
+    T* col0 = p + j0;
+    T* col1 = p + j1;
+    for(int i = m_rows-1; i >= 0; i--) {
+        T tmp = *col0; *col0 = *col1; *col1 = tmp;
+        col0 += m_cols;
+        col1 += m_cols;
+    }
+}
+
+/// Copy the array values in a matrix, row by row.
+/// \param m number of rows
+/// \param n number of columns
+/// \param v an array of scalar of size m*n
+template <typename T> template <typename U> 
+void matrix<T>::read(const U* v)
+{
+    for(int i = nElements()-1; i >= 0; i--)
+        p[i] = (T)v[i];
+}
+
+/// Read the coefficients from \a m.
+template <typename T> 
+inline void matrix<T>::read(const matrix<T>& m)
+{
+    assert(m.nElements() == nElements());
+    read(m.p);
+}
+
+/// Copy the matrix coefficients in an array.
+///
+/// The matrix is scanned row by row. 
+template <typename T>
+void matrix<T>::write(T* vect) const
+{
+    for(int i = nElements()-1; i >= 0; i--)
+        vect[i] = p[i];
+}
+
+template <typename T>
+void matrix<T>::alloc(int m, int n)
+{
+    assert(m > 0 && n > 0);  
+    m_rows = m;
+    m_cols = n;
+    p = new T[m*n];
+}
+
+template <typename T>
+inline void matrix<T>::free()
+{
+    delete [] p;
+    p = NULL;
+}
+
+template <typename T>
+inline int matrix<T>::nElements() const
+{
+    return m_rows*m_cols;
+}
+
+/// Submatrix without row \a i0 and col \a j0.
+template <typename T>
+matrix<T>& matrix<T>::sub(matrix<T>& s, int i0, int j0) const
+{
+    const T* in = p;
+    T* out = s.p;
+    for(int i = 0; i < i0; i++) {
+        for(int j = 0; j < j0; j++)
+            *out++ = *in++;
+        ++in; // Skip col j0
+        for(int j = j0+1; j < m_cols; j++)
+            *out++ = *in++;
+    }
+    in += m_cols; // Skip row i0
+    for(int i = i0+1; i < m_rows; i++) {
+        for(int j = 0; j < j0; j++)
+            *out++ = *in++;
+        ++in; // Skip col j0
+        for(int j = j0+1; j < m_cols; j++)
+            *out++ = *in++;
+    }
+    return s;
+}
+
+/// Trace.
+template <typename T>
+T matrix<T>::tr() const
+{
+    assert(m_rows == m_cols);
+    T res = (T)0;
+    for(int i = 0; i < m_rows; i++)
+        res += p[i*(m_cols+1)];
+    return res;
+}
+
+/// Determinant. Slow, use only for small matrices.
+template <typename T>
+T matrix<T>::det() const
+{
+    assert(m_rows == m_cols);
+    if(m_rows == 1)
+        return p[0];
+    if(m_rows == 2)
+        return (p[0]*p[3]-p[1]*p[2]);
+    T res = (T)0;
+    T sign = (T)1;
+    matrix<T> s(m_rows-1, m_cols-1);
+    for(int j = 0; j < m_cols; j++) {
+        res += sign*p[j]*sub(s,0,j).det();
+        sign = -sign;
+    }
+    return res;
+}
+
+/// Inverse. Slow, use only for small matrices.
+template <typename T>
+matrix<T> matrix<T>::inv() const
+{
+    assert(m_rows == m_cols);
+    matrix<T> res(m_rows, m_cols);
+    if(m_rows == 1)
+        res.p[0] = (T)1/p[0];
+    else {
+        T d = (T)1 / det();
+        T signi = (T)1;
+        T* out = res.p;
+        matrix<T> s(m_rows-1, m_cols-1);
+        for(int i = 0; i < m_rows; i++) {
+            T signj = signi;
+            for(int j = 0; j < m_cols; j++) {
+                *out++ = signj*d*sub(s,j,i).det();
+                signj = -signj;
+            }
+            signi = -signi;
+        }
+    }
+    return res;
+}
+
+} // namespace libNumerics
+
+#undef INDEX
+
+#endif // MATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/matrix.h b/ASIFT_tests/demo_ASIFT_src/libNumerics/matrix.h
new file mode 100755
index 0000000..e83387a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/matrix.h
@@ -0,0 +1,175 @@
+// 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 MATRIX_H
+#define MATRIX_H
+
+#include <iostream>
+#include <cassert>
+
+namespace libNumerics {
+
+// Forward declaration, definition below
+template <typename T> class vector;
+template <typename T> class matrix;
+
+template <typename T> matrix<T> cat(const matrix<T>&, const matrix<T>&);
+template <typename T> void swap(matrix<T>&, matrix<T>&);
+
+/// Matrix class
+template <typename T>
+class matrix
+{
+public:
+    static matrix<T> zeros(int m) { return zeros(m,m); }
+    static matrix<T> zeros(int m, int n);
+    static matrix<T> ones(int m) { return ones(m,m); }
+    static matrix<T> ones(int m, int n);
+    static matrix<T> eye(int n); ///< Identity matrix.
+
+public:
+    matrix(int m, int n);
+    matrix(const matrix<T>& m);
+    virtual ~matrix();
+    matrix<T>& operator=(const matrix<T>& m);
+
+    int nrow() const { return m_rows; } ///< The number of rows.
+    int ncol() const { return m_cols; } ///< The number of columns.
+    T  operator() (int i, int j) const;
+    T& operator() (int i, int j);
+    T  operator() (int i) const;
+    T& operator() (int i);
+
+    void operator=(T a);
+    matrix<T> operator*(T a) const;
+    matrix<T> operator/(T a) const;
+    void operator*=(T a);
+    void operator/=(T a);
+    /// Product by scalar.
+    friend matrix<T> operator*(T a, const matrix<T>& m)
+    { return m * a; }
+
+    matrix<T> operator+(const matrix<T>& m) const;
+    matrix<T> operator-(const matrix<T>& m) const;
+    matrix<T> operator-() const; ///< Matrix opposite.
+    matrix<T> operator*(const matrix<T>& m) const;
+    vector<T> operator*(const vector<T>& m) const;
+
+    void operator+=(const matrix<T>& m);
+    void operator-=(const matrix<T>& m);
+
+    matrix<T> t() const; ///< Transpose.
+    vector<T> diag() const; ///< Diagonal of matrix.
+    T tr() const;
+    T det() const;
+    matrix<T> inv() const;
+
+    void symUpper();
+    void symLower();
+
+    matrix<T> copy(int i0, int i1, int j0, int j1) const;
+    matrix<T> copyCols(int j0, int j1) const;
+    matrix<T> copyRows(int i0, int i1) const;
+    void paste(int i0, int j0, const matrix<T>& block);
+    friend matrix<T> cat<T>(const matrix<T>& left, const matrix<T>& right);
+    vector<T> col(int j) const; ///< Copy column.
+    matrix<T> row(int i) const; ///< Copy row.
+    int lastCol() const {return m_cols-1;} ///< Index of last column.
+    int lastRow() const {return m_rows-1;} ///< Index of last row.
+
+    friend void swap<T>(matrix<T>&, matrix<T>&);
+    void swapRows(int i0, int i1);
+    void swapCols(int j0, int j1);
+
+    template <typename U>
+    void read(const U* v);
+    void read(const matrix<T>& v);
+    void write(T* vect) const;
+
+protected:
+    int m_rows; ///< Number of rows.
+    int m_cols; ///< Number of columns.
+    T* p; ///< 1-D array of coefficients.
+
+    void alloc(int m, int n); ///< Allocate the array value.
+    void free(); ///< Free the array value.
+    int nElements() const; ///< Number of elements in the matrix.
+    matrix<T>& sub(matrix<T>& s, int i, int j) const;
+}; // class matrix
+
+/// Column vector class (template)
+template <typename T>
+class vector : public matrix<T>
+{
+public:
+    explicit vector(int m);
+    vector(T x);
+    vector(T x, T y);
+    vector(T x, T y, T z);
+    vector(const vector<T>& v);
+    virtual ~vector() {}
+    using matrix<T>::operator=;
+    vector<T>& operator=(const vector<T>& v);
+    //    void operator=(T a);
+
+    vector<T> operator*(T a) const;
+    vector<T> operator/(T a) const;
+    /// Product of a vector by a scalar.
+    friend vector<T> operator*(T a, const vector<T>& v)
+    { return v * a; }
+
+    vector<T> operator+(const vector<T>& v) const;
+    vector<T> operator-(const vector<T>& v) const;
+    vector<T> operator-() const; ///< Vector opposite.
+
+    matrix<T> operator*(const matrix<T>& m) const;
+    matrix<T> diag() const;
+    T qnorm() const;
+
+    vector<T> copy(int i0, int i1) const;
+    void paste(int i0, const vector<T>& v);
+};
+
+} // namespace libNumerics
+
+/// Output matrix coefficients.
+template <typename T>
+inline std::ostream& operator<<(std::ostream& out,
+                                const libNumerics::matrix<T>& m)
+{
+    for(int i = 0; i < m.nrow(); ++i) {
+        out << ((i==0)? "[": ";");
+        for (int j = 0; j < m.ncol(); ++j)
+            out << " " << m(i,j);
+    }
+    out << " ]";
+    return out;
+}
+
+/// Input matrix. Need to know the dimensions in advance...
+template <class T>
+inline std::istream& operator>>(std::istream& in,
+                                libNumerics::matrix<T>& m)
+{
+    char c;
+    for(int i=0; i < m.nrow(); ++i) {
+        in >> c;
+        for(int j=0; j < m.ncol(); ++j)
+            in >> m(i,j);
+    }
+    in >> c;
+    return in;
+}
+
+template <typename T>
+T dot(const libNumerics::vector<T>& u, const libNumerics::vector<T>& v);
+template <typename T>
+libNumerics::vector<T> cross(const libNumerics::vector<T>& u,
+                             const libNumerics::vector<T>& v);
+
+// Need to see definitions for templates...
+#include "matrix.cpp"
+#include "vector.cpp"
+
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/numerics.cpp b/ASIFT_tests/demo_ASIFT_src/libNumerics/numerics.cpp
new file mode 100755
index 0000000..e4ad1ec
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/numerics.cpp
@@ -0,0 +1,487 @@
+// 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 "numerics.h"
+#include <cmath>
+#include <vector>
+#include <limits>
+#include <algorithm>
+
+namespace libNumerics {
+
+const flnum MinLM::DEFAULT_RELATIVE_TOL = 1E-3;
+const flnum MinLM::DEFAULT_LAMBDA_INIT  = 1E-3;
+const flnum MinLM::DEFAULT_LAMBDA_FACT  = 10.0;
+const flnum MinLM::EPSILON_KERNEL       = 1E-9;
+
+inline flnum ABS(flnum x)
+{ return (x >= 0)? x: -x; }
+
+/// Resolution by LU decomposition with pivot.
+bool solveLU(const matrix<flnum>& A, const vector<flnum>& B, vector<flnum>& X)
+{
+    X = B;
+    return solveLU(A, X);
+}
+
+/// Replace X by A^{-1}X, by LU solver.
+bool solveLU(matrix<flnum> A, vector<flnum>& X)
+{
+    assert(A.nrow() == A.ncol());
+    int	n = A.nrow();
+    vector<flnum> rowscale(n); // Implicit scaling of each row
+    std::vector<int> permut(n,0); // Permutation of rows
+
+    // Get the implicit scaling information of each row
+    for(int i=0; i< n; i++) {
+        flnum max = 0.0;
+        for(int j=0; j< n; j++) {
+            flnum tmp = ABS(A(i,j));
+            if (tmp> max)
+                max = tmp;
+        }
+        if(max == 0.0)
+            return false;
+        rowscale(i) = 1.0/max;
+    }
+    // Perform the decomposition
+    for(int k=0; k < n; k++) {
+        // Search for largest pivot element
+        flnum max = rowscale(k)*ABS(A(k,k));
+        int imax = k;
+        for(int i=k+1; i < n; i++) {
+            flnum tmp = rowscale(i)*ABS(A(i,k));
+            if(tmp > max) {
+                max = tmp;
+                imax = i;
+            }
+        }
+        if(max == 0.0)
+            return false;
+
+        // Interchange rows if needed
+        if(k != imax) {
+            A.swapRows(k, imax);
+            rowscale(imax) = rowscale(k); // Scale of row k no longer needed
+        }
+        permut[k] = imax; // permut(k) was not initialized before
+        flnum Akk = 1/A(k,k);
+        for(int i=k+1; i < n; i++) {
+            flnum tmp = A(i,k) *= Akk; // Divide by pivot
+            for (int j=k+1;j < n; j++) // Reduce the row
+                A(i,j) -= tmp*A(k,j);
+        }
+    }
+    // Forward substitution
+    for (int k=0; k < n; k++) {
+        flnum sum = X(permut[k]);
+        X(permut[k]) = X(k);
+        for(int j = 0; j < k; j++)
+            sum -= A(k,j)*X(j);
+        X(k) = sum;
+    }
+    // Backward substitution
+    for(int k=n-1; k >= 0; k--) {
+        flnum sum = X(k);
+        for(int j=k+1; j < n; j++)
+            sum -= A(k,j)*X(j);
+        X(k) = sum/A(k,k);
+    }
+    return true;
+}
+
+/// Decompose A into U diag(W) V^T with U(m,n) and V(n,n) having orthonormal
+/// vectors.
+SVD::SVD(const matrix<flnum>& A)
+: m_U(A), m_V(A.ncol(),A.ncol()), m_W(A.ncol())
+{
+    compute();
+    sort();
+}
+
+/// SVD computation. Initial matrix stored in m_U as input.
+void SVD::compute()
+{
+    const flnum	EPSILON = std::numeric_limits<flnum>::epsilon();
+    const int SVD_MAX_ITS = 30;
+
+    int rows = m_U.nrow();
+    int cols = m_U.ncol();
+    flnum g, scale, anorm;
+    vector<flnum> RV1(cols);
+
+    // Householder reduction to bidiagonal form:
+    anorm = g = scale = 0.0;
+    for (int i=0; i< cols; i++) {
+        int l = i + 1;
+        RV1(i) = scale*g;
+        g = scale = 0.0;
+        if(i< rows) {
+            for (int k=i; k< rows; k++)
+                scale += ABS(m_U(k,i));
+            if (scale != 0.0) {
+                flnum invScale=1.0/scale, s=0.0;
+                for (int k=i; k< rows; k++) {
+                    m_U(k,i) *= invScale;
+                    s += m_U(k,i) * m_U(k,i);
+                }
+                flnum f = m_U(i,i);
+                g = - withSignOf(std::sqrt(s),f);
+                flnum h = 1.0 / (f*g - s);
+                m_U(i,i) = f - g;
+                for (int j=l; j< cols; j++) {
+                    s = 0.0;
+                    for (int k=i; k< rows; k++)
+                        s += m_U(k,i) * m_U(k,j);
+                    f = s * h;
+                    for (int k=i; k< rows; k++)
+                        m_U(k,j) += f * m_U(k,i);
+                }
+                for (int k=i; k< rows; k++)
+                    m_U(k,i) *= scale;
+            }
+        }
+        m_W(i) = scale * g;
+        g = scale = 0.0;
+        if ( i< rows && i< cols-1 ) {
+            for (int k=l; k< cols; k++)
+                scale += ABS(m_U(i,k));
+            if (scale != 0.0) {
+                flnum invScale=1.0/scale, s=0.0;
+                for (int k=l; k< cols; k++) {
+                    m_U(i,k) *= invScale;
+                    s += m_U(i,k) * m_U(i,k);
+                }
+                flnum f = m_U(i,l);
+                g = - withSignOf(std::sqrt(s),f);
+                flnum h = 1.0 / (f*g - s);
+                m_U(i,l) = f - g;
+                for (int k=l; k< cols; k++)
+                    RV1(k) = m_U(i,k) * h;
+                for (int j=l; j< rows; j++) {
+                    s = 0.0;
+                    for (int k=l; k< cols; k++)
+                        s += m_U(j,k) * m_U(i,k);
+                    for (int k=l; k< cols; k++)
+                        m_U(j,k) += s * RV1(k);
+                }
+                for (int k=l; k< cols; k++)
+                    m_U(i,k) *= scale;
+            }
+        }
+        anorm = std::max(anorm, ABS(m_W(i)) + ABS(RV1(i)) );
+    }
+
+    // Accumulation of right-hand transformations:
+    m_V(cols-1,cols-1) = 1.0;
+    for (int i= cols-2; i>=0; i--) {
+        m_V(i,i) = 1.0;
+        int l = i+1;
+        g = RV1(l);
+        if (g != 0.0) {
+            flnum invgUil = 1.0 / (m_U(i,l)*g);
+            for (int j=l; j< cols; j++)
+                m_V(j,i) = m_U(i,j) * invgUil;
+            for (int j=l; j< cols; j++){
+                flnum s = 0.0;
+                for (int k=l; k< cols; k++)
+                    s += m_U(i,k) * m_V(k,j);
+                for (int k=l; k< cols; k++)
+                    m_V(k,j) += s * m_V(k,i);
+            }
+        }
+        for (int j=l; j< cols; j++)
+            m_V(i,j) = m_V(j,i) = 0.0;
+    }
+
+    // Accumulation of left-hand transformations:
+    for (int i=std::min(rows,cols)-1; i>=0; i--) {
+        int l = i+1;
+        g = m_W(i);
+        for (int j=l; j< cols; j++)
+            m_U(i,j) = 0.0;
+        if (g != 0.0) {
+            g = 1.0 / g;
+            flnum invUii = 1.0 / m_U(i,i);
+            for (int j=l; j< cols; j++) {
+                flnum s = 0.0;
+                for (int k=l; k< rows; k++)
+                    s += m_U(k,i) * m_U(k,j);
+                flnum f = (s * invUii) * g;
+                for (int k=i; k< rows; k++)
+                    m_U(k,j) += f * m_U(k,i);
+            }
+            for (int j=i; j< rows; j++)
+                m_U(j,i) *= g;
+        } else
+            for (int j=i; j< rows; j++)
+                m_U(j,i) = 0.0;
+        m_U(i,i) = m_U(i,i) + 1.0;
+    }
+
+    // Diagonalization of the bidiagonal form:
+    for (int k=cols-1; k>=0; k--) { // Loop over singular values
+        for (int its=1; its<=SVD_MAX_ITS; its++) {
+            bool flag = false;
+            int l  = k;
+            int nm = k-1;
+            while(l>0 && ABS(RV1(l)) > EPSILON*anorm) { // Test for splitting
+                if(ABS(m_W(nm)) <= EPSILON*anorm) {
+                    flag = true;
+                    break;
+                }
+                l--;
+                nm--;
+            }
+            if (flag) {	// Cancellation of RV1(l), if l > 0
+                flnum c=0.0, s=1.0;
+                for (int i=l; i< k+1; i++) {
+                    flnum f = s * RV1(i);
+                    RV1(i) = c * RV1(i);
+                    if (ABS(f)<=EPSILON*anorm)
+                        break;
+                    g = m_W(i);
+                    flnum h = SVD::hypot(f,g);
+                    m_W(i) = h;
+                    h = 1.0 / h;
+                    c = g * h;
+                    s = - f * h;
+                    for (int j=0; j< rows; j++)
+                        rotate(m_U(j,nm),m_U(j,i), c,s); 
+                }
+            }
+            flnum z = m_W(k);
+            if (l==k) {		// Convergence of the singular value
+                if (z< 0.0) {	// Singular value is made nonnegative
+                    m_W(k) = -z;
+                    for (int j=0; j< cols; j++)
+                        m_V(j,k) = - m_V(j,k);
+                }
+                break;
+            }
+            // Exception if convergence to the singular value not reached:
+            if(its==SVD_MAX_ITS) throw SvdConvergenceError();
+            flnum x = m_W(l); // Get QR shift value from bottom 2x2 minor
+            nm = k-1;
+            flnum y = m_W(nm);
+            g = RV1(nm);
+            flnum h = RV1(k);
+            flnum f = ( (y-z)*(y+z) + (g-h)*(g+h) ) / ( 2.0*h*y );
+            g = SVD::hypot(f,1.0);
+            f = ( (x-z)*(x+z) + h*(y/(f+withSignOf(g,f)) - h) ) / x;
+            // Next QR transformation (through Givens reflections)
+            flnum c=1.0, s=1.0;
+            for (int j=l; j<=nm; j++) {
+                int i = j+1;
+                g = RV1(i);
+                y = m_W(i);
+                h = s * g;
+                g = c * g;
+                z = SVD::hypot(f,h);
+                RV1(j) = z;
+                z = 1.0 / z;
+                c = f * z;
+                s = h * z;
+                f = x*c + g*s;
+                g = g*c - x*s;
+                h = y * s;
+                y *= c;
+                for(int jj=0; jj < cols; jj++)
+                    rotate(m_V(jj,j),m_V(jj,i), c,s);
+                z = SVD::hypot(f,h);
+                m_W(j) = z;
+                if (z!=0.0) { // Rotation can be arbitrary if z = 0.0
+                    z = 1.0 / z;
+                    c = f * z;
+                    s = h * z;
+                }
+                f = c*g + s*y;
+                x = c*y - s*g;
+                for(int jj=0; jj < rows; jj++)
+                    rotate(m_U(jj,j),m_U(jj,i), c,s);
+            }
+            RV1(l) = 0.0;
+            RV1(k) = f;
+            m_W(k) = x;
+        }
+    }
+}
+
+/// Recompose from SVD. This should be the initial matrix.
+matrix<flnum> SVD::compose() const
+{
+    return m_U * m_W.diag() * m_V.t();
+}
+
+flnum SVD::withSignOf(flnum a, flnum b)
+{ return b >= 0 ? (a >= 0 ? a : -a) : (a >= 0 ? -a : a); }
+
+/// Replace hypot of math.h by robust numeric implementation.
+flnum SVD::hypot(flnum a, flnum b)
+{
+    a = ABS(a);
+    b = ABS(b);
+    if(a > b) {
+        b /= a;
+        return a*std::sqrt(1.0 + b*b);
+    } else if(b) {
+        a /= b;
+        return b*std::sqrt(1.0 + a*a);
+    }
+    return 0.0;
+}
+
+/// Utility function used while computing SVD.
+void SVD::rotate(flnum& a, flnum& b, flnum c, flnum s)
+{
+    flnum d = a;
+    a = +d*c +b*s;
+    b = -d*s +b*c;
+}
+
+class SVDElement {
+public:
+    SVDElement(const vector<flnum>& W, int i)
+    : m_val(W(i)), m_i(i) {}
+    bool operator<(const SVDElement& e) const
+    { return (m_val>e.m_val); }
+
+    flnum m_val;
+    int m_i;
+};
+
+/// Sort SVD by decreasing order of singular value.
+void SVD::sort()
+{
+    std::vector<SVDElement> vec;
+    for(int i=0; i < m_U.ncol(); i++)
+        vec.push_back( SVDElement(m_W, i) );
+    std::sort(vec.begin(), vec.end());
+    // Apply permutation
+    for(int i=m_U.ncol()-1; i >=0; i--)
+        if(vec[i].m_i != i) { // Find cycle of i
+            const vector<flnum> colU = m_U.col(i);
+            const vector<flnum> colV = m_V.col(i);
+            const flnum w = m_W(i);
+            int j = i;
+            while(vec[j].m_i != i) {
+                m_U.paste(0,j, m_U.col(vec[j].m_i));
+                m_V.paste(0,j, m_V.col(vec[j].m_i));
+                m_W(j) = m_W(vec[j].m_i);
+                std::swap(j,vec[j].m_i);
+            }
+            vec[j].m_i = j;
+            m_U.paste(0,j, colU);
+            m_V.paste(0,j, colV);
+            m_W(j) = w;
+        }
+}
+
+/// Constructor.
+MinLM::MinLM()
+: iterations(0), relativeTol(DEFAULT_RELATIVE_TOL),
+  lambdaInit(DEFAULT_LAMBDA_INIT), lambdaFact(DEFAULT_LAMBDA_FACT)
+{}
+
+/// In equation JtJ X = B, remove columns of J close to 0, so that JtJ can be
+/// invertible
+void MinLM::compress(matrix<flnum>& JtJ, vector<flnum>& B)
+{
+    flnum max=0;
+    for(int i=0; i < JtJ.nrow(); i++)
+        if(JtJ(i,i) > max)
+            max = JtJ(i,i);
+    max *= EPSILON_KERNEL;
+    m_nullCols.clear();
+    for(int i=0; i < JtJ.nrow(); i++)
+        if(JtJ(i,i) <= max)
+            m_nullCols.push_back(i);
+    if( m_nullCols.empty() )
+        return;
+    int n=(int)m_nullCols.size();
+    matrix<flnum> JtJ2(JtJ.nrow()-m_nullCols.size(),
+                       JtJ.ncol()-m_nullCols.size());
+    vector<flnum> B2(B.nrow()-(int)m_nullCols.size());
+    for(int i=0,i2=0; i < JtJ.nrow(); i++) {
+        if(i-i2 < n && m_nullCols[i-i2]==i)
+            continue;
+        for(int j=0,j2=0; j < JtJ.ncol(); j++) {
+            if(j-j2 < n && m_nullCols[j-j2]==j)
+                continue;
+            JtJ2(i2,j2) = JtJ(i,j);
+            j2++;
+        }
+        B2(i2) = B(i);
+        i2++;
+    }
+    swap(JtJ,JtJ2);
+    swap(B,B2);
+}
+
+/// Insert 0 in rows of B that were removed by \c compress()
+void MinLM::uncompress(vector<flnum>& B)
+{
+    if(m_nullCols.empty())
+        return;
+    int n=(int)m_nullCols.size();
+    vector<flnum> B2(B.nrow()+(int)m_nullCols.size());
+    for(int i=0,i2=0; i2 < B2.nrow(); i2++)
+        if(i2-i < n && m_nullCols[i2-i]==i2)
+            B2(i2)=0;
+        else
+            B2(i2) = B(i++);
+    swap(B,B2);
+}
+
+/// Perform minimization.
+/// \a targetRMSE is the root mean square error aimed at.
+/// Return the reached RMSE. Since the class does not know the dimension, the
+/// real RMSE should be this value multiplied by sqrt(dim). For example, for 2-D
+/// points this would be sqrt(2) times the returned value.
+flnum MinLM::minimize(vector<flnum>& P, const vector<flnum>& yData,
+                      flnum targetRMSE, int maxIters)
+{
+    flnum errorMax = targetRMSE*targetRMSE*yData.nrow();
+    vector<flnum> yModel( yData.nrow() );
+    modelData(P, yModel);
+    vector<flnum> E( yData-yModel );
+    flnum error = E.qnorm();
+    matrix<flnum> J( yData.nrow(), P.nrow() );
+    modelJacobian(P, J);
+    matrix<flnum> Jt = J.t();
+    matrix<flnum> JtJ = Jt*J;
+    vector<flnum> B = Jt*E;
+    compress(JtJ, B);
+
+    flnum lambda = lambdaInit;
+    for(iterations=0; iterations < maxIters && error > errorMax; iterations++) {
+        matrix<flnum> H(JtJ);
+        for(int i = 0; i < H.nrow(); i++)
+            H(i,i) *= 1+lambda;
+        vector<flnum> dP( P.nrow() );
+        solveLU(H, B, dP);
+        uncompress(dP);
+        vector<flnum> tryP = P + dP;
+        modelData(tryP, yModel);
+        E = yData - yModel;
+        flnum tryError = E.qnorm();
+        if(ABS(tryError-error) <= relativeTol*error)
+            break;
+        if(tryError > error)
+            lambda *= lambdaFact;
+        else {
+            lambda /= lambdaFact;
+            error = tryError;
+            P = tryP;
+            modelJacobian(P, J);
+            Jt = J.t();
+            JtJ = Jt*J;
+            B = Jt*E;
+            compress(JtJ, B);
+        }
+    }
+    return sqrt(error/yData.nrow());
+}
+
+} // namespace libNumerics
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/numerics.h b/ASIFT_tests/demo_ASIFT_src/libNumerics/numerics.h
new file mode 100755
index 0000000..63d3257
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/numerics.h
@@ -0,0 +1,66 @@
+// 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 NUMERICS_H
+#define NUMERICS_H
+
+#include "matrix.h"
+#include <vector>
+
+namespace libNumerics {
+    class NumericsException {};
+    class SvdConvergenceError : public NumericsException {};
+    typedef double flnum;
+
+    /// Solve system AX = B.
+    bool solveLU(const matrix<flnum>& A, const vector<flnum>& B,
+                 vector<flnum>& X);
+    bool solveLU(matrix<flnum> A, vector<flnum>& B);
+
+    /// Singular Value Decomposition
+    class SVD {
+    public:
+        SVD(const matrix<flnum>& A);
+        matrix<flnum>& U() { return m_U; }
+        vector<flnum>& W() { return m_W; }
+        matrix<flnum>& V() { return m_V; }
+        matrix<flnum> compose() const;
+
+    private:
+        matrix<flnum> m_U, m_V;
+        vector<flnum> m_W;
+        static flnum withSignOf(flnum a, flnum b);
+        static flnum hypot(flnum a, flnum b);
+        static void rotate(flnum& a, flnum& b, flnum c, flnum s);
+        void compute();
+        void sort();
+    };
+
+    /// Levenberg-Marquardt minimization.
+    class MinLM {
+        static const flnum DEFAULT_RELATIVE_TOL;
+        static const flnum DEFAULT_LAMBDA_INIT;
+        static const flnum DEFAULT_LAMBDA_FACT;
+        static const flnum EPSILON_KERNEL;
+    public:
+        MinLM();
+        flnum minimize(vector<flnum>& P, const vector<flnum>& ydata,
+                       flnum targetRMSE=0.1, int maxIters=300);
+        virtual void modelData(const vector<flnum>& P,
+                               vector<flnum>& ymodel) const = 0;
+        virtual void modelJacobian(const vector<flnum>& P,
+                                   matrix<flnum>& J) const = 0;
+        int iterations;
+        flnum relativeTol;
+        flnum lambdaInit;
+        flnum lambdaFact;
+    private:
+        std::vector<int> m_nullCols;
+        void compress(matrix<flnum>& JtJ, vector<flnum>& B);
+        void uncompress(vector<flnum>& B);
+    };
+
+} // namespace libNumerics
+
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/numerics.o b/ASIFT_tests/demo_ASIFT_src/libNumerics/numerics.o
new file mode 100644
index 0000000..25cb69c
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/libNumerics/numerics.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/rodrigues.cpp b/ASIFT_tests/demo_ASIFT_src/libNumerics/rodrigues.cpp
new file mode 100755
index 0000000..7b2acba
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/rodrigues.cpp
@@ -0,0 +1,55 @@
+// 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.
+
+#ifdef RODRIGUES_H
+
+namespace libNumerics {
+
+template <class T>
+matrix<T> skew(const vector<T>& v)
+{
+    assert(v.nrow() == 3);
+    matrix<T> M(3,3);
+    M(0,0) = M(1,1) = M(2,2) = 0;
+    M(1,2) = -(M(2,1)=v(0));
+    M(2,0) = -(M(0,2)=v(1));
+    M(0,1) = -(M(1,0)=v(2));
+    return M;
+}
+
+template <class T>
+matrix<T> rotation(vector<T> w)
+{
+    assert(w.nrow() == 3);
+    T n = sqrt(w.qnorm());
+    T c = cos(n);
+    matrix<T> R = c*matrix<T>::eye(3);
+    if(n) {
+        w /= n;
+        R += skew(sin(n)*w);
+        R += (1-c)*w*w.t();
+    }   
+    return R;
+}
+
+template <class T>
+vector<T> rotationAxis(const matrix<T>& R)
+{
+    assert(R.nrow() == 3 && R.ncol() == 3);
+    vector<T> w(3);
+    T n = acos(0.5*(R.tr()-1));
+    if(n == 0)
+        w = 0;
+    else {
+        w(0) = R(2,1)-R(1,2);
+        w(1) = R(0,2)-R(2,0);
+        w(2) = R(1,0)-R(0,1);
+        w *= n/(2*sin(n));
+    }
+    return w;
+}
+
+} // libNumerics
+
+#endif // RODRIGUES_H
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/rodrigues.h b/ASIFT_tests/demo_ASIFT_src/libNumerics/rodrigues.h
new file mode 100755
index 0000000..9d7a6d4
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/rodrigues.h
@@ -0,0 +1,24 @@
+// 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 RODRIGUES_H
+#define RODRIGUES_H
+
+#include "matrix.h"
+#include <math.h>
+
+namespace libNumerics {
+
+/// Skew-symmetric matrix of 3-vector v.
+template <class T> matrix<T> skew(const vector<T>& v);
+/// Rodrigues's rotation: exp(w_x).
+template <class T> matrix<T> rotation(vector<T> w);
+/// Inverse Rodrigues's formula: w s.t. R=exp(w_x).
+template <class T> vector<T> rotationAxis(const matrix<T>& R);
+
+} // libNumerics
+
+#include "rodrigues.cpp"
+
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/libNumerics/vector.cpp b/ASIFT_tests/demo_ASIFT_src/libNumerics/vector.cpp
new file mode 100755
index 0000000..9956628
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/libNumerics/vector.cpp
@@ -0,0 +1,179 @@
+// 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.
+
+#ifdef MATRIX_H // Do nothing if not included from matrix.h
+
+namespace libNumerics {
+
+/// Constructor
+template <typename T>
+vector<T>::vector(int m)
+: matrix<T>(m, 1)
+{}
+
+/// 1-vector constructor.
+template <typename T>
+vector<T>::vector(T x)
+: matrix<T>(1,1)
+{
+    this->p[0] = x;
+}
+
+/// 2-vector constructor.
+template <typename T>
+vector<T>::vector(T x, T y)
+: matrix<T>(2,1)
+{
+    this->p[0] = x;
+    this->p[1] = y;
+}
+
+/// 3-vector constructor.
+template <typename T>
+vector<T>::vector(T x, T y, T z)
+: matrix<T>(3,1)
+{
+    this->p[0] = x;
+    this->p[1] = y;
+    this->p[2] = z;
+}
+
+/// Copy constructor
+template <typename T>
+vector<T>::vector(const vector<T>& v)
+: matrix<T>(v)
+{}
+
+/// Assignment operator
+template <typename T>
+vector<T>& vector<T>::operator=(const vector<T>& v)
+{
+    matrix<T>::operator=(v);
+    return *this;
+}
+
+/// Multiply a vector by scalar.
+/// \param a a scalar.
+template <typename T>
+vector<T> vector<T>::operator*(T a) const
+{
+    vector<T> v(this->m_rows);
+    for(int i = this->m_rows-1; i >= 0; i--)
+        v.p[i] = a*this->p[i];
+    return v;
+}
+
+/// Divide a vector by scalar.
+/// \param a a scalar.
+template <typename T>
+inline vector<T> vector<T>::operator/(T a) const
+{
+    return operator*( (T)1/a );
+}
+
+/// Addition of vectors.
+template <typename T>
+vector<T> vector<T>::operator+(const vector<T>& v) const
+{
+    assert(this->m_rows == v.m_rows);
+    vector<T> sum(this->m_rows);
+    for(int i = this->m_rows-1; i >= 0; i--)
+        sum.p[i] = this->p[i] + v.p[i];
+    return sum;
+}
+
+/// Subtraction of vectors.
+template <typename T>
+vector<T> vector<T>::operator-(const vector<T>& v) const
+{
+    assert(this->m_rows == v.m_rows);
+    vector<T> sub(this->m_rows);
+    for(int i = this->m_rows-1; i >= 0; i--)
+        sub.p[i] = this->p[i] - v.p[i];
+    return sub;
+}
+
+/// Opposite of vector.
+template <typename T>
+vector<T> vector<T>::operator-() const
+{
+    vector<T> v(this->m_rows);
+    for(int i = this->m_rows-1; i >= 0; i--)
+        v.p[i] = -this->p[i];
+    return v;
+}
+
+/// Vector times matrix.
+template <typename T>
+matrix<T> vector<T>::operator*(const matrix<T>& m) const
+{
+    return matrix<T>::operator*(m);
+}
+
+/// Diagonal matrix defined by its diagonal vector.
+template <typename T>
+matrix<T> vector<T>::diag() const
+{
+    matrix<T> d(this->m_rows, this->m_rows);
+    d = (T)0;
+    for(int i = this->m_rows-1; i >= 0; i--)
+        d(i,i) = this->p[i];
+    return d;
+}
+
+/// Square L^2 norm of vector.
+template <typename T>
+T vector<T>::qnorm() const
+{
+    T q = (T)0;
+    for(int i = this->m_rows-1; i >= 0; i--)
+        q += this->p[i]*this->p[i];
+    return q;
+}
+
+/// Subvector from \a i0 to \a i1.
+template <typename T>
+vector<T> vector<T>::copy(int i0, int i1) const
+{
+    assert(0 <= i0 && i0 <= i1 && i1 <= this->m_rows);
+    vector<T> v(i1-i0+1);
+    for(int i=i0; i <= i1; i++)
+        v.p[i-i0] = this->p[i];
+    return v;
+}
+
+/// Paste vector \a v from row i0.
+template <typename T>
+void vector<T>::paste(int i0, const vector<T>& v)
+{
+    matrix<T>::paste(i0, 0, v); 
+}
+
+} // namespace libNumerics
+
+/// Scalar product.
+template <typename T>
+T dot(const libNumerics::vector<T>& u, const libNumerics::vector<T>& v)
+{
+    assert(u.nrow() == v.nrow());
+    T d = (T)0;
+    for(int i = u.nrow()-1; i >= 0; i--)
+        d += u(i)*v(i);
+    return d;
+}
+
+/// Cross product.
+template <typename T>
+libNumerics::vector<T> cross(const libNumerics::vector<T>& u,
+                             const libNumerics::vector<T>& v)
+{
+    assert(u.nrow() == 3 && v.nrow() == 3);
+    libNumerics::vector<T> w(3);
+    w(0) = u(1)*v(2) - u(2)*v(1);
+    w(1) = u(2)*v(0) - u(0)*v(2);
+    w(2) = u(0)*v(1) - u(1)*v(0);
+    return w;
+}
+
+#endif // MATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/library.cpp b/ASIFT_tests/demo_ASIFT_src/library.cpp
new file mode 100755
index 0000000..fb5ecb8
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/library.cpp
@@ -0,0 +1,945 @@
+// 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 "library.h"
+
+
+
+void wxwarning(const char * message, const char *function,const char *file)
+{
+	
+	printf("warning :: %s :: %s :: %s\n", file, function, message);
+	
+}
+
+
+void wxerror(const char * message, const char *function, const char *file)
+{
+	
+	printf("error :: %s :: %s :: %s\n", file, function, message);
+	exit(-1);
+	
+}
+
+
+
+
+double fsqr(double a) {	return a*a; }
+
+
+void  fill_exp_lut(float *lut, int size)
+{
+  for(int i=0; i< size;i++)   lut[i]=expf( - (float) i / LUTPRECISION);
+}
+
+  
+  
+    
+/* Looks for f(dif) in the lut */
+float slut(float dif,float *lut)
+{
+  if (dif >= (float) LUTMAX) return 0.0;
+  	
+  int  x= (int) floor(dif*LUTPRECISION);
+ 	
+  float y1=lut[x];
+  float y2=lut[x+1];
+ 
+  return y1 + (y2-y1)*(dif*LUTPRECISION - (float) x); 
+}
+
+
+
+
+float max(float *u,int *pos, int size)
+{  
+	float max=u[0];
+	if (pos) *pos=0;  
+	for(int i=1; i<size; i++)  if(u[i]>max){ max=u[i]; if (pos) *pos=i; } 
+	return max;
+}
+
+
+float min(float *u,int *pos,int size) 
+{
+	float min=u[0];  
+	if (pos) *pos=0;
+	for(int i=1;i<size;i++)	if(u[i]<min){ min=u[i]; if (pos) *pos=i; }
+	return min;
+}
+
+
+void max_u_v(float *u,float *v,int size) { for(int i=0;i<size;i++)  u[i]=MAX(u[i],v[i]);}
+
+void max_u_k(float *u, float k, int size) { for(int i=0;i<size;i++)  u[i]=MAX(u[i],k);}
+
+void min_u_v(float *u, float *v,int size) { for(int i=0;i<size;i++)  u[i]=MIN(u[i],v[i]);}
+
+void min_u_k(float *u,float k,int size) { int i=0; for(i=0;i<size;i++)  u[i]=MIN(u[i],k);}
+
+void abs(float *u,float *v,int size){ for(int i=0;i<size ;i++)  v[i] = fabsf(u[i]); }
+
+void copy(float *u,float *v,int size) {  for(int i=0; i<size ;i++)  v[i]=u[i]; }
+
+void clear(float *u,float value,int size) { for(int i=0; i<size; i++) u[i]=value;  }
+
+void combine(float *u,float a,float *v,float b, float *w,  int size)  { for(int i=0;i<size ;i++)   w[i]= a*u[i] + b*v[i];  }
+
+void multiple(float *u,float multiplier,int size) { for(int i=0;i<size;i++)  u[i]=multiplier*u[i]; }
+
+float scalar_product(float *u, float *v, int n)
+{
+	
+	float aux = 0.0f;
+	for(int i=0; i < n; i++)
+		aux += u[i] * v[i];
+	
+	return aux;
+	
+}
+
+
+
+float  var(float *u,int size)
+{
+	
+	float *ptru=&u[0];
+	float mean=0.0;
+	float mean2 = 0.0;
+	for(int i=0;i<size;i++,ptru++) { mean +=  *ptru; mean2 += *ptru * (*ptru);}
+
+	mean/=(float) size; mean2/=(float) size;
+	float var = mean2- mean*mean;
+
+	return var;
+}
+
+
+
+float  mean(float *u,int size)
+{
+
+	float *ptru=&u[0];
+	float mean=0.0;
+	for(int i=0; i<size; i++,ptru++)  mean +=  *ptru;
+	mean/=(float) size;
+	return mean;
+}
+
+
+
+float  median(float *u,int size)
+{
+	
+	float *vector = new float[size];
+	float *index = new float[size];
+	
+
+	float *ptru=&u[0];
+	for(int i=0; i<size; i++,ptru++)  { vector[i] = *ptru; index[i] = (float) i;}
+	quick_sort(vector,index,size);	
+	
+	float median;
+	if (size%2==1)	median = vector[size/2];
+	else	median = (vector[size/2] + vector[(size/2) - 1])/2;
+	
+	delete[] vector; delete[] index;
+	return median;
+}
+
+
+
+
+int normalize(float *u,int size) 
+{
+  
+  float some = 0.0;  
+  for(int i=0;i<size;i++) some+=u[i];
+  if (some != 0.0) {	for(int i=0;i<size;i++) u[i]/=some;  return 1;}  
+  else return 0;	
+}
+	
+	
+
+float  nearest(float *u,float value,int *pos,int size)
+{
+	float mindif =  fabsf(value - u[0]);
+	float minvalue = u[0];
+	if (pos) *pos = 0;
+
+	for(int i=0;i<size;i++){
+
+		float dif = fabsf(value - u[i]);
+		if (dif < mindif) { mindif=dif; minvalue=u[i]; if (pos!=NULL) *pos=i;} 
+
+	}
+
+	return minvalue;
+}
+
+
+void binarize(float *u, float *v,float value, int inverse, int size)
+{ 
+	for(int i=0;i<size;i++){
+ 
+		if (u[i] >= value && !inverse) 	v[i]= 255.0;
+		else if (u[i] <= value && inverse)  v[i]= 255.0;
+		else v[i]= 0.0;
+	}
+}
+
+
+
+float *  gauss(int sflag,float std,int *size)
+{
+
+   float *u,prec = 4.0,shift;
+   double v;
+//   int n,i,flag;
+   int n,i;
+   int flag = 1; //Guoshen Yu
+
+
+   if (sflag) n=*size;
+   else
+	n = 1+2*(int)ceil((double)std*sqrt(prec*2.*log(10.)));   
+   
+   u =new float[n];
+
+   if (n==1) 
+    u[0]=1.0;
+   else{
+
+      shift = 0.5*(float)(n-1);
+
+      for (i=(n+1)/2;i--;) {
+         v = ((double)i - (double) shift)/(double)std;
+         u[i] = u[n-1-i] = (float) exp(-0.5*v*v); 
+      }
+   }	
+
+//   if (flag = normalize(u,n)) {
+	if (flag == normalize(u,n)) 
+	{
+		*size=n;
+        return u;
+    } 
+	else 
+	{
+		printf("ERROR: _gauss: _normalize: normalization equals zero.\n");
+		delete[] u; /*memcheck*/
+		return 0; // Guoshen Yu
+    }
+}
+
+
+
+/* Quicksort,  values in arr are set in increasing order and brr elements are switched at the same time*/
+void FSWAP(float *x,float *y)
+{
+  float aux;
+  aux=*x;
+  *x=*y;
+  *y=aux;
+}
+
+
+
+void quick_sort(float *arr,float *brr,int n)
+{
+  int M=7,NSTACK=50;
+  int i,ir,j,k,jstack=-1,l=0;
+  float a,b;
+  int istack[50];
+  
+  ir=n-1;
+
+
+  for(;;){
+    if(ir-l<M){
+      for(j=l+1;j<=ir;j++){
+	a=arr[j];
+	b=brr[j];
+	for(i=j-1;i>=l;i--){
+	  if (arr[i]<=a) break;
+	  arr[i+1]=arr[i];
+	  brr[i+1]=brr[i];
+	}
+	arr[i+1]=a;
+	brr[i+1]=b;
+
+      }
+
+      if (jstack<0) break;
+      ir=istack[jstack--];
+      l=istack[jstack--];
+    } else {
+
+      k=(l+ir) >> 1;
+      FSWAP(&arr[k],&arr[l+1]);
+      FSWAP(&brr[k],&brr[l+1]);
+      if (arr[l]>arr[ir]){
+	FSWAP(&arr[l],&arr[ir]);
+	FSWAP(&brr[l],&brr[ir]);
+      }
+      if (arr[l+1]>arr[ir]){
+	FSWAP(&arr[l+1],&arr[ir]);
+	FSWAP(&brr[l+1],&brr[ir]);
+      }
+      if (arr[l]>arr[l+1]){
+	FSWAP(&arr[l],&arr[l+1]);
+	FSWAP(&brr[l],&brr[l+1]);
+      }
+      i=l+1;
+      j=ir;
+      a=arr[l+1];
+      b=brr[l+1];
+      for(;;){
+	do i++; while (arr[i]<a);
+	do j--; while (arr[j]>a);
+	if (j<i) break;
+	FSWAP(&arr[i],&arr[j]);
+	FSWAP(&brr[i],&brr[j]);
+      }
+
+      arr[l+1]=arr[j];
+      arr[j]=a;
+      brr[l+1]=brr[j];
+      brr[j]=b;
+      jstack+=2;
+
+      if (jstack>=NSTACK) { printf("Stack too small\n"); exit(-1);}
+      if (ir-i+1>=j-l){
+	istack[jstack]=ir;
+	istack[jstack-1]=i;
+	ir=j-1;
+      } else {
+	istack[jstack]=j-1;
+	istack[jstack-1]=l;
+	l=i;
+      }
+
+    }
+  }
+
+  
+}
+
+
+
+/// histogram of values. 'n' (number of bins) or  's' (step) must be selected in flag while the other value is filled 
+float * histo(float* input, float *iminim, float *imaxim, int *n, float *s, int size, char flag)
+{
+		
+	if (flag != 's' && flag != 'n') 	{ printf("Warning (histo): Please select s or n as flag\n");  return NULL;	}
+			
+	float minim;
+	if (iminim) minim = *iminim;
+	else minim = min(input, NULL, size);
+
+	float maxim;
+	if (imaxim) maxim = *imaxim;
+	else maxim = max(input, NULL, size);
+
+	int num;
+	float step;
+	if (flag == 'n')
+	{
+		 num = *n;
+		 step = (maxim-minim)/ (float)num;
+		 *s = step;
+	} else
+	{
+		step = *s;
+		num = (int)(0.5+(maxim-minim)/step);
+		*n = num;
+	}
+	
+	float *histo = new float[num];
+	clear(histo,0.0,num);
+		
+	
+	for(int i=0; i < size; i++)
+	{
+	
+		int cell = (int) floorf((input[i]-minim) / step);
+	
+		if (cell < 0) cell = 0;
+		if (cell >= num) cell = num - 1;
+		
+		histo[cell]++;
+	}
+	
+	
+	return histo;
+	
+}
+
+
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////   Used and checked image functions
+
+void compute_gradient_orientation(float* igray,float *grad, float *ori, int width, int height)
+{
+
+    float xgrad, ygrad;
+    int rows, cols, r, c;
+
+    rows = height;
+    cols = width;
+    
+
+    for (r = 0; r < rows; r++)
+      for (c = 0; c < cols; c++) {
+        if (c == 0)
+          xgrad = 2.0 * (igray[r*cols+c+1] - igray[r*cols+c]);
+        else if (c == cols-1)
+          xgrad = 2.0 * (igray[r*cols+c] - igray[r*cols+c-1]);
+        else
+          xgrad = igray[r*cols+c+1] - igray[r*cols+c-1];
+        if (r == 0)
+          ygrad = 2.0 * (igray[r*cols+c] - igray[(r+1)*cols+c]);
+        else if (r == rows-1)
+          ygrad = 2.0 * (igray[(r-1)*cols+c] - igray[r*cols+c]);
+        else
+          ygrad = igray[(r-1)*cols+c] - igray[(r+1)*cols+c];
+        
+
+        if (grad) grad[r*cols+c] = (float)sqrt((double)(xgrad * xgrad + ygrad * ygrad));
+        if (ori) ori[r*cols+c] = (float)atan2 (-(double)ygrad,(double)xgrad);
+      
+      }
+}
+
+
+
+
+void sample(float *igray,float *ogray, float factor, int width, int height)
+{
+
+	int swidth = (int)((float) width / factor);
+	int sheight = (int)((float) height / factor);
+	
+	for(int j=0; j < sheight; j++)
+	 for(int i=0; i < swidth; i++)
+		ogray[j*swidth + i] = igray[(int)((float) j * factor) * width + (int) ((float) i*factor)];
+
+}
+
+
+void sample_aglomeration(float *igray,float *ogray, float factor, int width, int height)
+{
+
+	int swidth = (int)((float) width / factor);
+	int sheight = (int)((float) height / factor);
+	int ssize = swidth * sheight;
+
+	clear(ogray,0.0,swidth*sheight);
+
+	for(int j=0; j < height; j++)
+	 for(int i=0; i < width; i++){
+	 	int index = (int)((float) j / factor) * swidth + (int) ((float) i / factor);
+		if (index < ssize) ogray[index]  += igray[j*width+i];
+	}
+
+	factor *= factor;
+	for(int i = 0; i < swidth*sheight; i++)
+		ogray[i] /= factor; 
+
+
+}
+
+
+/*
+void extract(float *igray,float *ogray, int ax, int ay,int cwidth, int cheight,int width, int height)
+{
+	for(int j=0; j < cheight; j++)
+		for(int i=0; i < cwidth; i++)	
+			ogray[j*cwidth + i] = igray[(ay+j)*width + ax+i];	
+}
+ */
+
+
+void gray(float *red, float *green,float *blue, float *out, int width, int height)
+{
+	for(int i=width*height-1; i>0; i--)	out[i] = (red[i] + green[i] + blue[i]) /3.0;
+}
+
+
+/*
+float l2_distance(float *u0,float *u1,int i0,int j0,int i1,int j1,int radius,int width,int height)
+{
+
+	int wsize=(2*radius+1)*(2*radius+1);
+
+	float dist=0.0;       
+	for (int s=-radius; s<= radius; s++){
+	
+		int l = (j0+s)*width + (i0-radius);
+		float *ptr0 = &u0[l];
+	
+		l = (j1+s)*width + (i1-radius);
+		float *ptr1 = &u1[l];
+	
+		for(int r=-radius;r<=radius;r++,ptr0++,ptr1++){	float dif = (*ptr0 - *ptr1); dist += (dif*dif); }
+
+	}
+
+	dist/=(float) wsize;
+	return dist;
+}
+
+ 
+float l2_distance_non_normalized(float *u0,float *u1,int i0,int j0,int i1,int j1,int radius,int width,int height)
+{
+
+
+	float dist=0.0;       
+	for (int s=-radius; s<= radius; s++){
+	
+		int l = (j0+s)*width + (i0-radius);
+		float *ptr0 = &u0[l];
+	
+		l = (j1+s)*width + (i1-radius);
+		float *ptr1 = &u1[l];
+	
+		for(int r=-radius;r<=radius;r++,ptr0++,ptr1++){	float dif = (*ptr0 - *ptr1); dist += (dif*dif); }
+
+	}
+
+	return dist;
+}
+
+
+float l2_distance_nsq(float *u0,float *u1,int i0,int j0,int i1,int j1,int xradius, int yradius,int width,int height)
+{
+
+	int wsize=(2*xradius+1)*(2*yradius+1);
+
+	float dist=0.0;       
+	for (int s=-yradius; s <= yradius; s++){
+	
+		int l = (j0+s)*width + (i0-xradius);
+		float *ptr0 = &u0[l];
+	
+		l = (j1+s)*width + (i1-xradius);
+		float *ptr1 = &u1[l];
+	
+		for(int r=-xradius;r<=xradius;r++,ptr0++,ptr1++)
+		{
+			float dif = (*ptr0 - *ptr1); dist += (dif*dif); 
+		}
+
+	}
+
+	dist/=(float) wsize;
+	return dist;
+}
+
+
+
+
+float weighted_l2_distance(float *u0,float *u1,int i0,int j0,int i1,int j1,int width,int height,float *kernel,int radius)
+{
+
+
+	float *ptrk=&kernel[0];
+	float dist=0.0;       
+	for (int s=-radius; s<= radius; s++){
+	
+		int l = (j0+s)*width + (i0-radius);
+		float *ptr0 = &u0[l];
+	
+		l = (j1+s)*width + (i1-radius);
+		float *ptr1 = &u1[l];
+	
+	
+		for(int r=-radius;r<=radius;r++,ptr0++,ptr1++,ptrk++){ float dif = (*ptr0 - *ptr1); dist += *ptrk*(dif*dif); }
+	
+	}
+
+	return dist;
+}
+
+
+
+float weighted_l2_distance_nsq(float *u0,float *u1,int i0,int j0,int i1,int j1,int width,int height,float *kernel,int xradius, int yradius)
+{
+
+
+	float *ptrk=&kernel[0];
+	float dist=0.0;       
+	for (int s=-yradius; s<= yradius; s++){
+	
+		int l = (j0+s)*width + (i0-xradius);
+		float *ptr0 = &u0[l];
+	
+		l = (j1+s)*width + (i1-xradius);
+		float *ptr1 = &u1[l];
+	
+	
+		for(int r=-xradius;r<=xradius;r++,ptr0++,ptr1++,ptrk++){ float dif = (*ptr0 - *ptr1); dist += *ptrk*(dif*dif); }
+	
+	}
+
+	return dist;
+}
+*/
+
+
+
+/// RGV to YUV conversion
+void rgb2yuv(float *r,float *g,float *b,float *y,float *u,float *v,int width,int height) 
+{
+	int size=height*width;
+  
+	for(int i=0;i<size;i++){
+		y[i] = COEFF_YR * r[i] + COEFF_YG * g[i] + COEFF_YB * b[i];
+		u[i] = r[i] - y[i];
+		v[i] = b[i] - y[i];
+	}
+}
+
+
+
+void rgb2yuv(float *r,float *g,float *b,float *y,float *u,float *v,float yR, float yG, float yB, int width,int height) 
+{
+	int size=height*width;
+	
+
+	for(int i=0;i<size;i++){
+		y[i] = yR * r[i] + yG * g[i] + yB * b[i];
+		u[i] = r[i] - y[i];
+		v[i] = b[i] - y[i];
+	}
+}
+
+
+
+/// YUV to RGB conversion
+void yuv2rgb(float *r,float *g,float *b,float *y,float *u,float *v,int width,int height)  
+{
+	int size=height*width;
+  
+	for(int i=0;i<size;i++){
+		g[i] = (y[i] - COEFF_YR * (u[i] + y[i]) - COEFF_YB * (v[i] + y[i])) / COEFF_YG;
+		r[i] = u[i] + y[i];
+		b[i] = v[i] + y[i];
+	}
+}
+
+
+void yuv2rgb(float *r,float *g,float *b,float *y,float *u,float *v,float yR, float yG, float yB, int width,int height)  
+{
+	int size=height*width;
+	
+	for(int i=0;i<size;i++){
+		g[i] = (y[i] - yR * (u[i] + y[i]) - yB * (v[i] + y[i])) / yG;
+		r[i] = u[i] + y[i];
+		b[i] = v[i] + y[i];
+	}
+}
+
+
+void draw_line(float *igray, int a0, int b0, int a1, int b1, float value, int width, int height)
+{
+
+  int bdx,bdy;
+  int sx,sy,dx,dy,x,y,z,l;
+  
+  bdx = width;
+  bdy = height;
+
+  if (a0 < 0) a0=0; 
+  else if (a0>=bdx) a0=bdx-1;
+   
+  if (a1<0)  a1=0; 
+  else  if (a1>=bdx)   a1=bdx-1;
+	  
+  if (b0<0) b0=0; 
+  else if (b0>=bdy) b0=bdy-1;
+   
+  if (b1<0) 	b1=0; 
+  else if (b1>=bdy) b1=bdy-1; 
+
+  if (a0<a1) { sx = 1; dx = a1-a0; } else { sx = -1; dx = a0-a1; }
+  if (b0<b1) { sy = 1; dy = b1-b0; } else { sy = -1; dy = b0-b1; }
+  x=0; y=0;
+  
+  if (dx>=dy) 
+    {
+      z = (-dx) / 2;
+      while (abs(x) <= dx) 
+	{
+
+	  l =  (y+b0)*bdx+x+a0; 
+	
+	  igray[l] = value;
+	  
+	  x+=sx;
+	  z+=dy;
+	  if (z>0) { y+=sy; z-=dx; }
+
+	} 
+
+    }
+  else 
+    {
+      z = (-dy) / 2;
+      while (abs(y) <= dy) {
+
+	l = (y+b0)*bdx+x+a0;
+  	igray[l] = value;
+ 
+	y+=sy;
+	z+=dx;
+	if (z>0) { x+=sx; z-=dy; }
+      }
+    }
+
+}
+
+
+
+void draw_square(float *igray, int a0, int b0, int w0, int h0, float value, int width, int height)
+{
+
+	draw_line(igray,a0,b0,a0+w0,b0,value,width,height);
+	draw_line(igray,a0,b0,a0,b0+h0,value,width,height);
+	draw_line(igray,a0+w0,b0,a0+w0,b0+h0,value,width,height);
+	draw_line(igray,a0,b0+h0,a0+w0,b0+h0,value,width,height);
+
+}
+
+
+
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////
+
+/*
+
+
+*/
+/*
+*/
+
+
+
+
+
+/*
+
+void _sign(float *u,float *v, int size)
+{
+
+	int i=0;
+ 
+	for(i=0;i<size;i++){
+		 
+		if (u[i]>0) v[i] = 1.0;
+		else if (u[i]<0) v[i]=-1.0;
+		else v[i]=0.0;
+	}
+	
+
+}
+
+	
+	
+	
+	
+
+
+
+
+
+void _multiple(float *u,float multiplier,int size) 
+{
+   int i=0;
+   float *ptru;
+
+   ptru=&u[0];
+   for(i=0;i<size;i++,ptru++)  *ptru=multiplier*(*ptru);
+
+}
+
+
+void _product(float *u,float *v,int size) 
+{
+  int i;
+  float *ptru,*ptrv;
+  
+  ptru=&u[0];
+  ptrv=&v[0];
+  for(i=0;i<size;i++,ptru++,ptrv++)   *ptru= *ptru*(*ptrv);
+}
+
+
+
+int _is_increasing(float *u,float tolerance, int size)
+{
+
+	int i=1;
+	while (i < size && u[i] > (u[i-1] - tolerance))
+	{
+		i++;
+	}
+	
+	if (i==size) return 1;
+	else return 0; 
+	
+}
+
+
+
+
+
+
+
+
+void _offset(float *u,float offset,int size)  
+{
+  int i=0;
+  float *ptru;
+
+  ptru=&u[0];
+  for(i=0;i<size;i++,ptru++)  *ptru=*ptru + offset;
+
+}
+
+
+
+
+
+
+
+
+
+
+
+
+		
+		
+void _threshold(float *u, float *v,float valuem,float valueM, int size)
+{
+
+	int i;
+ 
+	for(i=0;i<size;i++){
+ 
+		if (u[i] >= valueM) 	v[i]= valueM;
+		else if (u[i] <= valuem)  v[i]= valuem;
+		else v[i] = u[i];
+			
+	}
+	
+}
+		
+
+
+
+void _absdif(float *u, float *v,int size)  
+{
+	int i=0;
+ 
+	for(i=0;i<size;i++)  u[i] = (float) fabsf( u[i] -  v[i]);
+}
+
+
+
+
+
+
+	
+	
+	
+float *  _diag_gauss(int sflag,float std,int *size) //Create a 1d gauss kernel of standard deviation std  (megawave2)
+{
+
+	float *u,prec = 4.0,shift;
+	double v;
+	int n,i,flag;
+
+	if (sflag) n=*size;
+	else
+		n = 1+2*(int)ceil((double)std*sqrt(prec*2.*log(10.)));   
+   
+	u =(float *) malloc(n*sizeof(float));
+
+	if (n==1) 
+		u[0]=1.0;
+	else{
+
+		shift = 0.5*(float)(n-1);
+
+		for (i=(n+1)/2;i--;) {
+			
+			v = ((double)i - (double) shift)/(double)std;
+			
+			u[i] = u[n-1-i] = (float) exp(-2.0*0.5*v*v);  // 2.0 because distances are in the diagonal 
+		
+		}
+	}	
+
+	if (flag = _normalize(u,n)) {
+		*size=n;
+		return u;
+	} else {
+		printf("ERROR: mdSigGaussKernel: mdSigNormalize: normalization equals zero.\n Try to reduce std.\n");
+	}
+}
+	
+
+
+
+
+
+
+
+
+void  _quant(float *u,float *v,float lambda,int size)
+{
+
+	int i,n;
+	float a=lambda/2;
+
+	for(i=0;i<size;i++){
+		
+		n = (int) floorf(u[i] / a);
+		if (n%2==0)
+			v[i] = (float) n * a;
+		else 
+			v[i] = (float) (n+1) * a;
+	}
+	
+}
+
+
+
+void  _projectquant(float *u,float *v,float lambda,int size)
+{
+	
+	int i;
+	float a=lambda/2;
+
+	for(i=0;i<size;i++){
+		
+		if (v[i] < u[i] - a) v[i]=u[i] - a;
+		else if (v[i] > u[i] + a) v[i]=u[i] + a;
+	
+	}
+	
+}
+
+*/
+
+
+
+
+
+
diff --git a/ASIFT_tests/demo_ASIFT_src/library.h b/ASIFT_tests/demo_ASIFT_src/library.h
new file mode 100755
index 0000000..ca53697
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/library.h
@@ -0,0 +1,202 @@
+// 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 _LIBRARY_H_
+#define _LIBRARY_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <time.h>
+// #include <unistd.h>
+#include <float.h>
+
+
+#define MAX(i,j) ( (i)<(j) ? (j):(i) )
+#define MIN(i,j) ( (i)<(j) ? (i):(j) )
+
+#define LUTMAX 30
+#define LUTPRECISION 1000.0
+
+#define TINY 1.0e-10
+//#define MAXFLOAT 10000000.0
+
+
+#define IRAC8    0.35355339  /* 1/sqrt(8)   */
+#define IRAC2P2  0.29289322  /* 1/(sqrt(2)+2) */
+#define IRAC2    0.70710678  /* 1/sqrt(2) */
+#define RAC8P4   6.8284271   /* sqrt(8)+4 */
+#define RADIANS_TO_DEGREES (180.0/M_PI)
+
+#define PI 3.14159
+
+
+#define COEFF_YR 0.299
+#define COEFF_YG 0.587
+#define COEFF_YB 0.114
+
+
+
+
+///////////////////////////////////////////////////////////////// Errors
+void wxwarning(const char * message,const char *function, const char *file);
+void wxerror(const char * message, const char *function, const char *file);
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////   Used and checked mathematical functions
+double fsqr(double a);
+
+void  fill_exp_lut(float *lut,int size); /* Fills exp(x) for x great or equal than zero*/
+float slut(float dif,float *lut); /* We look for f(dif) in the lut*/
+
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////   Used and checked mxsignal functions
+float max(float *u,int *pos, int size);    /// Max(u), pos contains the index of the maximum 
+float min(float *u,int *pos, int size);    /// Min(u), pos contains the index of the minimum 	
+void max_u_v(float *u,float *v,int size); 
+void max_u_k(float *u,float k,int size);
+void min_u_v(float *u,float *v,int size);
+void min_u_k(float *u,float k,int size);
+
+
+
+void abs(float *u,float *v,int size);	 	/// v = abs(u)
+
+void  copy(float *u,float *v,int size);			/// v = u
+void  clear(float *u, float value ,int size);        	/// u = k 
+void  combine(float *u,float a,float *v,float b, float *w,  int size);    /// w = a*u + b*v 
+void  multiple(float *u,float multiplier,int size);         	/// u = K * u  
+
+
+float scalar_product(float *u, float *v, int n);
+
+// float lpdist(float *u,float *v,float *mask,int pow,int size);   
+// float lpnorm(float *u,int fpow,int size);   
+
+float mean(float *u,int size);
+float var(float *u,int size);
+float median(float *u,int size);
+
+float nearest(float *u,float value,int *pos,int size);  /// Returns the nearest value in the vector u and its position if selected
+void binarize(float *u, float *v,float value, int inverse, int size);    /// v = 255 if u > value 0 else  
+int normalize(float *u,int size);    			/// u = u / sum_i u(i).   Returns 0 if mxsignal sum equals zero 
+
+
+
+float *  gauss(int sflag,float std,int *size);  	/// Create a 1d gauss kernel of standard deviation std
+
+// void addnoise(float *u,float *v,float std,long int randinit, int size);    
+// void addnoise_var_afine(float *u,float *v,float a,float b,long int randinit, int size);    
+
+
+void quick_sort(float *arr,float *brr,int n);  		/// Quicksort
+
+
+/// histogram of values. 'n' (number of bins) or  's' (step) must be selected in flag while the other value is filled 
+float * histo ( float* input, float *iminim, float *imaxim, int *n, float *s, int size, char flag );	
+
+
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////   Used and checked image functions
+
+void compute_gradient_orientation(float* igray,float *grad, float *ori, int width, int height);
+
+// void extract ( float *igray,float *ogray, int ax, int ay,int cwidth, int cweight,int width, int height );
+
+void sample ( float *igray,float *ogray, float factor ,int width, int height);
+void sample_aglomeration(float *igray,float *ogray, float factor, int width, int height);
+ 
+void gray ( float *red, float *green,float *blue, float *out, int width, int height );
+
+/*
+float l2_distance ( float * u0,float *u1,int i0,int j0,int i1,int j1,int radius,int width,int height);
+float l2_distance_non_normalized(float *u0,float *u1,int i0,int j0,int i1,int j1,int radius,int width,int height);
+float weighted_l2_distance ( float *u0,float *u1,int i0,int j0,int i1,int j1,int width,int height,float * kernel,int radius );
+float l2_distance_nsq(float *u0,float *u1,int i0,int j0,int i1,int j1,int xradius, int yradius,int width,int height);
+float weighted_l2_distance_nsq(float *u0,float *u1,int i0,int j0,int i1,int j1,int width,int height,float *kernel,int xradius, int yradius);
+*/
+
+void rgb2yuv ( float *r,float *g,float *b,float *y,float *u,float *v,int width,int height );  
+void yuv2rgb ( float *r,float *g,float *b,float *y,float *u,float *v,int width,int height ); 
+
+void rgb2yuv(float *r,float *g,float *b,float *y,float *u,float *v,float yR, float yG, float yB, int width,int height);
+void yuv2rgb(float *r,float *g,float *b,float *y,float *u,float *v,float yR, float yG, float yB, int width,int height);
+
+
+void draw_line(float *igray, int a0, int b0, int a1, int b1, float value, int width, int height);
+// void draw_circle(float *igray, int pi,int pj,float radius, float value, int width, int height);
+void draw_square(float *igray, int a0, int b0, int w0, int h0, float value, int width, int height);
+
+
+
+#endif // _LIBRARY_H_
+
+
+/////////////////////////////////////// Not often used and not checked
+
+//
+
+//
+
+
+
+
+
+/*		
+*/
+
+
+
+
+//void md_fsig_absdif(float *u,float *v,int size);  	/// v = abs(v-u)
+
+
+
+//void md_fsig_sign(float *u,float *v, int size);    	//// ¿¿¿¿¿ ?????
+//int md_fsig_is_increasing(float *u,float tolerance, int size);    ///// ¿¿¿¿¿ ?????	
+
+
+
+
+
+
+
+
+//void md_fsig_multiple(float *u,float multiplier,int size);         	// u = K * u  
+//void md_fsig_product(float *u,float *v,int size);        		// u = u * v 
+//void md_fsig_offset(float *u,float offset, int size);    		// u = u - K  
+
+
+
+//
+
+
+//
+//void md_fsig_threshold(float *u, float *v,float valuem,float valueM, int size);  // threshold into (m,M) 
+
+
+
+//--- Conversion ---
+//void md_fsig_float2char(float min, float max, float *u, float *v, int size);    // Linear Conversion between  (min,max) and (0,255)  
+
+
+
+  
+//void md_fsig_addnoise(float *u,float *v,float std,long int randinit, int size);    // Add gaussian noise of standard deviation sigma  
+
+
+
+// v quantified mxmximage u with interval length lambda
+// if u \in ( (n - 1/2) l, (n + 1/2 ) l )  - >  v = n l  
+// n= 0 -> (-1/2 * l, 1/2 * l) //
+//void  md_fsig_quant(float *u, float *v, float lambda,  int size);
+
+
+// v is projected to the space of quantizations of length lambda that gives u
+//void  md_fsig_projectquant(float *u,float *v,float lambda, int size);
diff --git a/ASIFT_tests/demo_ASIFT_src/library.o b/ASIFT_tests/demo_ASIFT_src/library.o
new file mode 100644
index 0000000..857e5f4
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/library.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/log.txt b/ASIFT_tests/demo_ASIFT_src/log.txt
new file mode 100755
index 0000000..f39a15b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/log.txt
@@ -0,0 +1,19 @@
+- 2010.04.08, Pierre Moulon
+Use Eigen matrix library in order to compute the SVD in ORSA. 
+Add a Cmake based build, for easier compilation on Windows. 
+
+- 2010.11.08, Guoshen Yu
+Remove a few minor bugs in orsa.cpp. 
+Code compiled with Intel C++ and Visual C++ compilers under Windows (32 bits). Both OpenMP and vectorization work with Intel C++. OpenMP but vectorization withs with Visual C++. 
+
+- 2010.08.17, Guoshen Yu
+In compute_asift_matches.c, change the nfa_max value from 0 to -2 to reduce false matching. 
+
+- 2010.08.28, Guoshen Yu
+In demo_lib_sift.cpp, change par.MatchRatio from 0.75 to 0.73 to reduce et number of false matches. 
+In demo_ASIFT.cpp, change the image resize target dimension from 640x480 to 800x600. 
+In demo_ASIFT.cpp, add a white band between the images in the output image for better visibility. 
+
+
+
+
diff --git a/ASIFT_tests/demo_ASIFT_src/numerics1.cpp b/ASIFT_tests/demo_ASIFT_src/numerics1.cpp
new file mode 100755
index 0000000..e83fc5c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/numerics1.cpp
@@ -0,0 +1,185 @@
+// 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 "numerics1.h"
+
+float **allocate_float_matrix(int nrows, int ncols)
+{
+	float ** matrix;
+	matrix = new float*[nrows];
+	for(int i=0; i < nrows; i++) matrix[i] = new float[ncols];
+	return matrix;
+}
+
+
+void desallocate_float_matrix(float **matrix, int nrows, int ncols)
+{
+	if (matrix == NULL) return;
+
+	for(int i=0; i < nrows; i++) { delete[] matrix[i]; matrix[i] = 0;}
+	matrix = 0;
+	
+	ncols = ncols; // to remove the warning unused parameter ¡®ncols¡¯
+}
+
+
+// **********************************************
+//  LU based algorithms
+// **********************************************
+
+
+
+// Solves Ax=b by using lu decomposition 
+int lusolve(float **a, float *x, float *b, int n)
+{
+
+	float d;
+	int *indx = new int[n];
+
+	if (ludcmp(a,n,indx,&d))
+	{
+
+		for(int i=0; i < n; i++) x[i] = b[i];
+		lubksb(a,n,indx,x);
+		
+		delete[] indx; /*memcheck*/
+		return 1;
+	} else
+	{
+
+		printf("lusolve::lu decomposition failed\n");
+		delete[] indx; /*memcheck*/
+		return 0;
+	}	
+	delete[] indx; // Guoshen Yu
+}
+
+
+
+int ludcmp(float **a, int n, int *indx, float *d)
+{
+
+	int i,imax=0,j,k,aux;
+	float big,dum,sum,temp;
+	float *vv;
+
+
+	vv=(float *) malloc(n*sizeof(float));
+	*d=1.0;
+
+
+	for(i=0;i<n;i++) indx[i]=i;
+
+
+	/**** Look for the largest value of every line and store 1/this value****/
+	for(i=0;i<n;i++){
+
+		big=0.0;
+		for(j=0;j<n;j++) 
+			if ( (temp=fabs(a[i][j]))>big ) big=temp;
+
+			if (big==0.0) { return 0; printf("LU Decomposition failed\n");}
+			
+		vv[i]=1.0/big;
+	}
+
+
+  
+
+	for(j=0;j<n;j++){
+
+		for(i=0;i<j;i++){
+      
+			sum=a[i][j];
+			for(k=0;k<i;k++) sum-= a[i][k]*a[k][j];
+			a[i][j]=sum; 
+
+		}
+
+
+		big=0.0;
+		for(i=j;i<n;i++){
+      
+			sum=a[i][j];
+			for(k=0;k<j;k++)   
+				sum -=a[i][k]*a[k][j];
+			a[i][j]=sum;
+
+			if ( (dum=vv[i]*fabs(sum))>=big){
+				big=dum;
+				imax=i;
+			}
+		}
+
+    
+		if (j != imax){
+
+			for(k=0;k<n;k++){
+
+				dum=a[imax][k];
+				a[imax][k]=a[j][k];
+				a[j][k]=dum;
+			}
+
+			*d=-(*d);
+			vv[imax]=vv[j];
+
+			aux=indx[j];
+			indx[j]=indx[imax];
+			indx[imax]=aux;
+		}
+
+		if (a[j][j]==0.0)  a[j][j]=NRTINY;
+    
+
+		if (j!=n-1 ){
+
+			dum=1.0 / a[j][j];
+			for(i=j+1;i<n;i++) a[i][j]*=dum;
+		}
+    
+
+	}
+
+	free(vv);
+	return 1;
+}
+
+
+
+/* Solves the set of n linear equations Ax=b. Here a[0..n-1][0..n-1] as input, not as the matrix A but rather as its LU decomposition,*/
+/* determined by the routine ludcmp. indx[0..n-1] is input as the permutation vector returned by ludcmp. b[0..n-1] is input as the    */
+/* right hand side vector and returns with the solution vector x. */
+void lubksb(float **a, int n, int *indx, float *b)
+{
+
+	int i,ii=0,j;
+	float sum,*aux;
+
+	aux= (float *) malloc(n*sizeof(float));
+	
+	
+	for(i=0;i<n;i++)
+		aux[i]=b[indx[i]];
+
+
+	for(i=0;i<n;i++){
+		sum=aux[i];
+
+		if (ii)
+			for(j=ii-1;j<i;j++) sum-=a[i][j]*aux[j];
+		else if (sum) ii=i+1;
+		aux[i]=sum;
+	}
+
+	for(i=n-1;i>=0;i--){
+		sum=aux[i];
+		for(j=i+1;j<n;j++) sum-=a[i][j]*aux[j];
+		aux[i]=sum/a[i][i];
+		b[i]=sum/a[i][i];
+	}
+
+	free(aux);
+}
\ No newline at end of file
diff --git a/ASIFT_tests/demo_ASIFT_src/numerics1.h b/ASIFT_tests/demo_ASIFT_src/numerics1.h
new file mode 100755
index 0000000..7b4571c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/numerics1.h
@@ -0,0 +1,57 @@
+// 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 _NUMERICS_H_
+#define _NUMERICS_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <fstream>
+#include <iostream>
+
+
+#include "library.h"
+
+#define NRMAX(i,j) ( (i)<(j) ? (j):(i) )
+#define NRMIN(i,j) ( (i)<(j) ? (i):(j) )
+#define NRTINY 1.0e-10
+
+
+// **********************************************
+//  float **  basic functions
+// **********************************************
+
+float ** allocate_float_matrix(int nrows, int ncols);
+
+void desallocate_float_matrix(float **matrix, int nrows, int ncols);
+
+// **********************************************
+//  LU based algorithms
+// **********************************************
+
+// Solves Ax=b by using lu decomposition 
+// a matrix a[1..n][1..n] is replaced by the LU decompositions of a rowwise permutation of itself
+// b[1..n] and x[1..n]
+int lusolve(float **a, float *x, float *b, int n);
+
+
+/*-- LU decomposition */
+/* Given a matrix a[1..n][1..n] this routine replacess it by the LU decompositions of a rowwise permutation of itself. */
+/* a and n are input, a is output, arranged as in equation (2.3.14) above; indx[1..n] in an output vector that records */
+/* the row permutation effected by the partial pivoting; d is output as +-1 depending on whether the number of row     */
+/* interchanges was even or odd respectively.                                                                          */
+int ludcmp(float **a, int n, int *indx, float *d); /* LU decomposition */
+
+/* Solves the set of n linear equations Ax=b. Here a[0..n-1][0..n-1] as input, not as the matrix A but rather as its LU decomposition,*/
+/* determined by the routine ludcmp. indx[0..n-1] is input as the permutation vector returned by ludcmp. b[0..n-1] is input as the    */
+/* right hand side vector and returns with the solution vector x. */
+void lubksb(float **a, int n, int *indx, float *b); /* LU linear solution */
+
+
+
+
+#endif
+
diff --git a/ASIFT_tests/demo_ASIFT_src/numerics1.o b/ASIFT_tests/demo_ASIFT_src/numerics1.o
new file mode 100644
index 0000000..71f226a
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/numerics1.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/orsa.cpp b/ASIFT_tests/demo_ASIFT_src/orsa.cpp
new file mode 100755
index 0000000..52d8fc9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/orsa.cpp
@@ -0,0 +1,592 @@
+//
+// C++ Implementation: stereomatch
+//
+// Description: eliminate the false matches with epipolar geometry constraint. 
+//		See http://www.math-info.univ-paris5.fr/~moisan/epipolar/
+//
+// Copyright (c) 2007 Lionel Moisan <Lionel.Moisan@parisdescartes.fr>
+// Changelog : 2011 Use Eigen SVD <Pierre Moulon>
+//
+// Copyright: See COPYING file that comes with this distribution
+//
+//
+
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <time.h>
+#include "orsa.h"
+#include <third_party/Eigen/Cholesky>
+#include <third_party/Eigen/Core>
+#include <third_party/Eigen/Eigenvalues>
+#include <third_party/Eigen/LU>
+#include <third_party/Eigen/QR>
+#include <third_party/Eigen/SVD>
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+/*-------------------- GENERAL PURPOSE ROUTINES --------------------*/
+
+/* routines for vectors and matrices */
+
+float *vector(int nl, int nh)
+{
+  float *v;
+  
+  v=(float *)malloc((unsigned) (nh-nl+1)*sizeof(float));
+  if (!v) {
+    // mwerror(FATAL,1,"allocation failure in vector()");
+    fprintf(stderr, "allocation failure in vector()\n");
+    exit(EXIT_FAILURE); /* indicate failure.*/
+  }
+  return v-nl;
+}
+
+float **matrix(int nrl, int nrh, int ncl, int nch)
+{
+  int i;
+  float **m;
+  
+  m=(float **) malloc((unsigned) (nrh-nrl+1)*sizeof(float*));
+  if (!m) {
+    // mwerror(FATAL,1,"allocation failure 1 in matrix()");
+    fprintf(stderr, "allocation failure 1 in matrix()\n");
+    exit(EXIT_FAILURE); /* indicate failure.*/
+  }
+  m -= nrl;
+  for(i=nrl;i<=nrh;i++) {
+    m[i]=(float *) malloc((unsigned) (nch-ncl+1)*sizeof(float));
+    if (!m[i]) {
+      // mwerror(FATAL,1,"allocation failure 2 in matrix()");
+      fprintf(stderr, "allocation failure 2 in matrix()\n");
+      exit(EXIT_FAILURE); /* indicate failure.*/
+    }
+    m[i] -= ncl;
+  }
+  return m;
+}
+
+void free_vector(float *v, int nl, int nh)
+{
+  free((char*) (v+nl));
+	
+	nh = nh; // to remove the warning "unused parameter ‘nh’"
+}
+
+void free_matrix(float **m, int nrl, int nrh, int ncl, int nch)
+{
+  int i;
+  
+  for(i=nrh;i>=nrl;i--) free((char*) (m[i]+ncl));
+  free((char*) (m+nrl));
+	
+  nch = nch; // to remove the warning "unused parameter ‘nh’"
+}
+
+/* Compute the real roots of a third order polynomial */
+/* returns 1 or 3, the number of roots found */
+
+int FindCubicRoots(float coeff[4], float x[3])
+{
+  float a1 = coeff[2] / coeff[3];
+  float a2 = coeff[1] / coeff[3];
+  float a3 = coeff[0] / coeff[3];
+  
+  double Q = (a1 * a1 - 3 * a2) / 9;
+  double R = (2 * a1 * a1 * a1 - 9 * a1 * a2 + 27 * a3) / 54;
+  double Qcubed = Q * Q * Q;
+  double d = Qcubed - R * R;
+  
+  /* Three real roots */
+  if (d >= 0) {
+    double theta = acos(R / sqrt(Qcubed));
+    double sqrtQ = sqrt(Q);
+    x[0] = -2 * sqrtQ * cos( theta             / 3) - a1 / 3;
+    x[1] = -2 * sqrtQ * cos((theta + 2 * M_PI) / 3) - a1 / 3;
+    x[2] = -2 * sqrtQ * cos((theta + 4 * M_PI) / 3) - a1 / 3;
+    return (3);
+  }
+  
+  /* One real root */
+  else {
+    double e = pow(sqrt(-d) + fabs(R), 1. / 3.);
+    if (R > 0)
+      e = -e;
+    x[0] = (e + Q / e) - a1 / 3.;
+    return (1);
+  }
+}
+
+
+/* logarithm (base 10) of binomial coefficient */
+float logcombi(int k, int n)
+{
+  double r;
+  int i;
+ 
+  if (k>=n || k<=0) return(0.);
+  if (n-k<k) k=n-k;
+  r = 0.;
+  for (i=1;i<=k;i++) 
+    r += log10((double)(n-i+1))-log10((double)i);
+
+  return((float)r);
+}
+
+/* tabulate logcombi(.,n) */
+float *makelogcombi_n(int n)
+{
+  float *l;
+  int k;
+
+  l = (float *)malloc((n+1)*sizeof(float));
+  for (k=0;k<=n;k++) l[k]=logcombi(k,n);
+
+  return(l);
+}
+
+/* tabulate logcombi(k,.) */
+float *makelogcombi_k(int k, int nmax)
+{
+  float *l;
+  int n;
+
+  l = (float *)malloc((nmax+1)*sizeof(float));
+  for (n=0;n<=nmax;n++) l[n]=logcombi(k,n);
+
+  return(l);
+}
+
+
+/* get a (sorted) random 7-uple of 0..n-1 */
+void random_p7(int *k, int n)
+{
+  int i,j,j0,r;
+
+  for (i=0;i<7;i++) {
+    r = (rand()>>3)%(n-i);
+    for (j=0;j<i && r>=k[j];j++) r++;
+    j0 = j;
+    for (j=i;j>j0;j--) k[j]=k[j-1];
+    k[j0]=r;
+  }
+}
+
+/*-------------------- END OF GENERAL PURPOSE ROUTINES --------------------*/
+
+
+/* float comparison for qsort() */
+//According to http://www.cplusplus.com/reference/clibrary/cstdlib/qsort/, 
+//we should have: void qsort ( void * base, size_t num, size_t size, int ( * comparator ) ( const void *, const void * ) ); that means, for "qsort", the "comparator" has two constant void* type input parameters
+// static int compf(void *i, void *j)
+int compf(const void *i, const void *j)
+{ 
+  float a,b;
+
+  a = *((float *)i);
+  b = *((float *)j);
+  return(a<b?-1:(a>b?1:0));
+}
+
+
+
+/* find the increasing sequence of squared distances to epipolar lines */
+/* e[n*2] = distances, e[n*2+1] = indexes (to cast into an int) */
+
+//void matcherrorn(float **F, Flist p1, Flist p2, float *e)
+void matcherrorn(float **F, const std::vector<float>& p1, const std::vector<float>& p2, float *e)
+{
+	int i;
+	double x,y,a,b,c,d; // Guoshen Yu, double precision is needed. When the two images are identical, the error under float precision is 0 => log(error)=-inf. 
+	
+	int pt_size = (p1.size())/2;
+	
+	for (i = 0; i < pt_size; i++) {
+		x = (double) p1[i*2];
+		y = (double) p1[i*2+1];
+		a = (double) F[1][1]*x+(double) F[1][2]*y+(double) F[1][3];
+		b = (double) F[2][1]*x+(double) F[2][2]*y+(double) F[2][3];
+		c = (double) F[3][1]*x+(double) F[3][2]*y+(double) F[3][3];
+		d = (a*(double) p2[i*2]+b*(double) p2[i*2+1]+c);
+		e[i*2] = (d*d)/(a*a+b*b); 
+		  	  
+		e[i*2+1] = (float)i;
+	}
+	qsort(e, pt_size, 2*sizeof(float), compf);
+}
+
+
+/*---------- compute the epipolar geometry associated to 7 pairs ----------*/
+/*                                                                         */
+/*  INPUT: the points are (m1[k[i]*2],m1[k[i]*2+1]), m2... 0<i<7           */
+/*                                                                         */
+/*  OUTPUT:                                                                */
+/*             return the number of roots found, stored in z[]             */
+/*   the epipolar matrices are F1[i][j]+z[k]*F2[i][j], 1<=i,j<=3, 0<=k<m   */
+
+// int epipolar(float *m1, float *m2, int *k, float *z, float **F1, float **F2)
+int epipolar(std::vector<float>& m1, std::vector<float>& m2, int *k, float *z, float **F1, float **F2)
+{
+  float a[4];
+  int i,j,i2,i3;
+
+  typedef Eigen::MatrixXf Mat;
+  Mat c(7,9);
+  /* build 9xn matrix from point matches */
+  for (i=0;i<7;i++) {
+    c(i,0) = m1[k[i]*2  ]*m2[k[i]*2  ];
+    c(i,1) = m1[k[i]*2+1]*m2[k[i]*2  ];
+    c(i,2) =                      m2[k[i]*2  ];
+    c(i,3) = m1[k[i]*2  ]*m2[k[i]*2+1];
+    c(i,4) = m1[k[i]*2+1]*m2[k[i]*2+1];
+    c(i,5) =                      m2[k[i]*2+1];
+    c(i,6) = m1[k[i]*2  ];
+    c(i,7) = m1[k[i]*2+1];
+    c(i,8) = 1.;
+  }
+  
+  // SVD  
+  Eigen::JacobiSVD<Mat> svd(c, Eigen::ComputeFullV);
+  // look for the two smallest eigenvalue of c'c 
+  typedef Eigen::Matrix<float, 9, 1> Vec9;
+  Vec9 F1Vec = svd.matrixV().col(c.cols()-1);
+  Vec9 F2Vec = svd.matrixV().col(c.cols()-2);
+  
+  /* build basis of solutions */
+  int cpt = 0;
+  for (i=1;i<=3;i++) 
+    for (j=1;j<=3;j++)
+    {
+      F1[i][j] = F1Vec(cpt);
+      F2[i][j] = F2Vec(cpt);
+      cpt++;
+    }  
+  
+    /* build cubic polynomial P(x)=det(F1+xF2) */
+    a[0] = a[1] = a[2] = a[3] = 0.;
+    for (i=1;i<=3;i++) {
+      i2 = i%3+1;
+      i3 = i2%3+1;
+      a[0] += F1[i][1]*F1[i2][2]*F1[i3][3];
+      a[1] += 
+	  F2[i][1]*F1[i2][2]*F1[i3][3]+
+	  F1[i][1]*F2[i2][2]*F1[i3][3]+
+	  F1[i][1]*F1[i2][2]*F2[i3][3];
+      a[2] += 
+	  F1[i][1]*F2[i2][2]*F2[i3][3]+
+	  F2[i][1]*F1[i2][2]*F2[i3][3]+
+	  F2[i][1]*F2[i2][2]*F1[i3][3];
+      a[3] += F2[i][1]*F2[i2][2]*F2[i3][3];
+    }
+    for (i=1;i<=3;i++) {
+      i2 = (i+1)%3+1;
+      i3 = (i2+1)%3+1;
+      a[0] -= F1[i][1]*F1[i2][2]*F1[i3][3];
+      a[1] -= 
+	  F2[i][1]*F1[i2][2]*F1[i3][3]+
+	  F1[i][1]*F2[i2][2]*F1[i3][3]+
+	  F1[i][1]*F1[i2][2]*F2[i3][3];
+      a[2] -= 
+	  F1[i][1]*F2[i2][2]*F2[i3][3]+
+	  F2[i][1]*F1[i2][2]*F2[i3][3]+
+	  F2[i][1]*F2[i2][2]*F1[i3][3];
+      a[3] -= F2[i][1]*F2[i2][2]*F2[i3][3];
+    }
+  
+    return(FindCubicRoots(a,z));
+}
+
+void divide_match(const std::vector<Match>& matches, std::vector<float>& p1, std::vector<float>& p2)
+{
+  float x1, y1, x2, y2;
+
+  p1.clear();
+  p2.clear();
+  p1.reserve(2 * matches.size());
+  p2.reserve(2 * matches.size());
+  std::vector<Match>::const_iterator it=matches.begin();
+  for(; it != matches.end(); ++it) {
+    x1 = (*it).x1; y1 = (*it).y1;
+    x2 = (*it).x2; y2 = (*it).y2;
+    p1.push_back(x1); p1.push_back(y1);
+    p2.push_back(x2); p2.push_back(y2);
+  }
+}
+
+
+// float stereomatch(int img_x, int img_y, int size_pt, float* p1, float* p2, float** f, float* index, int* t, int* verb, int* n_flag, int* mode, int* stop)
+// float stereomatch(const wxImage& u1, std::vector<float>& p1, std::vector<float>& p2, std::vector<SmallVector<float,3> >& f, std::vector<float>& index, int* t, int* verb, int* n_flag, int* mode, int* stop)
+//int main(int argc, char** argv)
+float orsa(int width, int height, std::vector<Match>& match, std::vector<float>& index, int t_value, int verb_value, int n_flag_value, int mode_value, int stop_value)
+{
+ //   int width = 0, height = 0;
+  //  int t_value, verb_value, n_flag_value, mode_value, stop_value;
+    int *t, *verb, *n_flag, *mode, *stop;
+    
+    t = (int*)malloc(sizeof(int)); // maximum number of ransac trials
+    verb = (int*)malloc(sizeof(int)); //verbose
+    n_flag = (int*)malloc(sizeof(int)); // in order NOT to reinitialize the random seed
+    mode = (int*)malloc(sizeof(int)); // mode: 0=deterministic 1=ransac 2=optimized ransac (ORSA) 3=automatic
+    stop = (int*)malloc(sizeof(int)); // stop as soon as the first meaningful correspondence is found   
+
+    if(width <=0 || height <= 0) {
+        std::cerr << "Wrong dimensions of image" << std::endl;
+        return 1;
+    }
+    
+    std::vector<float> p1(2*match.size()), p2(2*match.size()), p1_backup(2*match.size()), p2_backup(2*match.size());
+
+    divide_match(match, p1, p2);
+    p1_backup = p1;
+    p2_backup = p2;
+    
+    libNumerics::matrix<libNumerics::flnum> f(3, 3);
+    f = 0;
+	index = std::vector<float>(match.size());
+	// Guoshen Yu, 2010.09.23
+	// index.clear();
+
+    if(t_value <= 0) {
+      std::cerr << "t should be greater than 0" << std::endl;
+      return 1;
+    }
+    *t = t_value;
+
+    if(verb_value == 0) {
+      free(verb);
+      verb = NULL;
+    }
+    else
+      *verb = verb_value;
+    if(verb_value != 1 && verb_value != 0) {
+      std::cerr << "verb can only be 0 or 1" << std::endl;
+      return 1;
+    }
+    
+    if(n_flag_value == 0) {
+      free(n_flag);
+      n_flag = NULL;
+    }
+    else
+      *n_flag = n_flag_value;
+    if(n_flag_value != 1 && n_flag_value != 0) {
+      std::cerr << "n_flag can only be 0 or 1" << std::endl;
+      return 1;
+    }
+
+    if(mode_value != 0 && mode_value != 1 && mode_value != 2 && mode_value != 3) {
+      std::cerr << "mode can only be 0 or 1 or 2 or 3" << std::endl;
+      return 1;
+    }
+    *mode = mode_value;
+    
+    if(stop_value == 0) {
+      free(stop);
+      stop = NULL;
+    }
+    else
+      *stop = stop_value;
+    if(stop_value != 1 && stop_value != 0) {
+      std::cerr << "stop can only be 0 or 1" << std::endl;
+      return 1;
+    }
+
+
+  int i,j,i0,k[8],idk[8],*id,m,n,l,minicur=0,miniall=0,delete_index,nid;
+  int niter,maxniter,better,cont,optimization;
+  float **F1,**F2,**F,nx,ny,z[3],minepscur,minepsall,nfa;
+  float norm,minlogalphacur,minlogalphaall,logalpha,logalpha0;
+  float *e,*logcn,*logc7,loge0;
+
+  /* initialize random seed if necessary */
+  // if (!n_flag) srand48( (long int) time (NULL) + (long int) getpid() );
+ // if (!n_flag) srand( (long int) time (NULL) + (long int) getpid() );
+
+  // Guoshen Yu, 2010.09.21: remove getpid which does not exist under Windows
+   if (!n_flag) srand( (long int) time (NULL) );
+  
+  /* check sizes */
+  if (p1.size() != p2.size() || p1.size() < 14) {
+    fprintf(stderr, "Inconsistent sizes.\n");
+    exit(EXIT_FAILURE); /* indicate failure.*/
+  } 
+  n = p1.size()/2;
+  
+  /* tabulate logcombi */
+  loge0 = (float)log10(3.*(double)(n-7));
+  logcn = makelogcombi_n(n);
+  logc7 = makelogcombi_k(7,n); 
+  
+  /* choose mode */
+  if (*mode==3) {
+    if (logcn[7]<=(float)log10((double)(*t)))
+      *mode=0; 
+    else *mode=2;
+  }
+  if (verb) 
+    switch(*mode) {
+      case 0: 
+//	i = (int)(0.5+pow(10.,logc7[n]));
+    // Guoshen Yu, 2010.09.22, Windows version
+    i = (int)(0.5+pow(10., (double)(logc7[n])));
+	printf("I will use deterministic mode (systematic search).\n");
+	printf("I have to test %d bases\n",i);
+	break;
+      case 1:
+	printf("I will use pure stochastic mode with no optimization.\n");
+	break;
+      case 2:
+	printf("I will use optimized stochastic mode (ORSA).\n");
+    }
+
+    /* normalize coordinates */
+    nx = (float)width;
+    ny = (float)height;
+    norm = 1./(float)sqrt((double)(nx*ny));
+    logalpha0 = (float)(log10(2.)+0.5*log10((double)((nx*nx+ny*ny)*norm*norm)));
+    for (i=0;i<n;i++) {
+	 p1[i*2  ] =  (p1[i*2  ]-0.5*nx)*norm;
+	 p1[i*2+1] =  (p1[i*2+1]-0.5*ny)*norm;
+	 p2[i*2  ] =  (p2[i*2  ]-0.5*nx)*norm;
+	 p2[i*2+1] =  (p2[i*2+1]-0.5*ny)*norm;
+    }
+
+    /* allocate and initialize memory */
+    F  = matrix(1,3,1,3);
+    F1  = matrix(1,3,1,3);
+    F2  = matrix(1,3,1,3);
+	
+      
+    //delete_index = (index?0:1);
+    delete_index = 0;
+    
+    e = (float *)malloc(2*n*sizeof(float));
+    id = (int *)malloc(n*sizeof(int));
+    for (i=0;i<n;i++) id[i]=i;
+    nid = n;
+
+    maxniter = (*mode==0?*t:*t-(*t)/10);
+    minlogalphaall = minepsall = 10000.;
+    niter = optimization = 0;
+    i0=0; k[0]=-1; k[7]=n;
+	
+    /********** MAIN LOOP **********/
+    do {
+
+      niter++;
+
+      /* build next list of points */
+      if (*mode) random_p7(k,nid);
+      else {
+	k[i0]++;
+	for (i=i0+1;i<=6;i++) k[i]=k[i-1]+1;
+      }
+      for (i=0;i<7;i++) idk[i]=id[k[i]];
+
+      /* find epipolar transform */
+      m = epipolar(p1,p2,idk,z,F1,F2);
+      
+      /* loop on roots */
+      for (;m--;) {
+
+	for (i=1;i<=3;i++) 
+	  for (j=1;j<=3;j++) 
+	    F[i][j] = F1[i][j]+z[m]*F2[i][j];
+      
+	/* sort errors */
+	matcherrorn(F,p1,p2,e);
+      
+		
+	
+
+	/* find most meaningful subset */
+	minepscur = minlogalphacur = 10000.;
+	for (i=7;i<n;i++) {
+	  logalpha = logalpha0+0.5*(float)log10((double)e[i*2]);
+	  nfa = loge0+logalpha*(float)(i-6)+logcn[i+1]+logc7[i+1];
+	  if (nfa<minepscur) {
+	    minepscur = nfa;
+	    minicur = i;
+	    minlogalphacur = logalpha; 
+	  }
+	}
+	if (minepscur<minepsall) {
+	  /* store best result so far */
+	  better = 1;
+	  minepsall = minepscur;
+	  minlogalphaall = minlogalphacur; 
+	  miniall = minicur;
+	  // if (f) 
+	    for (l=1;l<=3;l++) 
+	      for (j=1;j<=3;j++) 
+		f(l-1, j-1) = F[l][j];
+
+    // Guoshen Yu, 2010.09.22
+	//  for (i=0;i<=minicur;i++) 
+	for (i=0;i<minicur;i++) 
+	 {		
+	    index[i] = e[i*2+1];		
+	 }
+	} else better=0;
+
+
+	if (*mode==2 && ((better && minepsall<0.) || 
+		    (niter==maxniter && !optimization))) {
+	  if (!optimization) maxniter = niter + (*t)/10;
+	  optimization = 1;
+	  /* final optimization */
+	  if (verb) {
+	    printf("   nfa=%f size=%d (niter=%d)\n",minepsall,miniall+1,niter);
+	    printf("optimization...\n");
+	  }
+	  nid = miniall+1;
+
+	  // Guoshen Yu, 2010.09.22
+	  // for (j=0;j<=miniall;j++)
+	 for (j=0;j<miniall;j++)
+	    id[j] = (int)(index[j]);
+		    }
+      }
+
+      /* prepare next list of points */
+      if (*mode==0) 
+		  for(i0=6;i0>=0 && k[i0]==k[i0+1]-1;i0--){};
+
+      if (stop && minepsall<0.) cont=0;
+      else if (*mode==0) cont=(i0>=0?1:0); 
+      else cont=(niter<maxniter?1:0);
+
+    } while (cont);
+
+	
+    //erase "index", only get the index of the meaningful matchings
+    index.erase(index.begin()+miniall+1, index.end());
+    if (verb) 
+      printf("best matching found:  %d points  log(alpha)=%f  (%d iterations)\n",
+	     miniall+1,minlogalphaall,niter);
+   
+
+
+
+    /* free memory */
+    free(id);
+    free(e);
+    // if (delete_index) mw_delete_flist(index);
+    free_matrix(F2,1,3,1,3);
+    free_matrix(F1,1,3,1,3);
+    free_matrix(F,1,3,1,3);
+    free(logc7);
+    free(logcn);
+
+    if(t) free(t); 
+    if(verb) free(verb); 
+    if(n_flag) free(n_flag); 
+    if(mode) free(mode); 
+    if(stop) free(stop);
+
+//    return 0;
+	return(minepsall);
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/orsa.h b/ASIFT_tests/demo_ASIFT_src/orsa.h
new file mode 100755
index 0000000..503ea8e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/orsa.h
@@ -0,0 +1,77 @@
+//
+// C++ Implementation: stereomatch
+//
+// Description: eliminate the false matches with epipolar geometry constraint. 
+//		See http://www.math-info.univ-paris5.fr/~moisan/epipolar/
+//
+// Copyright (c) 2007 Lionel Moisan <Lionel.Moisan@parisdescartes.fr>
+// Changelog : 2011 Use Eigen SVD <Pierre Moulon>
+//
+// Copyright: See COPYING file that comes with this distribution
+//
+//
+
+#ifndef STEREOMATCH_H
+#define STEREOMATCH_H
+
+#include <vector>
+
+#include "libNumerics/numerics.h"
+#include "libMatch/match.h"
+#include <sstream>
+#include <iostream>
+#include <fstream>
+#include <cmath>
+
+#include <cstdio>
+#include <cmath>
+#include <cstdlib>
+
+/*-------------------- GENERAL PURPOSE ROUTINES --------------------*/
+
+/* routines for vectors and matrices */
+
+//float *vector(int nl, int nh);
+
+float **matrix(int nrl, int nrh, int ncl, int nch);
+
+void free_vector(float *v, int nl, int nh);
+
+void free_matrix(float **m, int nrl, int nrh, int ncl, int nch);
+
+/* Singular Value Decomposition routine */
+void svdcmp(float **a, int m, int n, float *w, float **v);
+
+/* Compute the real roots of a third order polynomial */
+/* returns 1 or 3, the number of roots found */
+int FindCubicRoots(float coeff[4], float x[3]);
+
+/* logarithm (base 10) of binomial coefficient */
+float logcombi(int k, int n);
+
+/* tabulate logcombi(.,n) */
+float *makelogcombi_n(int n);
+
+
+/* tabulate logcombi(k,.) */
+float *makelogcombi_k(int k, int nmax);
+
+
+/* get a (sorted) random 7-uple of 0..n-1 */
+void random_p7(int *k, int n);
+
+/*-------------------- END OF GENERAL PURPOSE ROUTINES --------------------*/
+
+
+/* float comparison for qsort() */
+//According to http://www.cplusplus.com/reference/clibrary/cstdlib/qsort/, 
+//we should have: void qsort ( void * base, size_t num, size_t size, int ( * comparator ) ( const void *, const void * ) ); that means, for "qsort", the "comparator" has two constant void* type input parameters
+int compf(const void *i, const void *j);
+
+void matcherrorn(float **F, const std::vector<float>& p1, const std::vector<float>& p2, float *e);
+
+int epipolar(std::vector<float>& m1, std::vector<float>& m2, int *k, float *z, float **F1, float **F2);
+
+float orsa(int width, int height, std::vector<Match>& match, std::vector<float>& index, int t_value, int verb_value, int n_flag_value, int mode_value, int stop_value);
+
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/orsa.o b/ASIFT_tests/demo_ASIFT_src/orsa.o
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diff --git a/ASIFT_tests/demo_ASIFT_src/results/imgOutHori.png b/ASIFT_tests/demo_ASIFT_src/results/imgOutHori.png
new file mode 100644
index 0000000..6ed1040
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diff --git a/ASIFT_tests/demo_ASIFT_src/results/imgOutvert.png b/ASIFT_tests/demo_ASIFT_src/results/imgOutvert.png
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index 0000000..6498786
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diff --git a/ASIFT_tests/demo_ASIFT_src/results/key1.txt b/ASIFT_tests/demo_ASIFT_src/results/key1.txt
new file mode 100644
index 0000000..0de6d94
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/results/key1.txt
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diff --git a/ASIFT_tests/demo_ASIFT_src/results/key2.txt b/ASIFT_tests/demo_ASIFT_src/results/key2.txt
new file mode 100644
index 0000000..f87caf4
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/results/key2.txt
@@ -0,0 +1,8973 @@
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diff --git a/ASIFT_tests/demo_ASIFT_src/results/matching.txt b/ASIFT_tests/demo_ASIFT_src/results/matching.txt
new file mode 100644
index 0000000..9d25b6c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/results/matching.txt
@@ -0,0 +1,1160 @@
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diff --git a/ASIFT_tests/demo_ASIFT_src/splines.cpp b/ASIFT_tests/demo_ASIFT_src/splines.cpp
new file mode 100755
index 0000000..456009c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/splines.cpp
@@ -0,0 +1,217 @@
+// 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 "splines.h"
+
+double initcausal(double *c,int n,double z)
+{
+  double zk,z2k,iz,sum;
+  int k;
+
+  zk = z; iz = 1./z;
+  z2k = pow(z,(double)n-1.);
+  sum = c[0] + z2k * c[n-1];
+  z2k = z2k*z2k*iz;
+  for (k=1;k<=n-2;k++) {
+    sum += (zk+z2k)*c[k];
+    zk *= z;
+    z2k *= iz;
+  }
+  return (sum/(1.-zk*zk));
+}
+
+double initanticausal(double *c,int n,double z)
+{
+  return((z/(z*z-1.))*(z*c[n-2]+c[n-1]));
+}
+
+
+void invspline1D(double *c,int size,double *z,int npoles)
+{
+  double lambda;
+  int n,k;
+
+  /* normalization */
+  for (k=npoles,lambda=1.;k--;) lambda *= (1.-z[k])*(1.-1./z[k]);
+  for (n=size;n--;) c[n] *= lambda;
+
+  /*----- Loop on poles -----*/
+  for (k=0;k<npoles;k++) {
+
+    /* forward recursion */
+    c[0] = initcausal(c,size,z[k]);
+    for (n=1;n<size;n++) 
+      c[n] += z[k]*c[n-1];
+
+    /* backwards recursion */
+    c[size-1] = initanticausal(c,size,z[k]);
+    for (n=size-1;n--;) 
+      c[n] = z[k]*(c[n+1]-c[n]);
+    
+  }
+}
+
+
+/*------------------------------ MAIN MODULE ------------------------------*/
+
+// void finvspline(float *in,int order,float *out, int width, int height)
+
+// Guoshen Yu, 2010.09.21, Windows version
+void finvspline(vector<float> &in,int order,vector<float>& out, int width, int height)
+// void finvspline(float *in,int order,float *out, int width, int height)
+{
+  double *c,*d,z[5];
+  int npoles,nx,ny,x,y;
+ 
+  ny = height; nx = width;
+
+  /* initialize poles of associated z-filter */
+  switch (order) 
+    {
+    case 2: z[0]=-0.17157288;  /* sqrt(8)-3 */
+      break;
+
+    case 3: z[0]=-0.26794919;  /* sqrt(3)-2 */ 
+      break;
+
+    case 4: z[0]=-0.361341; z[1]=-0.0137254;
+      break;
+
+    case 5: z[0]=-0.430575; z[1]=-0.0430963;
+      break;
+      
+    case 6: z[0]=-0.488295; z[1]=-0.0816793; z[2]=-0.00141415;
+      break;
+
+    case 7: z[0]=-0.53528; z[1]=-0.122555; z[2]=-0.00914869;
+      break;
+      
+    case 8: z[0]=-0.574687; z[1]=-0.163035; z[2]=-0.0236323; z[3]=-0.000153821;
+      break;
+
+    case 9: z[0]=-0.607997; z[1]=-0.201751; z[2]=-0.0432226; z[3]=-0.00212131;
+      break;
+      
+    case 10: z[0]=-0.636551; z[1]=-0.238183; z[2]=-0.065727; z[3]=-0.00752819;
+      z[4]=-0.0000169828;
+      break;
+      
+    case 11: z[0]=-0.661266; z[1]=-0.27218; z[2]=-0.0897596; z[3]=-0.0166696; 
+      z[4]=-0.000510558;
+      break;
+      
+     default:
+      printf("finvspline: order should be in 2..11.\n");
+      exit(-1);
+    }
+
+  npoles = order/2;
+
+  /* initialize double array containing image */
+  c = (double *)malloc(nx*ny*sizeof(double));
+  d = (double *)malloc(nx*ny*sizeof(double));
+  for (x=nx*ny;x--;) 
+    c[x] = (double)in[x];
+
+  /* apply filter on lines */
+  for (y=0;y<ny;y++) 
+    invspline1D(c+y*nx,nx,z,npoles);
+
+  /* transpose */
+  for (x=0;x<nx;x++)
+    for (y=0;y<ny;y++) 
+      d[x*ny+y] = c[y*nx+x];
+      
+  /* apply filter on columns */
+  for (x=0;x<nx;x++) 
+    invspline1D(d+x*ny,ny,z,npoles);
+
+  /* transpose directy into image */
+  for (x=0;x<nx;x++)
+    for (y=0;y<ny;y++) 
+      out[y*nx+x] = (float)(d[x*ny+y]);
+
+  /* free array */
+  free(d);
+  free(c);
+}
+
+
+
+/* extract image value (even outside image domain) */
+//float v(float *in,int x,int y,float bg, int width, int height)
+// Guoshen Yu, 2010.09.21, Windows version
+float v(vector<float>& in,int x,int y,float bg, int width, int height)
+// float v(float *in, int x,int y,float bg, int width, int height)
+{
+  if (x<0 || x>=width || y<0 || y>=height)
+    return(bg); else return(in[y*width+x]);
+}
+
+
+/* c[] = values of interpolation function at ...,t-2,t-1,t,t+1,... */
+
+/* coefficients for cubic interpolant (Keys' function) */
+void keys(float *c,float t,float a)
+{
+  float t2,at;
+
+  t2 = t*t;
+  at = a*t;
+  c[0] = a*t2*(1.0-t);
+  c[1] = (2.0*a+3.0 - (a+2.0)*t)*t2 - at;
+  c[2] = ((a+2.0)*t - a-3.0)*t2 + 1.0;
+  c[3] = a*(t-2.0)*t2 + at;
+}
+
+/* coefficients for cubic spline */
+void spline3(float *c,float t)
+{
+  float tmp;
+
+  tmp = 1.-t;
+  c[0] = 0.1666666666*t*t*t;
+  c[1] = 0.6666666666-0.5*tmp*tmp*(1.+t);
+  c[2] = 0.6666666666-0.5*t*t*(2.-t);
+  c[3] = 0.1666666666*tmp*tmp*tmp;
+}
+
+/* pre-computation for spline of order >3 */
+void init_splinen(float *a,int n)
+{
+  int k;
+
+  a[0] = 1.;
+  for (k=2;k<=n;k++) a[0]/=(float)k;
+  for (k=1;k<=n+1;k++)
+    a[k] = - a[k-1] *(float)(n+2-k)/(float)k;
+}
+
+/* fast integral power function */
+float ipow(float x,int n)
+{
+  float res;
+
+  for (res=1.;n;n>>=1) {
+    if (n&1) res*=x;
+    x*=x;
+  }
+  return(res);
+}
+
+/* coefficients for spline of order >3 */
+void splinen(float *c,float t,float *a,int n)
+{
+  int i,k;
+  float xn;
+  
+  memset((void *)c,0,(n+1)*sizeof(float));
+  for (k=0;k<=n+1;k++) { 
+    xn = ipow(t+(float)k,n);
+    for (i=k;i<=n;i++) 
+      c[i] += a[i-k]*xn;
+  }
+}
+
+
diff --git a/ASIFT_tests/demo_ASIFT_src/splines.h b/ASIFT_tests/demo_ASIFT_src/splines.h
new file mode 100755
index 0000000..2d995a5
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/splines.h
@@ -0,0 +1,34 @@
+// 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 _SPLINES_H_
+#define _SPLINES_H_
+
+#include "numerics1.h"
+#include "library.h"
+#include "string.h"
+#include <vector>
+using namespace std;
+
+
+//float v(float *in,int x,int y,float bg, int width, int height);
+
+// Guoshen Yu, 2010.09.21, Windows version
+float v(vector<float>& in,int x,int y,float bg, int width, int height);
+//float v(float *in, int x,int y,float bg, int width, int height);
+
+void keys(float *c,float t,float a);
+void spline3(float *c,float t);
+void init_splinen(float *a,int n);
+void splinen(float *c,float t,float *a,int n);
+
+//void finvspline(float *in,int order,float *out, int width, int height);
+
+// Guoshen Yu, 2010.09.22, Windows versions
+void finvspline(vector<float>& in,int order,vector<float>& out, int width, int height);
+// void finvspline(float *in,int order,float *out, int width, int height);
+
+
+#endif
+
diff --git a/ASIFT_tests/demo_ASIFT_src/splines.o b/ASIFT_tests/demo_ASIFT_src/splines.o
new file mode 100644
index 0000000..fa1cecc
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/splines.o differ
diff --git a/ASIFT_tests/demo_ASIFT_src/test_ASIFT b/ASIFT_tests/demo_ASIFT_src/test_ASIFT
new file mode 100755
index 0000000..ac16cf1
Binary files /dev/null and b/ASIFT_tests/demo_ASIFT_src/test_ASIFT differ
diff --git a/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp b/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp
new file mode 100644
index 0000000..e2339be
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp
@@ -0,0 +1,181 @@
+#include "ASIFT_matcher.hpp"
+
+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;
+    }
+	
+    ASIFT_matcher matcher;
+    matcher.addReference(argv[1], 1);
+    matcher.match(argv[2], 1);
+
+	
+	
+	// ///////////////// 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;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/test_demo_ASIFT.m b/ASIFT_tests/demo_ASIFT_src/test_demo_ASIFT.m
new file mode 100755
index 0000000..b327789
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/test_demo_ASIFT.m
@@ -0,0 +1,37 @@
+% *************************************************************************
+% NOTE: The ASIFT SOFTWARE ./demo_ASIFT IS STANDALONE AND CAN BE EXECUTED
+%       WITHOUT MATLAB. 
+% *************************************************************************
+%
+% demo_ASIFT.m is a MATLAB interface for the ASIFT software. This
+% script provides an example of using demo_ASIFT.m. The input/output of
+% demo_ASIFT.m follow those of the ASIFT software and a description can
+% found in README.txt. (Note that the ASIFT software support only the PNG format, 
+% the Matlab interface reads most standard image formats.)
+%
+% The ASIFT C/C++ source code must be compiled before running the ASIFT software
+% for the first time. See README.txt for more details. 
+% 
+% 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
+
+file_img1 = 'adam1.png';
+file_img2 = 'adam2.png';
+imgOutVert = 'imgOutVert.png';
+imgOutHori = 'imgOutHori.png';
+matchings = 'matchings.txt';
+keys1 = 'keys1.txt';
+keys2 = 'keys2.txt';
+flag_resize = 0;
+
+demo_ASIFT(file_img1, file_img2, imgOutVert, imgOutHori, matchings, keys1, keys2, flag_resize);
+
+
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Array b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Array
new file mode 100755
index 0000000..3d004fb
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Array
@@ -0,0 +1,11 @@
+#ifndef EIGEN_ARRAY_MODULE_H
+#define EIGEN_ARRAY_MODULE_H
+
+// include Core first to handle Eigen2 support macros
+#include "Core"
+
+#ifndef EIGEN2_SUPPORT
+  #error The Eigen/Array header does no longer exist in Eigen3. All that functionality has moved to Eigen/Core.
+#endif
+
+#endif // EIGEN_ARRAY_MODULE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/CMakeLists.txt
new file mode 100755
index 0000000..a92dd6f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/CMakeLists.txt
@@ -0,0 +1,19 @@
+include(RegexUtils)
+test_escape_string_as_regex()
+
+file(GLOB Eigen_directory_files "*")
+
+escape_string_as_regex(ESCAPED_CMAKE_CURRENT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+
+foreach(f ${Eigen_directory_files})
+  if(NOT f MATCHES "\\.txt" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/[.].+" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/src")
+    list(APPEND Eigen_directory_files_to_install ${f})
+  endif()
+endforeach(f ${Eigen_directory_files})
+
+install(FILES
+  ${Eigen_directory_files_to_install}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel
+  )
+
+add_subdirectory(src)
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/COPYING.GPL b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/COPYING.GPL
new file mode 100755
index 0000000..94a9ed0
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/COPYING.GPL
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so.  This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software.  The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable.  Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products.  If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+  Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary.  To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU General Public License.
+
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+  7. Additional Terms.
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+  "Additional permissions" are terms that supplement the terms of this
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+  9. Acceptance Not Required for Having Copies.
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+  11. Patents.
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+  A "contributor" is a copyright holder who authorizes use under this
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+  A patent license is "discriminatory" if it does not include within
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+
+  Nothing in this License shall be construed as excluding or limiting
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+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
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+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
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+
+  14. Revised Versions of this License.
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+  The Free Software Foundation may publish revised and/or new versions of
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+  If the Program specifies that a proxy can decide which future
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+  Later license versions may give you additional or different
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+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
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+  16. Limitation of Liability.
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+  17. Interpretation of Sections 15 and 16.
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+  If the disclaimer of warranty and limitation of liability provided
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+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
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+  To do so, attach the following notices to the program.  It is safest
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+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
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+    This program is free software: you can redistribute it and/or modify
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+
+    This program is distributed in the hope that it will be useful,
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+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
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+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
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+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/COPYING.LGPL b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/COPYING.LGPL
new file mode 100755
index 0000000..0e4fa8a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/COPYING.LGPL
@@ -0,0 +1,165 @@
+                  GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions. 
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
+       system, and (b) will operate properly with a modified version
+       of the Library that is interface-compatible with the Linked
+       Version. 
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Cholesky b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Cholesky
new file mode 100755
index 0000000..53f7bf9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Cholesky
@@ -0,0 +1,33 @@
+#ifndef EIGEN_CHOLESKY_MODULE_H
+#define EIGEN_CHOLESKY_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Cholesky_Module Cholesky module
+  *
+  *
+  *
+  * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices.
+  * Those decompositions are accessible via the following MatrixBase methods:
+  *  - MatrixBase::llt(),
+  *  - MatrixBase::ldlt()
+  *
+  * \code
+  * #include <Eigen/Cholesky>
+  * \endcode
+  */
+
+#include "src/misc/Solve.h"
+#include "src/Cholesky/LLT.h"
+#include "src/Cholesky/LDLT.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_CHOLESKY_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Core b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Core
new file mode 100755
index 0000000..7f38466
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Core
@@ -0,0 +1,363 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CORE_H
+#define EIGEN_CORE_H
+
+// first thing Eigen does: stop the compiler from committing suicide
+#include "src/Core/util/DisableStupidWarnings.h"
+
+// then include this file where all our macros are defined. It's really important to do it first because
+// it's where we do all the alignment settings (platform detection and honoring the user's will if he
+// defined e.g. EIGEN_DONT_ALIGN) so it needs to be done before we do anything with vectorization.
+#include "src/Core/util/Macros.h"
+
+// if alignment is disabled, then disable vectorization. Note: EIGEN_ALIGN is the proper check, it takes into
+// account both the user's will (EIGEN_DONT_ALIGN) and our own platform checks
+#if !EIGEN_ALIGN
+  #ifndef EIGEN_DONT_VECTORIZE
+    #define EIGEN_DONT_VECTORIZE
+  #endif
+#endif
+
+#ifdef _MSC_VER
+  #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
+  #if (_MSC_VER >= 1500) // 2008 or later
+    // Remember that usage of defined() in a #define is undefined by the standard.
+    // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP.
+    #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || defined(_M_X64)
+      #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
+    #endif
+  #endif
+#endif
+
+// Remember that usage of defined() in a #define is undefined by the standard
+#if (defined __SSE2__) && ( (!defined __GNUC__) || EIGEN_GNUC_AT_LEAST(4,2) )
+  #define EIGEN_SSE2_BUT_NOT_OLD_GCC
+#endif
+
+#ifndef EIGEN_DONT_VECTORIZE
+
+  #if defined (EIGEN_SSE2_BUT_NOT_OLD_GCC) || defined(EIGEN_SSE2_ON_MSVC_2008_OR_LATER)
+
+    // Defines symbols for compile-time detection of which instructions are
+    // used.
+    // EIGEN_VECTORIZE_YY is defined if and only if the instruction set YY is used
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_SSE
+    #define EIGEN_VECTORIZE_SSE2
+
+    // Detect sse3/ssse3/sse4:
+    // gcc and icc defines __SSE3__, ...
+    // there is no way to know about this on msvc. You can define EIGEN_VECTORIZE_SSE* if you
+    // want to force the use of those instructions with msvc.
+    #ifdef __SSE3__
+      #define EIGEN_VECTORIZE_SSE3
+    #endif
+    #ifdef __SSSE3__
+      #define EIGEN_VECTORIZE_SSSE3
+    #endif
+    #ifdef __SSE4_1__
+      #define EIGEN_VECTORIZE_SSE4_1
+    #endif
+    #ifdef __SSE4_2__
+      #define EIGEN_VECTORIZE_SSE4_2
+    #endif
+
+    // include files
+
+    // This extern "C" works around a MINGW-w64 compilation issue
+    // https://sourceforge.net/tracker/index.php?func=detail&aid=3018394&group_id=202880&atid=983354
+    // In essence, intrin.h is included by windows.h and also declares intrinsics (just as emmintrin.h etc. below do).
+    // However, intrin.h uses an extern "C" declaration, and g++ thus complains of duplicate declarations
+    // with conflicting linkage.  The linkage for intrinsics doesn't matter, but at that stage the compiler doesn't know;
+    // so, to avoid compile errors when windows.h is included after Eigen/Core, ensure intrinsics are extern "C" here too.
+    // notice that since these are C headers, the extern "C" is theoretically needed anyways.
+    extern "C" {
+      #include <emmintrin.h>
+      #include <xmmintrin.h>
+      #ifdef  EIGEN_VECTORIZE_SSE3
+      #include <pmmintrin.h>
+      #endif
+      #ifdef EIGEN_VECTORIZE_SSSE3
+      #include <tmmintrin.h>
+      #endif
+      #ifdef EIGEN_VECTORIZE_SSE4_1
+      #include <smmintrin.h>
+      #endif
+      #ifdef EIGEN_VECTORIZE_SSE4_2
+      #include <nmmintrin.h>
+      #endif
+    } // end extern "C"
+  #elif defined __ALTIVEC__
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_ALTIVEC
+    #include <altivec.h>
+    // We need to #undef all these ugly tokens defined in <altivec.h>
+    // => use __vector instead of vector
+    #undef bool
+    #undef vector
+    #undef pixel
+  #elif defined  __ARM_NEON__
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_NEON
+    #include <arm_neon.h>
+  #endif
+#endif
+
+#if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE)
+  #define EIGEN_HAS_OPENMP
+#endif
+
+#ifdef EIGEN_HAS_OPENMP
+#include <omp.h>
+#endif
+
+// MSVC for windows mobile does not have the errno.h file
+#if !(defined(_MSC_VER) && defined(_WIN32_WCE))
+#define EIGEN_HAS_ERRNO
+#endif
+
+#ifdef EIGEN_HAS_ERRNO
+#include <cerrno>
+#endif
+#include <cstdlib>
+#include <cmath>
+#include <complex>
+#include <cassert>
+#include <functional>
+#include <iosfwd>
+#include <cstring>
+#include <string>
+#include <limits>
+#include <climits> // for CHAR_BIT
+// for min/max:
+#include <algorithm>
+
+// for outputting debug info
+#ifdef EIGEN_DEBUG_ASSIGN
+#include <iostream>
+#endif
+
+// required for __cpuid, needs to be included after cmath
+#if defined(_MSC_VER) && (defined(_M_IX86)||defined(_M_X64))
+  #include <intrin.h>
+#endif
+
+#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(EIGEN_NO_EXCEPTIONS)
+  #define EIGEN_EXCEPTIONS
+#endif
+
+#ifdef EIGEN_EXCEPTIONS
+  #include <new>
+#endif
+
+// this needs to be done after all possible windows C header includes and before any Eigen source includes
+// (system C++ includes are supposed to be able to deal with this already):
+// windows.h defines min and max macros which would make Eigen fail to compile.
+#if defined(min) || defined(max)
+#error The preprocessor symbols 'min' or 'max' are defined. If you are compiling on Windows, do #define NOMINMAX to prevent windows.h from defining these symbols.
+#endif
+
+// defined in bits/termios.h
+#undef B0
+
+namespace Eigen {
+
+inline static const char *SimdInstructionSetsInUse(void) {
+#if defined(EIGEN_VECTORIZE_SSE4_2)
+  return "SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_SSE4_1)
+  return "SSE, SSE2, SSE3, SSSE3, SSE4.1";
+#elif defined(EIGEN_VECTORIZE_SSSE3)
+  return "SSE, SSE2, SSE3, SSSE3";
+#elif defined(EIGEN_VECTORIZE_SSE3)
+  return "SSE, SSE2, SSE3";
+#elif defined(EIGEN_VECTORIZE_SSE2)
+  return "SSE, SSE2";
+#elif defined(EIGEN_VECTORIZE_ALTIVEC)
+  return "AltiVec";
+#elif defined(EIGEN_VECTORIZE_NEON)
+  return "ARM NEON";
+#else
+  return "None";
+#endif
+}
+
+#define STAGE10_FULL_EIGEN2_API             10
+#define STAGE20_RESOLVE_API_CONFLICTS       20
+#define STAGE30_FULL_EIGEN3_API             30
+#define STAGE40_FULL_EIGEN3_STRICTNESS      40
+#define STAGE99_NO_EIGEN2_SUPPORT           99
+
+#if   defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS
+  #define EIGEN2_SUPPORT
+  #define EIGEN2_SUPPORT_STAGE STAGE40_FULL_EIGEN3_STRICTNESS
+#elif defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API
+  #define EIGEN2_SUPPORT
+  #define EIGEN2_SUPPORT_STAGE STAGE30_FULL_EIGEN3_API
+#elif defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS
+  #define EIGEN2_SUPPORT
+  #define EIGEN2_SUPPORT_STAGE STAGE20_RESOLVE_API_CONFLICTS
+#elif defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API
+  #define EIGEN2_SUPPORT
+  #define EIGEN2_SUPPORT_STAGE STAGE10_FULL_EIGEN2_API
+#elif defined EIGEN2_SUPPORT
+  // default to stage 3, that's what it's always meant
+  #define EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API
+  #define EIGEN2_SUPPORT_STAGE STAGE30_FULL_EIGEN3_API
+#else
+  #define EIGEN2_SUPPORT_STAGE STAGE99_NO_EIGEN2_SUPPORT
+#endif
+
+#ifdef EIGEN2_SUPPORT
+#undef minor
+#endif
+
+// we use size_t frequently and we'll never remember to prepend it with std:: everytime just to
+// ensure QNX/QCC support
+using std::size_t;
+
+/** \defgroup Core_Module Core module
+  * This is the main module of Eigen providing dense matrix and vector support
+  * (both fixed and dynamic size) with all the features corresponding to a BLAS library
+  * and much more...
+  *
+  * \code
+  * #include <Eigen/Core>
+  * \endcode
+  */
+
+#include "src/Core/util/Constants.h"
+#include "src/Core/util/ForwardDeclarations.h"
+#include "src/Core/util/Meta.h"
+#include "src/Core/util/XprHelper.h"
+#include "src/Core/util/StaticAssert.h"
+#include "src/Core/util/Memory.h"
+
+#include "src/Core/NumTraits.h"
+#include "src/Core/MathFunctions.h"
+#include "src/Core/GenericPacketMath.h"
+
+#if defined EIGEN_VECTORIZE_SSE
+  #include "src/Core/arch/SSE/PacketMath.h"
+  #include "src/Core/arch/SSE/MathFunctions.h"
+  #include "src/Core/arch/SSE/Complex.h"
+#elif defined EIGEN_VECTORIZE_ALTIVEC
+  #include "src/Core/arch/AltiVec/PacketMath.h"
+  #include "src/Core/arch/AltiVec/Complex.h"
+#elif defined EIGEN_VECTORIZE_NEON
+  #include "src/Core/arch/NEON/PacketMath.h"
+  #include "src/Core/arch/NEON/Complex.h"
+#endif
+
+#include "src/Core/arch/Default/Settings.h"
+
+#include "src/Core/Functors.h"
+#include "src/Core/DenseCoeffsBase.h"
+#include "src/Core/DenseBase.h"
+#include "src/Core/MatrixBase.h"
+#include "src/Core/EigenBase.h"
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874
+                                // at least confirmed with Doxygen 1.5.5 and 1.5.6
+  #include "src/Core/Assign.h"
+#endif
+
+#include "src/Core/util/BlasUtil.h"
+#include "src/Core/DenseStorage.h"
+#include "src/Core/NestByValue.h"
+#include "src/Core/ForceAlignedAccess.h"
+#include "src/Core/ReturnByValue.h"
+#include "src/Core/NoAlias.h"
+#include "src/Core/PlainObjectBase.h"
+#include "src/Core/Matrix.h"
+#include "src/Core/Array.h"
+#include "src/Core/CwiseBinaryOp.h"
+#include "src/Core/CwiseUnaryOp.h"
+#include "src/Core/CwiseNullaryOp.h"
+#include "src/Core/CwiseUnaryView.h"
+#include "src/Core/SelfCwiseBinaryOp.h"
+#include "src/Core/Dot.h"
+#include "src/Core/StableNorm.h"
+#include "src/Core/MapBase.h"
+#include "src/Core/Stride.h"
+#include "src/Core/Map.h"
+#include "src/Core/Block.h"
+#include "src/Core/VectorBlock.h"
+#include "src/Core/Transpose.h"
+#include "src/Core/DiagonalMatrix.h"
+#include "src/Core/Diagonal.h"
+#include "src/Core/DiagonalProduct.h"
+#include "src/Core/PermutationMatrix.h"
+#include "src/Core/Transpositions.h"
+#include "src/Core/Redux.h"
+#include "src/Core/Visitor.h"
+#include "src/Core/Fuzzy.h"
+#include "src/Core/IO.h"
+#include "src/Core/Swap.h"
+#include "src/Core/CommaInitializer.h"
+#include "src/Core/Flagged.h"
+#include "src/Core/ProductBase.h"
+#include "src/Core/Product.h"
+#include "src/Core/TriangularMatrix.h"
+#include "src/Core/SelfAdjointView.h"
+#include "src/Core/SolveTriangular.h"
+#include "src/Core/products/Parallelizer.h"
+#include "src/Core/products/CoeffBasedProduct.h"
+#include "src/Core/products/GeneralBlockPanelKernel.h"
+#include "src/Core/products/GeneralMatrixVector.h"
+#include "src/Core/products/GeneralMatrixMatrix.h"
+#include "src/Core/products/GeneralMatrixMatrixTriangular.h"
+#include "src/Core/products/SelfadjointMatrixVector.h"
+#include "src/Core/products/SelfadjointMatrixMatrix.h"
+#include "src/Core/products/SelfadjointProduct.h"
+#include "src/Core/products/SelfadjointRank2Update.h"
+#include "src/Core/products/TriangularMatrixVector.h"
+#include "src/Core/products/TriangularMatrixMatrix.h"
+#include "src/Core/products/TriangularSolverMatrix.h"
+#include "src/Core/products/TriangularSolverVector.h"
+#include "src/Core/BandMatrix.h"
+
+#include "src/Core/BooleanRedux.h"
+#include "src/Core/Select.h"
+#include "src/Core/VectorwiseOp.h"
+#include "src/Core/Random.h"
+#include "src/Core/Replicate.h"
+#include "src/Core/Reverse.h"
+#include "src/Core/ArrayBase.h"
+#include "src/Core/ArrayWrapper.h"
+
+} // namespace Eigen
+
+#include "src/Core/GlobalFunctions.h"
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "Eigen2Support"
+#endif
+
+#endif // EIGEN_CORE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Dense b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Dense
new file mode 100755
index 0000000..5768910
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Dense
@@ -0,0 +1,7 @@
+#include "Core"
+#include "LU"
+#include "Cholesky"
+#include "QR"
+#include "SVD"
+#include "Geometry"
+#include "Eigenvalues"
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Eigen b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Eigen
new file mode 100755
index 0000000..19b40ea
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Eigen
@@ -0,0 +1,2 @@
+#include "Dense"
+//#include "Sparse"
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Eigen2Support b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Eigen2Support
new file mode 100755
index 0000000..d96592a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Eigen2Support
@@ -0,0 +1,82 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2SUPPORT_H
+#define EIGEN2SUPPORT_H
+
+#if (!defined(EIGEN2_SUPPORT)) || (!defined(EIGEN_CORE_H))
+#error Eigen2 support must be enabled by defining EIGEN2_SUPPORT before including any Eigen header
+#endif
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Eigen2Support_Module Eigen2 support module
+  * This module provides a couple of deprecated functions improving the compatibility with Eigen2.
+  *
+  * To use it, define EIGEN2_SUPPORT before including any Eigen header
+  * \code
+  * #define EIGEN2_SUPPORT
+  * \endcode
+  *
+  */
+
+#include "src/Eigen2Support/Macros.h"
+#include "src/Eigen2Support/Memory.h"
+#include "src/Eigen2Support/Meta.h"
+#include "src/Eigen2Support/Lazy.h"
+#include "src/Eigen2Support/Cwise.h"
+#include "src/Eigen2Support/CwiseOperators.h"
+#include "src/Eigen2Support/TriangularSolver.h"
+#include "src/Eigen2Support/Block.h"
+#include "src/Eigen2Support/VectorBlock.h"
+#include "src/Eigen2Support/Minor.h"
+#include "src/Eigen2Support/MathFunctions.h"
+
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+// Eigen2 used to include iostream
+#include<iostream>
+
+#define USING_PART_OF_NAMESPACE_EIGEN \
+EIGEN_USING_MATRIX_TYPEDEFS \
+using Eigen::Matrix; \
+using Eigen::MatrixBase; \
+using Eigen::ei_random; \
+using Eigen::ei_real; \
+using Eigen::ei_imag; \
+using Eigen::ei_conj; \
+using Eigen::ei_abs; \
+using Eigen::ei_abs2; \
+using Eigen::ei_sqrt; \
+using Eigen::ei_exp; \
+using Eigen::ei_log; \
+using Eigen::ei_sin; \
+using Eigen::ei_cos;
+
+#endif // EIGEN2SUPPORT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Eigenvalues b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Eigenvalues
new file mode 100755
index 0000000..250c0f4
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Eigenvalues
@@ -0,0 +1,44 @@
+#ifndef EIGEN_EIGENVALUES_MODULE_H
+#define EIGEN_EIGENVALUES_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Cholesky"
+#include "Jacobi"
+#include "Householder"
+#include "LU"
+
+namespace Eigen {
+
+/** \defgroup Eigenvalues_Module Eigenvalues module
+  *
+  *
+  *
+  * This module mainly provides various eigenvalue solvers.
+  * This module also provides some MatrixBase methods, including:
+  *  - MatrixBase::eigenvalues(),
+  *  - MatrixBase::operatorNorm()
+  *
+  * \code
+  * #include <Eigen/Eigenvalues>
+  * \endcode
+  */
+
+#include "src/Eigenvalues/Tridiagonalization.h"
+#include "src/Eigenvalues/RealSchur.h"
+#include "src/Eigenvalues/EigenSolver.h"
+#include "src/Eigenvalues/SelfAdjointEigenSolver.h"
+#include "src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h"
+#include "src/Eigenvalues/HessenbergDecomposition.h"
+#include "src/Eigenvalues/ComplexSchur.h"
+#include "src/Eigenvalues/ComplexEigenSolver.h"
+#include "src/Eigenvalues/MatrixBaseEigenvalues.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_EIGENVALUES_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Geometry b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Geometry
new file mode 100755
index 0000000..78277c0
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Geometry
@@ -0,0 +1,67 @@
+#ifndef EIGEN_GEOMETRY_MODULE_H
+#define EIGEN_GEOMETRY_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "SVD"
+#include "LU"
+#include <limits>
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+namespace Eigen {
+
+/** \defgroup Geometry_Module Geometry module
+  *
+  *
+  *
+  * This module provides support for:
+  *  - fixed-size homogeneous transformations
+  *  - translation, scaling, 2D and 3D rotations
+  *  - quaternions
+  *  - \ref MatrixBase::cross() "cross product"
+  *  - \ref MatrixBase::unitOrthogonal() "orthognal vector generation"
+  *  - some linear components: parametrized-lines and hyperplanes
+  *
+  * \code
+  * #include <Eigen/Geometry>
+  * \endcode
+  */
+
+#include "src/Geometry/OrthoMethods.h"
+#include "src/Geometry/EulerAngles.h"
+
+#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+  #include "src/Geometry/Homogeneous.h"
+  #include "src/Geometry/RotationBase.h"
+  #include "src/Geometry/Rotation2D.h"
+  #include "src/Geometry/Quaternion.h"
+  #include "src/Geometry/AngleAxis.h"
+  #include "src/Geometry/Transform.h"
+  #include "src/Geometry/Translation.h"
+  #include "src/Geometry/Scaling.h"
+  #include "src/Geometry/Hyperplane.h"
+  #include "src/Geometry/ParametrizedLine.h"
+  #include "src/Geometry/AlignedBox.h"
+  #include "src/Geometry/Umeyama.h"
+
+  #if defined EIGEN_VECTORIZE_SSE
+    #include "src/Geometry/arch/Geometry_SSE.h"
+  #endif
+#endif
+
+#ifdef EIGEN2_SUPPORT
+#include "src/Eigen2Support/Geometry/All.h"
+#endif
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_GEOMETRY_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
+
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Householder b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Householder
new file mode 100755
index 0000000..6b86cf6
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Householder
@@ -0,0 +1,27 @@
+#ifndef EIGEN_HOUSEHOLDER_MODULE_H
+#define EIGEN_HOUSEHOLDER_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Householder_Module Householder module
+  * This module provides Householder transformations.
+  *
+  * \code
+  * #include <Eigen/Householder>
+  * \endcode
+  */
+
+#include "src/Householder/Householder.h"
+#include "src/Householder/HouseholderSequence.h"
+#include "src/Householder/BlockHouseholder.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_HOUSEHOLDER_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Jacobi b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Jacobi
new file mode 100755
index 0000000..afa6768
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Jacobi
@@ -0,0 +1,30 @@
+#ifndef EIGEN_JACOBI_MODULE_H
+#define EIGEN_JACOBI_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup Jacobi_Module Jacobi module
+  * This module provides Jacobi and Givens rotations.
+  *
+  * \code
+  * #include <Eigen/Jacobi>
+  * \endcode
+  *
+  * In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation:
+  *  - MatrixBase::applyOnTheLeft()
+  *  - MatrixBase::applyOnTheRight().
+  */
+
+#include "src/Jacobi/Jacobi.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_JACOBI_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
+
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/LU b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/LU
new file mode 100755
index 0000000..226f88c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/LU
@@ -0,0 +1,42 @@
+#ifndef EIGEN_LU_MODULE_H
+#define EIGEN_LU_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup LU_Module LU module
+  * This module includes %LU decomposition and related notions such as matrix inversion and determinant.
+  * This module defines the following MatrixBase methods:
+  *  - MatrixBase::inverse()
+  *  - MatrixBase::determinant()
+  *
+  * \code
+  * #include <Eigen/LU>
+  * \endcode
+  */
+
+#include "src/misc/Solve.h"
+#include "src/misc/Kernel.h"
+#include "src/misc/Image.h"
+#include "src/LU/FullPivLU.h"
+#include "src/LU/PartialPivLU.h"
+#include "src/LU/Determinant.h"
+#include "src/LU/Inverse.h"
+
+#if defined EIGEN_VECTORIZE_SSE
+  #include "src/LU/arch/Inverse_SSE.h"
+#endif
+
+#ifdef EIGEN2_SUPPORT
+  #include "src/Eigen2Support/LU.h"
+#endif
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_LU_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/LeastSquares b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/LeastSquares
new file mode 100755
index 0000000..93a6302
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/LeastSquares
@@ -0,0 +1,36 @@
+#ifndef EIGEN_REGRESSION_MODULE_H
+#define EIGEN_REGRESSION_MODULE_H
+
+#ifndef EIGEN2_SUPPORT
+#error LeastSquares is only available in Eigen2 support mode (define EIGEN2_SUPPORT)
+#endif
+
+// exclude from normal eigen3-only documentation
+#ifdef EIGEN2_SUPPORT
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Eigenvalues"
+#include "Geometry"
+
+namespace Eigen {
+
+/** \defgroup LeastSquares_Module LeastSquares module
+  * This module provides linear regression and related features.
+  *
+  * \code
+  * #include <Eigen/LeastSquares>
+  * \endcode
+  */
+
+#include "src/Eigen2Support/LeastSquares.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN2_SUPPORT
+
+#endif // EIGEN_REGRESSION_MODULE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/QR b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/QR
new file mode 100755
index 0000000..97c1788
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/QR
@@ -0,0 +1,45 @@
+#ifndef EIGEN_QR_MODULE_H
+#define EIGEN_QR_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Cholesky"
+#include "Jacobi"
+#include "Householder"
+
+namespace Eigen {
+
+/** \defgroup QR_Module QR module
+  *
+  *
+  *
+  * This module provides various QR decompositions
+  * This module also provides some MatrixBase methods, including:
+  *  - MatrixBase::qr(),
+  *
+  * \code
+  * #include <Eigen/QR>
+  * \endcode
+  */
+
+#include "src/misc/Solve.h"
+#include "src/QR/HouseholderQR.h"
+#include "src/QR/FullPivHouseholderQR.h"
+#include "src/QR/ColPivHouseholderQR.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "src/Eigen2Support/QR.h"
+#endif
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "Eigenvalues"
+#endif
+
+#endif // EIGEN_QR_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/QtAlignedMalloc b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/QtAlignedMalloc
new file mode 100755
index 0000000..46f7d83
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/QtAlignedMalloc
@@ -0,0 +1,34 @@
+
+#ifndef EIGEN_QTMALLOC_MODULE_H
+#define EIGEN_QTMALLOC_MODULE_H
+
+#include "Core"
+
+#if (!EIGEN_MALLOC_ALREADY_ALIGNED)
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+void *qMalloc(size_t size)
+{
+  return Eigen::internal::aligned_malloc(size);
+}
+
+void qFree(void *ptr)
+{
+  Eigen::internal::aligned_free(ptr);
+}
+
+void *qRealloc(void *ptr, size_t size)
+{
+  void* newPtr = Eigen::internal::aligned_malloc(size);
+  memcpy(newPtr, ptr, size);
+  Eigen::internal::aligned_free(ptr);
+  return newPtr;
+}
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif
+
+#endif // EIGEN_QTMALLOC_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/README.ipol b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/README.ipol
new file mode 100755
index 0000000..3f68d3b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/README.ipol
@@ -0,0 +1,10 @@
+Project: EIGEN
+URL: http://eigen.tuxfamily.org/
+License: GPL/LGPL
+Upstream version: Eigen 3.0 released on March 19, 2011.
+
+Local modifications: 
+
+* Use only the Eigen directory
+* Copy *.GPL and *.LGPL licence file
+* Add this readme file
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/SVD b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/SVD
new file mode 100755
index 0000000..d24471f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/SVD
@@ -0,0 +1,38 @@
+#ifndef EIGEN_SVD_MODULE_H
+#define EIGEN_SVD_MODULE_H
+
+#include "QR"
+#include "Householder"
+#include "Jacobi"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+namespace Eigen {
+
+/** \defgroup SVD_Module SVD module
+  *
+  *
+  *
+  * This module provides SVD decomposition for (currently) real matrices.
+  * This decomposition is accessible via the following MatrixBase method:
+  *  - MatrixBase::svd()
+  *
+  * \code
+  * #include <Eigen/SVD>
+  * \endcode
+  */
+
+#include "src/misc/Solve.h"
+#include "src/SVD/JacobiSVD.h"
+#include "src/SVD/UpperBidiagonalization.h"
+
+#ifdef EIGEN2_SUPPORT
+#include "src/Eigen2Support/SVD.h"
+#endif
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_SVD_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Sparse b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Sparse
new file mode 100755
index 0000000..7425b3a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/Sparse
@@ -0,0 +1,69 @@
+#ifndef EIGEN_SPARSE_MODULE_H
+#define EIGEN_SPARSE_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include <vector>
+#include <map>
+#include <cstdlib>
+#include <cstring>
+#include <algorithm>
+
+#ifdef EIGEN2_SUPPORT
+#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET
+#endif
+
+#ifndef EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET
+#error The sparse module API is not stable yet. To use it anyway, please define the EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET preprocessor token.
+#endif
+
+namespace Eigen {
+
+/** \defgroup Sparse_Module Sparse module
+  *
+  *
+  *
+  * See the \ref TutorialSparse "Sparse tutorial"
+  *
+  * \code
+  * #include <Eigen/Sparse>
+  * \endcode
+  */
+
+/** The type used to identify a general sparse storage. */
+struct Sparse {};
+
+#include "src/Sparse/SparseUtil.h"
+#include "src/Sparse/SparseMatrixBase.h"
+#include "src/Sparse/CompressedStorage.h"
+#include "src/Sparse/AmbiVector.h"
+#include "src/Sparse/SparseMatrix.h"
+#include "src/Sparse/DynamicSparseMatrix.h"
+#include "src/Sparse/MappedSparseMatrix.h"
+#include "src/Sparse/SparseVector.h"
+#include "src/Sparse/CoreIterators.h"
+#include "src/Sparse/SparseBlock.h"
+#include "src/Sparse/SparseTranspose.h"
+#include "src/Sparse/SparseCwiseUnaryOp.h"
+#include "src/Sparse/SparseCwiseBinaryOp.h"
+#include "src/Sparse/SparseDot.h"
+#include "src/Sparse/SparseAssign.h"
+#include "src/Sparse/SparseRedux.h"
+#include "src/Sparse/SparseFuzzy.h"
+#include "src/Sparse/SparseProduct.h"
+#include "src/Sparse/SparseSparseProduct.h"
+#include "src/Sparse/SparseDenseProduct.h"
+#include "src/Sparse/SparseDiagonalProduct.h"
+#include "src/Sparse/SparseTriangularView.h"
+#include "src/Sparse/SparseSelfAdjointView.h"
+#include "src/Sparse/TriangularSolver.h"
+#include "src/Sparse/SparseView.h"
+
+} // namespace Eigen
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_SPARSE_MODULE_H
+
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/StdDeque b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/StdDeque
new file mode 100755
index 0000000..a4f9623
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/StdDeque
@@ -0,0 +1,42 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STDDEQUE_MODULE_H
+#define EIGEN_STDDEQUE_MODULE_H
+
+#include "Core"
+#include <deque>
+
+#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */
+
+#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...)
+
+#else
+
+#include "src/StlSupport/StdDeque.h"
+
+#endif
+
+#endif // EIGEN_STDDEQUE_MODULE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/StdList b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/StdList
new file mode 100755
index 0000000..d914ded
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/StdList
@@ -0,0 +1,41 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STDLIST_MODULE_H
+#define EIGEN_STDLIST_MODULE_H
+
+#include "Core"
+#include <list>
+
+#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */    
+
+#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...)
+
+#else
+
+#include "src/StlSupport/StdList.h"
+
+#endif
+
+#endif // EIGEN_STDLIST_MODULE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/StdVector b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/StdVector
new file mode 100755
index 0000000..3d8995e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/StdVector
@@ -0,0 +1,42 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STDVECTOR_MODULE_H
+#define EIGEN_STDVECTOR_MODULE_H
+
+#include "Core"
+#include <vector>
+
+#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */
+
+#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...)
+
+#else
+
+#include "src/StlSupport/StdVector.h"
+
+#endif
+
+#endif // EIGEN_STDVECTOR_MODULE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/CMakeLists.txt
new file mode 100755
index 0000000..c326f37
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/CMakeLists.txt
@@ -0,0 +1,7 @@
+file(GLOB Eigen_src_subdirectories "*")
+escape_string_as_regex(ESCAPED_CMAKE_CURRENT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+foreach(f ${Eigen_src_subdirectories})
+  if(NOT f MATCHES "\\.txt" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/[.].+" )
+    add_subdirectory(${f})
+  endif()
+endforeach()
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Cholesky/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Cholesky/CMakeLists.txt
new file mode 100755
index 0000000..d01488b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Cholesky/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Cholesky_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Cholesky_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Cholesky COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Cholesky/LDLT.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Cholesky/LDLT.h
new file mode 100755
index 0000000..5e2352c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Cholesky/LDLT.h
@@ -0,0 +1,461 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Keir Mierle <mierle@gmail.com>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_LDLT_H
+#define EIGEN_LDLT_H
+
+namespace internal {
+template<typename MatrixType, int UpLo> struct LDLT_Traits;
+}
+
+/** \ingroup cholesky_Module
+  *
+  * \class LDLT
+  *
+  * \brief Robust Cholesky decomposition of a matrix with pivoting
+  *
+  * \param MatrixType the type of the matrix of which to compute the LDL^T Cholesky decomposition
+  *
+  * Perform a robust Cholesky decomposition of a positive semidefinite or negative semidefinite
+  * matrix \f$ A \f$ such that \f$ A =  P^TLDL^*P \f$, where P is a permutation matrix, L
+  * is lower triangular with a unit diagonal and D is a diagonal matrix.
+  *
+  * The decomposition uses pivoting to ensure stability, so that L will have
+  * zeros in the bottom right rank(A) - n submatrix. Avoiding the square root
+  * on D also stabilizes the computation.
+  *
+  * Remember that Cholesky decompositions are not rank-revealing. Also, do not use a Cholesky
+	* decomposition to determine whether a system of equations has a solution.
+  *
+  * \sa MatrixBase::ldlt(), class LLT
+  */
+ /* THIS PART OF THE DOX IS CURRENTLY DISABLED BECAUSE INACCURATE BECAUSE OF BUG IN THE DECOMPOSITION CODE
+  * Note that during the decomposition, only the upper triangular part of A is considered. Therefore,
+  * the strict lower part does not have to store correct values.
+  */
+template<typename _MatrixType, int _UpLo> class LDLT
+{
+  public:
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options & ~RowMajorBit, // these are the options for the TmpMatrixType, we need a ColMajor matrix here!
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+      UpLo = _UpLo
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Scalar, RowsAtCompileTime, 1, Options, MaxRowsAtCompileTime, 1> TmpMatrixType;
+
+    typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
+    typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
+
+    typedef internal::LDLT_Traits<MatrixType,UpLo> Traits;
+
+    /** \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via LDLT::compute(const MatrixType&).
+      */
+    LDLT() : m_matrix(), m_transpositions(), m_isInitialized(false) {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa LDLT()
+      */
+    LDLT(Index size)
+      : m_matrix(size, size),
+        m_transpositions(size),
+        m_temporary(size),
+        m_isInitialized(false)
+    {}
+
+    LDLT(const MatrixType& matrix)
+      : m_matrix(matrix.rows(), matrix.cols()),
+        m_transpositions(matrix.rows()),
+        m_temporary(matrix.rows()),
+        m_isInitialized(false)
+    {
+      compute(matrix);
+    }
+
+    /** \returns a view of the upper triangular matrix U */
+    inline typename Traits::MatrixU matrixU() const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return Traits::getU(m_matrix);
+    }
+
+    /** \returns a view of the lower triangular matrix L */
+    inline typename Traits::MatrixL matrixL() const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return Traits::getL(m_matrix);
+    }
+
+    /** \returns the permutation matrix P as a transposition sequence.
+      */
+    inline const TranspositionType& transpositionsP() const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return m_transpositions;
+    }
+
+    /** \returns the coefficients of the diagonal matrix D */
+    inline Diagonal<const MatrixType> vectorD(void) const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return m_matrix.diagonal();
+    }
+
+    /** \returns true if the matrix is positive (semidefinite) */
+    inline bool isPositive(void) const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return m_sign == 1;
+    }
+    
+    #ifdef EIGEN2_SUPPORT
+    inline bool isPositiveDefinite() const
+    {
+      return isPositive();
+    }
+    #endif
+
+    /** \returns true if the matrix is negative (semidefinite) */
+    inline bool isNegative(void) const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return m_sign == -1;
+    }
+
+    /** \returns a solution x of \f$ A x = b \f$ using the current decomposition of A.
+      *
+      * \note_about_checking_solutions
+      *
+      * \sa solveInPlace(), MatrixBase::ldlt()
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<LDLT, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      eigen_assert(m_matrix.rows()==b.rows()
+                && "LDLT::solve(): invalid number of rows of the right hand side matrix b");
+      return internal::solve_retval<LDLT, Rhs>(*this, b.derived());
+    }
+
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived, typename ResultType>
+    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
+    {
+      *result = this->solve(b);
+      return true;
+    }
+    #endif
+
+    template<typename Derived>
+    bool solveInPlace(MatrixBase<Derived> &bAndX) const;
+
+    LDLT& compute(const MatrixType& matrix);
+
+    /** \returns the internal LDLT decomposition matrix
+      *
+      * TODO: document the storage layout
+      */
+    inline const MatrixType& matrixLDLT() const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return m_matrix;
+    }
+
+    MatrixType reconstructedMatrix() const;
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+  protected:
+
+    /** \internal
+      * Used to compute and store the Cholesky decomposition A = L D L^* = U^* D U.
+      * The strict upper part is used during the decomposition, the strict lower
+      * part correspond to the coefficients of L (its diagonal is equal to 1 and
+      * is not stored), and the diagonal entries correspond to D.
+      */
+    MatrixType m_matrix;
+    TranspositionType m_transpositions;
+    TmpMatrixType m_temporary;
+    int m_sign;
+    bool m_isInitialized;
+};
+
+namespace internal {
+
+template<int UpLo> struct ldlt_inplace;
+
+template<> struct ldlt_inplace<Lower>
+{
+  template<typename MatrixType, typename TranspositionType, typename Workspace>
+  static bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, int* sign=0)
+  {
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::Index Index;
+    eigen_assert(mat.rows()==mat.cols());
+    const Index size = mat.rows();
+
+    if (size <= 1)
+    {
+      transpositions.setIdentity();
+      if(sign)
+        *sign = real(mat.coeff(0,0))>0 ? 1:-1;
+      return true;
+    }
+
+    RealScalar cutoff = 0, biggest_in_corner;
+
+    for (Index k = 0; k < size; ++k)
+    {
+      // Find largest diagonal element
+      Index index_of_biggest_in_corner;
+      biggest_in_corner = mat.diagonal().tail(size-k).cwiseAbs().maxCoeff(&index_of_biggest_in_corner);
+      index_of_biggest_in_corner += k;
+
+      if(k == 0)
+      {
+        // The biggest overall is the point of reference to which further diagonals
+        // are compared; if any diagonal is negligible compared
+        // to the largest overall, the algorithm bails.
+        cutoff = abs(NumTraits<Scalar>::epsilon() * biggest_in_corner);
+
+        if(sign)
+          *sign = real(mat.diagonal().coeff(index_of_biggest_in_corner)) > 0 ? 1 : -1;
+      }
+
+      // Finish early if the matrix is not full rank.
+      if(biggest_in_corner < cutoff)
+      {
+        for(Index i = k; i < size; i++) transpositions.coeffRef(i) = i;
+        break;
+      }
+
+      transpositions.coeffRef(k) = index_of_biggest_in_corner;
+      if(k != index_of_biggest_in_corner)
+      {
+        // apply the transposition while taking care to consider only
+        // the lower triangular part
+        Index s = size-index_of_biggest_in_corner-1; // trailing size after the biggest element
+        mat.row(k).head(k).swap(mat.row(index_of_biggest_in_corner).head(k));
+        mat.col(k).tail(s).swap(mat.col(index_of_biggest_in_corner).tail(s));
+        std::swap(mat.coeffRef(k,k),mat.coeffRef(index_of_biggest_in_corner,index_of_biggest_in_corner));
+        for(int i=k+1;i<index_of_biggest_in_corner;++i)
+        {
+          Scalar tmp = mat.coeffRef(i,k);
+          mat.coeffRef(i,k) = conj(mat.coeffRef(index_of_biggest_in_corner,i));
+          mat.coeffRef(index_of_biggest_in_corner,i) = conj(tmp);
+        }
+        if(NumTraits<Scalar>::IsComplex)
+          mat.coeffRef(index_of_biggest_in_corner,k) = conj(mat.coeff(index_of_biggest_in_corner,k));
+      }
+
+      // partition the matrix:
+      //       A00 |  -  |  -
+      // lu  = A10 | A11 |  -
+      //       A20 | A21 | A22
+      Index rs = size - k - 1;
+      Block<MatrixType,Dynamic,1> A21(mat,k+1,k,rs,1);
+      Block<MatrixType,1,Dynamic> A10(mat,k,0,1,k);
+      Block<MatrixType,Dynamic,Dynamic> A20(mat,k+1,0,rs,k);
+
+      if(k>0)
+      {
+        temp.head(k) = mat.diagonal().head(k).asDiagonal() * A10.adjoint();
+        mat.coeffRef(k,k) -= (A10 * temp.head(k)).value();
+        if(rs>0)
+          A21.noalias() -= A20 * temp.head(k);
+      }
+      if((rs>0) && (abs(mat.coeffRef(k,k)) > cutoff))
+        A21 /= mat.coeffRef(k,k);
+    }
+
+    return true;
+  }
+};
+
+template<> struct ldlt_inplace<Upper>
+{
+  template<typename MatrixType, typename TranspositionType, typename Workspace>
+  static EIGEN_STRONG_INLINE bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, int* sign=0)
+  {
+    Transpose<MatrixType> matt(mat);
+    return ldlt_inplace<Lower>::unblocked(matt, transpositions, temp, sign);
+  }
+};
+
+template<typename MatrixType> struct LDLT_Traits<MatrixType,Lower>
+{
+  typedef TriangularView<MatrixType, UnitLower> MatrixL;
+  typedef TriangularView<typename MatrixType::AdjointReturnType, UnitUpper> MatrixU;
+  inline static MatrixL getL(const MatrixType& m) { return m; }
+  inline static MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+};
+
+template<typename MatrixType> struct LDLT_Traits<MatrixType,Upper>
+{
+  typedef TriangularView<typename MatrixType::AdjointReturnType, UnitLower> MatrixL;
+  typedef TriangularView<MatrixType, UnitUpper> MatrixU;
+  inline static MatrixL getL(const MatrixType& m) { return m.adjoint(); }
+  inline static MatrixU getU(const MatrixType& m) { return m; }
+};
+
+} // end namespace internal
+
+/** Compute / recompute the LDLT decomposition A = L D L^* = U^* D U of \a matrix
+  */
+template<typename MatrixType, int _UpLo>
+LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::compute(const MatrixType& a)
+{
+  eigen_assert(a.rows()==a.cols());
+  const Index size = a.rows();
+
+  m_matrix = a;
+
+  m_transpositions.resize(size);
+  m_isInitialized = false;
+  m_temporary.resize(size);
+
+  internal::ldlt_inplace<UpLo>::unblocked(m_matrix, m_transpositions, m_temporary, &m_sign);
+
+  m_isInitialized = true;
+  return *this;
+}
+
+namespace internal {
+template<typename _MatrixType, int _UpLo, typename Rhs>
+struct solve_retval<LDLT<_MatrixType,_UpLo>, Rhs>
+  : solve_retval_base<LDLT<_MatrixType,_UpLo>, Rhs>
+{
+  typedef LDLT<_MatrixType,_UpLo> LDLTType;
+  EIGEN_MAKE_SOLVE_HELPERS(LDLTType,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    eigen_assert(rhs().rows() == dec().matrixLDLT().rows());
+    // dst = P b
+    dst = dec().transpositionsP() * rhs();
+
+    // dst = L^-1 (P b)
+    dec().matrixL().solveInPlace(dst);
+
+    // dst = D^-1 (L^-1 P b)
+    dst = dec().vectorD().asDiagonal().inverse() * dst;
+
+    // dst = L^-T (D^-1 L^-1 P b)
+    dec().matrixU().solveInPlace(dst);
+
+    // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b
+    dst = dec().transpositionsP().transpose() * dst;
+  }
+};
+}
+
+/** \internal use x = ldlt_object.solve(x);
+  *
+  * This is the \em in-place version of solve().
+  *
+  * \param bAndX represents both the right-hand side matrix b and result x.
+  *
+  * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD.
+  *
+  * This version avoids a copy when the right hand side matrix b is not
+  * needed anymore.
+  *
+  * \sa LDLT::solve(), MatrixBase::ldlt()
+  */
+template<typename MatrixType,int _UpLo>
+template<typename Derived>
+bool LDLT<MatrixType,_UpLo>::solveInPlace(MatrixBase<Derived> &bAndX) const
+{
+  eigen_assert(m_isInitialized && "LDLT is not initialized.");
+  const Index size = m_matrix.rows();
+  eigen_assert(size == bAndX.rows());
+
+  bAndX = this->solve(bAndX);
+
+  return true;
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: P^T L D L^* P.
+ * This function is provided for debug purpose. */
+template<typename MatrixType, int _UpLo>
+MatrixType LDLT<MatrixType,_UpLo>::reconstructedMatrix() const
+{
+  eigen_assert(m_isInitialized && "LDLT is not initialized.");
+  const Index size = m_matrix.rows();
+  MatrixType res(size,size);
+
+  // P
+  res.setIdentity();
+  res = transpositionsP() * res;
+  // L^* P
+  res = matrixU() * res;
+  // D(L^*P)
+  res = vectorD().asDiagonal() * res;
+  // L(DL^*P)
+  res = matrixL() * res;
+  // P^T (LDL^*P)
+  res = transpositionsP().transpose() * res;
+
+  return res;
+}
+
+/** \cholesky_module
+  * \returns the Cholesky decomposition with full pivoting without square root of \c *this
+  */
+template<typename MatrixType, unsigned int UpLo>
+inline const LDLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
+SelfAdjointView<MatrixType, UpLo>::ldlt() const
+{
+  return LDLT<PlainObject,UpLo>(m_matrix);
+}
+
+/** \cholesky_module
+  * \returns the Cholesky decomposition with full pivoting without square root of \c *this
+  */
+template<typename Derived>
+inline const LDLT<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::ldlt() const
+{
+  return LDLT<PlainObject>(derived());
+}
+
+#endif // EIGEN_LDLT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Cholesky/LLT.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Cholesky/LLT.h
new file mode 100755
index 0000000..a8fc525
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Cholesky/LLT.h
@@ -0,0 +1,386 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_LLT_H
+#define EIGEN_LLT_H
+
+namespace internal{
+template<typename MatrixType, int UpLo> struct LLT_Traits;
+}
+
+/** \ingroup cholesky_Module
+  *
+  * \class LLT
+  *
+  * \brief Standard Cholesky decomposition (LL^T) of a matrix and associated features
+  *
+  * \param MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition
+  *
+  * This class performs a LL^T Cholesky decomposition of a symmetric, positive definite
+  * matrix A such that A = LL^* = U^*U, where L is lower triangular.
+  *
+  * While the Cholesky decomposition is particularly useful to solve selfadjoint problems like  D^*D x = b,
+  * for that purpose, we recommend the Cholesky decomposition without square root which is more stable
+  * and even faster. Nevertheless, this standard Cholesky decomposition remains useful in many other
+  * situations like generalised eigen problems with hermitian matrices.
+  *
+  * Remember that Cholesky decompositions are not rank-revealing. This LLT decomposition is only stable on positive definite matrices,
+  * use LDLT instead for the semidefinite case. Also, do not use a Cholesky decomposition to determine whether a system of equations
+  * has a solution.
+  *
+  * \sa MatrixBase::llt(), class LDLT
+  */
+ /* HEY THIS DOX IS DISABLED BECAUSE THERE's A BUG EITHER HERE OR IN LDLT ABOUT THAT (OR BOTH)
+  * Note that during the decomposition, only the upper triangular part of A is considered. Therefore,
+  * the strict lower part does not have to store correct values.
+  */
+template<typename _MatrixType, int _UpLo> class LLT
+{
+  public:
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+
+    enum {
+      PacketSize = internal::packet_traits<Scalar>::size,
+      AlignmentMask = int(PacketSize)-1,
+      UpLo = _UpLo
+    };
+
+    typedef internal::LLT_Traits<MatrixType,UpLo> Traits;
+
+    /**
+      * \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via LLT::compute(const MatrixType&).
+      */
+    LLT() : m_matrix(), m_isInitialized(false) {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa LLT()
+      */
+    LLT(Index size) : m_matrix(size, size),
+                    m_isInitialized(false) {}
+
+    LLT(const MatrixType& matrix)
+      : m_matrix(matrix.rows(), matrix.cols()),
+        m_isInitialized(false)
+    {
+      compute(matrix);
+    }
+
+    /** \returns a view of the upper triangular matrix U */
+    inline typename Traits::MatrixU matrixU() const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      return Traits::getU(m_matrix);
+    }
+
+    /** \returns a view of the lower triangular matrix L */
+    inline typename Traits::MatrixL matrixL() const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      return Traits::getL(m_matrix);
+    }
+
+    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
+      *
+      * Since this LLT class assumes anyway that the matrix A is invertible, the solution
+      * theoretically exists and is unique regardless of b.
+      *
+      * Example: \include LLT_solve.cpp
+      * Output: \verbinclude LLT_solve.out
+      *
+      * \sa solveInPlace(), MatrixBase::llt()
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<LLT, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      eigen_assert(m_matrix.rows()==b.rows()
+                && "LLT::solve(): invalid number of rows of the right hand side matrix b");
+      return internal::solve_retval<LLT, Rhs>(*this, b.derived());
+    }
+
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived, typename ResultType>
+    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
+    {
+      *result = this->solve(b);
+      return true;
+    }
+    
+    bool isPositiveDefinite() const { return true; }
+    #endif
+
+    template<typename Derived>
+    void solveInPlace(MatrixBase<Derived> &bAndX) const;
+
+    LLT& compute(const MatrixType& matrix);
+
+    /** \returns the LLT decomposition matrix
+      *
+      * TODO: document the storage layout
+      */
+    inline const MatrixType& matrixLLT() const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      return m_matrix;
+    }
+
+    MatrixType reconstructedMatrix() const;
+
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was succesful,
+      *          \c NumericalIssue if the matrix.appears to be negative.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      return m_info;
+    }
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+  protected:
+    /** \internal
+      * Used to compute and store L
+      * The strict upper part is not used and even not initialized.
+      */
+    MatrixType m_matrix;
+    bool m_isInitialized;
+    ComputationInfo m_info;
+};
+
+namespace internal {
+
+template<int UpLo> struct llt_inplace;
+
+template<> struct llt_inplace<Lower>
+{
+  template<typename MatrixType>
+  static typename MatrixType::Index unblocked(MatrixType& mat)
+  {
+    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    
+    eigen_assert(mat.rows()==mat.cols());
+    const Index size = mat.rows();
+    for(Index k = 0; k < size; ++k)
+    {
+      Index rs = size-k-1; // remaining size
+
+      Block<MatrixType,Dynamic,1> A21(mat,k+1,k,rs,1);
+      Block<MatrixType,1,Dynamic> A10(mat,k,0,1,k);
+      Block<MatrixType,Dynamic,Dynamic> A20(mat,k+1,0,rs,k);
+
+      RealScalar x = real(mat.coeff(k,k));
+      if (k>0) x -= A10.squaredNorm();
+      if (x<=RealScalar(0))
+        return k;
+      mat.coeffRef(k,k) = x = sqrt(x);
+      if (k>0 && rs>0) A21.noalias() -= A20 * A10.adjoint();
+      if (rs>0) A21 *= RealScalar(1)/x;
+    }
+    return -1;
+  }
+
+  template<typename MatrixType>
+  static typename MatrixType::Index blocked(MatrixType& m)
+  {
+    typedef typename MatrixType::Index Index;
+    eigen_assert(m.rows()==m.cols());
+    Index size = m.rows();
+    if(size<32)
+      return unblocked(m);
+
+    Index blockSize = size/8;
+    blockSize = (blockSize/16)*16;
+    blockSize = std::min(std::max(blockSize,Index(8)), Index(128));
+
+    for (Index k=0; k<size; k+=blockSize)
+    {
+      // partition the matrix:
+      //       A00 |  -  |  -
+      // lu  = A10 | A11 |  -
+      //       A20 | A21 | A22
+      Index bs = std::min(blockSize, size-k);
+      Index rs = size - k - bs;
+      Block<MatrixType,Dynamic,Dynamic> A11(m,k,   k,   bs,bs);
+      Block<MatrixType,Dynamic,Dynamic> A21(m,k+bs,k,   rs,bs);
+      Block<MatrixType,Dynamic,Dynamic> A22(m,k+bs,k+bs,rs,rs);
+
+      Index ret;
+      if((ret=unblocked(A11))>=0) return k+ret;
+      if(rs>0) A11.adjoint().template triangularView<Upper>().template solveInPlace<OnTheRight>(A21);
+      if(rs>0) A22.template selfadjointView<Lower>().rankUpdate(A21,-1); // bottleneck
+    }
+    return -1;
+  }
+};
+
+template<> struct llt_inplace<Upper>
+{
+  template<typename MatrixType>
+  static EIGEN_STRONG_INLINE typename MatrixType::Index unblocked(MatrixType& mat)
+  {
+    Transpose<MatrixType> matt(mat);
+    return llt_inplace<Lower>::unblocked(matt);
+  }
+  template<typename MatrixType>
+  static EIGEN_STRONG_INLINE typename MatrixType::Index blocked(MatrixType& mat)
+  {
+    Transpose<MatrixType> matt(mat);
+    return llt_inplace<Lower>::blocked(matt);
+  }
+};
+
+template<typename MatrixType> struct LLT_Traits<MatrixType,Lower>
+{
+  typedef TriangularView<MatrixType, Lower> MatrixL;
+  typedef TriangularView<typename MatrixType::AdjointReturnType, Upper> MatrixU;
+  inline static MatrixL getL(const MatrixType& m) { return m; }
+  inline static MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+  static bool inplace_decomposition(MatrixType& m)
+  { return llt_inplace<Lower>::blocked(m)==-1; }
+};
+
+template<typename MatrixType> struct LLT_Traits<MatrixType,Upper>
+{
+  typedef TriangularView<typename MatrixType::AdjointReturnType, Lower> MatrixL;
+  typedef TriangularView<MatrixType, Upper> MatrixU;
+  inline static MatrixL getL(const MatrixType& m) { return m.adjoint(); }
+  inline static MatrixU getU(const MatrixType& m) { return m; }
+  static bool inplace_decomposition(MatrixType& m)
+  { return llt_inplace<Upper>::blocked(m)==-1; }
+};
+
+} // end namespace internal
+
+/** Computes / recomputes the Cholesky decomposition A = LL^* = U^*U of \a matrix
+  *
+  *
+  * \returns a reference to *this
+  */
+template<typename MatrixType, int _UpLo>
+LLT<MatrixType,_UpLo>& LLT<MatrixType,_UpLo>::compute(const MatrixType& a)
+{
+  assert(a.rows()==a.cols());
+  const Index size = a.rows();
+  m_matrix.resize(size, size);
+  m_matrix = a;
+
+  m_isInitialized = true;
+  bool ok = Traits::inplace_decomposition(m_matrix);
+  m_info = ok ? Success : NumericalIssue;
+
+  return *this;
+}
+
+namespace internal {
+template<typename _MatrixType, int UpLo, typename Rhs>
+struct solve_retval<LLT<_MatrixType, UpLo>, Rhs>
+  : solve_retval_base<LLT<_MatrixType, UpLo>, Rhs>
+{
+  typedef LLT<_MatrixType,UpLo> LLTType;
+  EIGEN_MAKE_SOLVE_HELPERS(LLTType,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    dst = rhs();
+    dec().solveInPlace(dst);
+  }
+};
+}
+
+/** \internal use x = llt_object.solve(x);
+  * 
+  * This is the \em in-place version of solve().
+  *
+  * \param bAndX represents both the right-hand side matrix b and result x.
+  *
+  * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD.
+  *
+  * This version avoids a copy when the right hand side matrix b is not
+  * needed anymore.
+  *
+  * \sa LLT::solve(), MatrixBase::llt()
+  */
+template<typename MatrixType, int _UpLo>
+template<typename Derived>
+void LLT<MatrixType,_UpLo>::solveInPlace(MatrixBase<Derived> &bAndX) const
+{
+  eigen_assert(m_isInitialized && "LLT is not initialized.");
+  eigen_assert(m_matrix.rows()==bAndX.rows());
+  matrixL().solveInPlace(bAndX);
+  matrixU().solveInPlace(bAndX);
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: L L^*.
+ * This function is provided for debug purpose. */
+template<typename MatrixType, int _UpLo>
+MatrixType LLT<MatrixType,_UpLo>::reconstructedMatrix() const
+{
+  eigen_assert(m_isInitialized && "LLT is not initialized.");
+  return matrixL() * matrixL().adjoint().toDenseMatrix();
+}
+
+/** \cholesky_module
+  * \returns the LLT decomposition of \c *this
+  */
+template<typename Derived>
+inline const LLT<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::llt() const
+{
+  return LLT<PlainObject>(derived());
+}
+
+/** \cholesky_module
+  * \returns the LLT decomposition of \c *this
+  */
+template<typename MatrixType, unsigned int UpLo>
+inline const LLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
+SelfAdjointView<MatrixType, UpLo>::llt() const
+{
+  return LLT<PlainObject,UpLo>(m_matrix);
+}
+
+#endif // EIGEN_LLT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Array.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Array.h
new file mode 100755
index 0000000..a3a2167
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Array.h
@@ -0,0 +1,322 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ARRAY_H
+#define EIGEN_ARRAY_H
+
+/** \class Array 
+  * \ingroup Core_Module
+  *
+  * \brief General-purpose arrays with easy API for coefficient-wise operations
+  *
+  * The %Array class is very similar to the Matrix class. It provides
+  * general-purpose one- and two-dimensional arrays. The difference between the
+  * %Array and the %Matrix class is primarily in the API: the API for the
+  * %Array class provides easy access to coefficient-wise operations, while the
+  * API for the %Matrix class provides easy access to linear-algebra
+  * operations.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_ARRAY_PLUGIN.
+  *
+  * \sa \ref TutorialArrayClass, \ref TopicClassHierarchy
+  */
+namespace internal {
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct traits<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > : traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+  typedef ArrayXpr XprKind;
+  typedef ArrayBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > XprBase;
+};
+}
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+class Array
+  : public PlainObjectBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+  public:
+
+    typedef PlainObjectBase<Array> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Array)
+
+    enum { Options = _Options };
+    typedef typename Base::PlainObject PlainObject;
+
+  protected:
+    template <typename Derived, typename OtherDerived, bool IsVector>
+    friend struct internal::conservative_resize_like_impl;
+
+    using Base::m_storage;
+  public:
+    enum { NeedsToAlign = (!(Options&DontAlign))
+                          && SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+
+    using Base::base;
+    using Base::coeff;
+    using Base::coeffRef;
+
+    /**
+      * The usage of
+      *   using Base::operator=;
+      * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped
+      * the usage of 'using'. This should be done only for operator=.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Array& operator=(const EigenBase<OtherDerived> &other)
+    {
+      return Base::operator=(other);
+    }
+
+    /** Copies the value of the expression \a other into \c *this with automatic resizing.
+      *
+      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
+      * it will be initialized.
+      *
+      * Note that copying a row-vector into a vector (and conversely) is allowed.
+      * The resizing, if any, is then done in the appropriate way so that row-vectors
+      * remain row-vectors and vectors remain vectors.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Array& operator=(const ArrayBase<OtherDerived>& other)
+    {
+      return Base::_set(other);
+    }
+
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    EIGEN_STRONG_INLINE Array& operator=(const Array& other)
+    {
+      return Base::_set(other);
+    }
+
+    /** Default constructor.
+      *
+      * For fixed-size matrices, does nothing.
+      *
+      * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix
+      * is called a null matrix. This constructor is the unique way to create null matrices: resizing
+      * a matrix to 0 is not supported.
+      *
+      * \sa resize(Index,Index)
+      */
+    EIGEN_STRONG_INLINE explicit Array() : Base()
+    {
+      Base::_check_template_params();
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    // FIXME is it still needed ??
+    /** \internal */
+    Array(internal::constructor_without_unaligned_array_assert)
+      : Base(internal::constructor_without_unaligned_array_assert())
+    {
+      Base::_check_template_params();
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+#endif
+
+    /** Constructs a vector or row-vector with given dimension. \only_for_vectors
+      *
+      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
+      * it is redundant to pass the dimension here, so it makes more sense to use the default
+      * constructor Matrix() instead.
+      */
+    EIGEN_STRONG_INLINE explicit Array(Index dim)
+      : Base(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Array)
+      eigen_assert(dim >= 0);
+      eigen_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == dim);
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename T0, typename T1>
+    EIGEN_STRONG_INLINE Array(const T0& x, const T1& y)
+    {
+      Base::_check_template_params();
+      this->template _init2<T0,T1>(x, y);
+    }
+    #else
+    /** constructs an uninitialized matrix with \a rows rows and \a cols columns.
+      *
+      * This is useful for dynamic-size matrices. For fixed-size matrices,
+      * it is redundant to pass these parameters, so one should use the default constructor
+      * Matrix() instead. */
+    Array(Index rows, Index cols);
+    /** constructs an initialized 2D vector with given coefficients */
+    Array(const Scalar& x, const Scalar& y);
+    #endif
+
+    /** constructs an initialized 3D vector with given coefficients */
+    EIGEN_STRONG_INLINE Array(const Scalar& x, const Scalar& y, const Scalar& z)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 3)
+      m_storage.data()[0] = x;
+      m_storage.data()[1] = y;
+      m_storage.data()[2] = z;
+    }
+    /** constructs an initialized 4D vector with given coefficients */
+    EIGEN_STRONG_INLINE Array(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 4)
+      m_storage.data()[0] = x;
+      m_storage.data()[1] = y;
+      m_storage.data()[2] = z;
+      m_storage.data()[3] = w;
+    }
+
+    explicit Array(const Scalar *data);
+
+    /** Constructor copying the value of the expression \a other */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Array(const ArrayBase<OtherDerived>& other)
+             : Base(other.rows() * other.cols(), other.rows(), other.cols())
+    {
+      Base::_check_template_params();
+      Base::_set_noalias(other);
+    }
+    /** Copy constructor */
+    EIGEN_STRONG_INLINE Array(const Array& other)
+            : Base(other.rows() * other.cols(), other.rows(), other.cols())
+    {
+      Base::_check_template_params();
+      Base::_set_noalias(other);
+    }
+    /** Copy constructor with in-place evaluation */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Array(const ReturnByValue<OtherDerived>& other)
+    {
+      Base::_check_template_params();
+      Base::resize(other.rows(), other.cols());
+      other.evalTo(*this);
+    }
+
+    /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Array(const EigenBase<OtherDerived> &other)
+      : Base(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
+    {
+      Base::_check_template_params();
+      Base::resize(other.rows(), other.cols());
+      *this = other;
+    }
+
+    /** Override MatrixBase::swap() since for dynamic-sized matrices of same type it is enough to swap the
+      * data pointers.
+      */
+    template<typename OtherDerived>
+    void swap(ArrayBase<OtherDerived> const & other)
+    { this->_swap(other.derived()); }
+
+    inline Index innerStride() const { return 1; }
+    inline Index outerStride() const { return this->innerSize(); }
+
+    #ifdef EIGEN_ARRAY_PLUGIN
+    #include EIGEN_ARRAY_PLUGIN
+    #endif
+
+  private:
+
+    template<typename MatrixType, typename OtherDerived, bool SwapPointers>
+    friend struct internal::matrix_swap_impl;
+};
+
+/** \defgroup arraytypedefs Global array typedefs
+  * \ingroup Core_Module
+  *
+  * Eigen defines several typedef shortcuts for most common 1D and 2D array types.
+  *
+  * The general patterns are the following:
+  *
+  * \c ArrayRowsColsType where \c Rows and \c Cols can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size,
+  * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd
+  * for complex double.
+  *
+  * For example, \c Array33d is a fixed-size 3x3 array type of doubles, and \c ArrayXXf is a dynamic-size matrix of floats.
+  *
+  * There are also \c ArraySizeType which are self-explanatory. For example, \c Array4cf is
+  * a fixed-size 1D array of 4 complex floats.
+  *
+  * \sa class Array
+  */
+
+#define EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)   \
+/** \ingroup arraytypedefs */                                    \
+typedef Array<Type, Size, Size> Array##SizeSuffix##SizeSuffix##TypeSuffix;  \
+/** \ingroup arraytypedefs */                                    \
+typedef Array<Type, Size, 1>    Array##SizeSuffix##TypeSuffix;
+
+#define EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, Size)         \
+/** \ingroup arraytypedefs */                                    \
+typedef Array<Type, Size, Dynamic> Array##Size##X##TypeSuffix;  \
+/** \ingroup arraytypedefs */                                    \
+typedef Array<Type, Dynamic, Size> Array##X##Size##TypeSuffix;
+
+#define EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 2, 2) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 3, 3) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 4, 4) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
+
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(int,                  i)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(float,                f)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(double,               d)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex<float>,  cf)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
+
+#undef EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES
+#undef EIGEN_MAKE_ARRAY_TYPEDEFS
+
+#undef EIGEN_MAKE_ARRAY_TYPEDEFS_LARGE
+
+#define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \
+using Eigen::Matrix##SizeSuffix##TypeSuffix; \
+using Eigen::Vector##SizeSuffix##TypeSuffix; \
+using Eigen::RowVector##SizeSuffix##TypeSuffix;
+
+#define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(TypeSuffix) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \
+
+#define EIGEN_USING_ARRAY_TYPEDEFS \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(i) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(f) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(d) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cf) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cd)
+
+
+#endif // EIGEN_ARRAY_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ArrayBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ArrayBase.h
new file mode 100755
index 0000000..9399ac3
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ArrayBase.h
@@ -0,0 +1,239 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ARRAYBASE_H
+#define EIGEN_ARRAYBASE_H
+
+template<typename ExpressionType> class MatrixWrapper;
+
+/** \class ArrayBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for all 1D and 2D array, and related expressions
+  *
+  * An array is similar to a dense vector or matrix. While matrices are mathematical
+  * objects with well defined linear algebra operators, an array is just a collection
+  * of scalar values arranged in a one or two dimensionnal fashion. As the main consequence,
+  * all operations applied to an array are performed coefficient wise. Furthermore,
+  * arrays support scalar math functions of the c++ standard library (e.g., std::sin(x)), and convenient
+  * constructors allowing to easily write generic code working for both scalar values
+  * and arrays.
+  *
+  * This class is the base that is inherited by all array expression types.
+  *
+  * \tparam Derived is the derived type, e.g., an array or an expression type.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_ARRAYBASE_PLUGIN.
+  *
+  * \sa class MatrixBase, \ref TopicClassHierarchy
+  */
+template<typename Derived> class ArrayBase
+  : public DenseBase<Derived>
+{
+  public:
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** The base class for a given storage type. */
+    typedef ArrayBase StorageBaseType;
+
+    typedef ArrayBase Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl;
+
+    using internal::special_scalar_op_base<Derived,typename internal::traits<Derived>::Scalar,
+                typename NumTraits<typename internal::traits<Derived>::Scalar>::Real>::operator*;
+
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    typedef DenseBase<Derived> Base;
+    using Base::RowsAtCompileTime;
+    using Base::ColsAtCompileTime;
+    using Base::SizeAtCompileTime;
+    using Base::MaxRowsAtCompileTime;
+    using Base::MaxColsAtCompileTime;
+    using Base::MaxSizeAtCompileTime;
+    using Base::IsVectorAtCompileTime;
+    using Base::Flags;
+    using Base::CoeffReadCost;
+
+    using Base::derived;
+    using Base::const_cast_derived;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::coeff;
+    using Base::coeffRef;
+    using Base::lazyAssign;
+    using Base::operator=;
+    using Base::operator+=;
+    using Base::operator-=;
+    using Base::operator*=;
+    using Base::operator/=;
+
+    typedef typename Base::CoeffReturnType CoeffReturnType;
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** \internal the plain matrix type corresponding to this expression. Note that is not necessarily
+      * exactly the return type of eval(): in the case of plain matrices, the return type of eval() is a const
+      * reference to a matrix, not a matrix! It is however guaranteed that the return type of eval() is either
+      * PlainObject or const PlainObject&.
+      */
+    typedef Array<typename internal::traits<Derived>::Scalar,
+                internal::traits<Derived>::RowsAtCompileTime,
+                internal::traits<Derived>::ColsAtCompileTime,
+                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                internal::traits<Derived>::MaxRowsAtCompileTime,
+                internal::traits<Derived>::MaxColsAtCompileTime
+          > PlainObject;
+
+
+    /** \internal Represents a matrix with all coefficients equal to one another*/
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::ArrayBase
+#   include "../plugins/CommonCwiseUnaryOps.h"
+#   include "../plugins/MatrixCwiseUnaryOps.h"
+#   include "../plugins/ArrayCwiseUnaryOps.h"
+#   include "../plugins/CommonCwiseBinaryOps.h"
+#   include "../plugins/MatrixCwiseBinaryOps.h"
+#   include "../plugins/ArrayCwiseBinaryOps.h"
+#   ifdef EIGEN_ARRAYBASE_PLUGIN
+#     include EIGEN_ARRAYBASE_PLUGIN
+#   endif
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+
+    /** Special case of the template operator=, in order to prevent the compiler
+      * from generating a default operator= (issue hit with g++ 4.1)
+      */
+    Derived& operator=(const ArrayBase& other)
+    {
+      return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+    }
+
+    Derived& operator+=(const Scalar& scalar)
+    { return *this = derived() + scalar; }
+    Derived& operator-=(const Scalar& scalar)
+    { return *this = derived() - scalar; }
+
+    template<typename OtherDerived>
+    Derived& operator+=(const ArrayBase<OtherDerived>& other);
+    template<typename OtherDerived>
+    Derived& operator-=(const ArrayBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    Derived& operator*=(const ArrayBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    Derived& operator/=(const ArrayBase<OtherDerived>& other);
+
+  public:
+    ArrayBase<Derived>& array() { return *this; }
+    const ArrayBase<Derived>& array() const { return *this; }
+
+    /** \returns an \link MatrixBase Matrix \endlink expression of this array
+      * \sa MatrixBase::array() */
+    MatrixWrapper<Derived> matrix() { return derived(); }
+    const MatrixWrapper<Derived> matrix() const { return derived(); }
+
+//     template<typename Dest>
+//     inline void evalTo(Dest& dst) const { dst = matrix(); }
+
+  protected:
+    ArrayBase() : Base() {}
+
+  private:
+    explicit ArrayBase(Index);
+    ArrayBase(Index,Index);
+    template<typename OtherDerived> explicit ArrayBase(const ArrayBase<OtherDerived>&);
+  protected:
+    // mixing arrays and matrices is not legal
+    template<typename OtherDerived> Derived& operator+=(const MatrixBase<OtherDerived>& )
+    {EIGEN_STATIC_ASSERT(sizeof(typename OtherDerived::Scalar)==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES);}
+    // mixing arrays and matrices is not legal
+    template<typename OtherDerived> Derived& operator-=(const MatrixBase<OtherDerived>& )
+    {EIGEN_STATIC_ASSERT(sizeof(typename OtherDerived::Scalar)==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES);}
+};
+
+/** replaces \c *this by \c *this - \a other.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator-=(const ArrayBase<OtherDerived> &other)
+{
+  SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+/** replaces \c *this by \c *this + \a other.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator+=(const ArrayBase<OtherDerived>& other)
+{
+  SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+/** replaces \c *this by \c *this * \a other coefficient wise.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator*=(const ArrayBase<OtherDerived>& other)
+{
+  SelfCwiseBinaryOp<internal::scalar_product_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+/** replaces \c *this by \c *this / \a other coefficient wise.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator/=(const ArrayBase<OtherDerived>& other)
+{
+  SelfCwiseBinaryOp<internal::scalar_quotient_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+#endif // EIGEN_ARRAYBASE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ArrayWrapper.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ArrayWrapper.h
new file mode 100755
index 0000000..7ba01de
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ArrayWrapper.h
@@ -0,0 +1,221 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ARRAYWRAPPER_H
+#define EIGEN_ARRAYWRAPPER_H
+
+/** \class ArrayWrapper
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a mathematical vector or matrix as an array object
+  *
+  * This class is the return type of MatrixBase::array(), and most of the time
+  * this is the only way it is use.
+  *
+  * \sa MatrixBase::array(), class MatrixWrapper
+  */
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<ArrayWrapper<ExpressionType> >
+  : public traits<typename remove_all<typename ExpressionType::Nested>::type >
+{
+  typedef ArrayXpr XprKind;
+};
+}
+
+template<typename ExpressionType>
+class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
+{
+  public:
+    typedef ArrayBase<ArrayWrapper> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(ArrayWrapper)
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ArrayWrapper)
+
+    typedef typename internal::nested<ExpressionType>::type NestedExpressionType;
+
+    inline ArrayWrapper(const ExpressionType& matrix) : m_expression(matrix) {}
+
+    inline Index rows() const { return m_expression.rows(); }
+    inline Index cols() const { return m_expression.cols(); }
+    inline Index outerStride() const { return m_expression.outerStride(); }
+    inline Index innerStride() const { return m_expression.innerStride(); }
+
+    inline const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_expression.coeff(row, col);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_expression.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_expression.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return m_expression.coeff(index);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return m_expression.template packet<LoadMode>(row, col);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<LoadMode>(row, col, x);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return m_expression.template packet<LoadMode>(index);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
+    }
+
+    template<typename Dest>
+    inline void evalTo(Dest& dst) const { dst = m_expression; }
+
+  protected:
+    const NestedExpressionType m_expression;
+};
+
+/** \class MatrixWrapper
+  * \ingroup Core_Module
+  *
+  * \brief Expression of an array as a mathematical vector or matrix
+  *
+  * This class is the return type of ArrayBase::matrix(), and most of the time
+  * this is the only way it is use.
+  *
+  * \sa MatrixBase::matrix(), class ArrayWrapper
+  */
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<MatrixWrapper<ExpressionType> >
+ : public traits<typename remove_all<typename ExpressionType::Nested>::type >
+{
+  typedef MatrixXpr XprKind;
+};
+}
+
+template<typename ExpressionType>
+class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
+{
+  public:
+    typedef MatrixBase<MatrixWrapper<ExpressionType> > Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(MatrixWrapper)
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(MatrixWrapper)
+
+    typedef typename internal::nested<ExpressionType>::type NestedExpressionType;
+
+    inline MatrixWrapper(const ExpressionType& matrix) : m_expression(matrix) {}
+
+    inline Index rows() const { return m_expression.rows(); }
+    inline Index cols() const { return m_expression.cols(); }
+    inline Index outerStride() const { return m_expression.outerStride(); }
+    inline Index innerStride() const { return m_expression.innerStride(); }
+
+    inline const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_expression.coeff(row, col);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_expression.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_expression.derived().coeffRef(row, col);
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return m_expression.coeff(index);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return m_expression.template packet<LoadMode>(row, col);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<LoadMode>(row, col, x);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return m_expression.template packet<LoadMode>(index);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
+    }
+
+  protected:
+    const NestedExpressionType m_expression;
+};
+
+#endif // EIGEN_ARRAYWRAPPER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Assign.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Assign.h
new file mode 100755
index 0000000..3a17152
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Assign.h
@@ -0,0 +1,593 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Michael Olbrich <michael.olbrich@gmx.net>
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ASSIGN_H
+#define EIGEN_ASSIGN_H
+
+namespace internal {
+
+/***************************************************************************
+* Part 1 : the logic deciding a strategy for traversal and unrolling       *
+***************************************************************************/
+
+template <typename Derived, typename OtherDerived>
+struct assign_traits
+{
+public:
+  enum {
+    DstIsAligned = Derived::Flags & AlignedBit,
+    DstHasDirectAccess = Derived::Flags & DirectAccessBit,
+    SrcIsAligned = OtherDerived::Flags & AlignedBit,
+    JointAlignment = bool(DstIsAligned) && bool(SrcIsAligned) ? Aligned : Unaligned
+  };
+
+private:
+  enum {
+    InnerSize = int(Derived::IsVectorAtCompileTime) ? int(Derived::SizeAtCompileTime)
+              : int(Derived::Flags)&RowMajorBit ? int(Derived::ColsAtCompileTime)
+              : int(Derived::RowsAtCompileTime),
+    InnerMaxSize = int(Derived::IsVectorAtCompileTime) ? int(Derived::MaxSizeAtCompileTime)
+              : int(Derived::Flags)&RowMajorBit ? int(Derived::MaxColsAtCompileTime)
+              : int(Derived::MaxRowsAtCompileTime),
+    MaxSizeAtCompileTime = Derived::SizeAtCompileTime,
+    PacketSize = packet_traits<typename Derived::Scalar>::size
+  };
+
+  enum {
+    StorageOrdersAgree = (int(Derived::IsRowMajor) == int(OtherDerived::IsRowMajor)),
+    MightVectorize = StorageOrdersAgree
+                  && (int(Derived::Flags) & int(OtherDerived::Flags) & ActualPacketAccessBit),
+    MayInnerVectorize  = MightVectorize && int(InnerSize)!=Dynamic && int(InnerSize)%int(PacketSize)==0
+                       && int(DstIsAligned) && int(SrcIsAligned),
+    MayLinearize = StorageOrdersAgree && (int(Derived::Flags) & int(OtherDerived::Flags) & LinearAccessBit),
+    MayLinearVectorize = MightVectorize && MayLinearize && DstHasDirectAccess
+                       && (DstIsAligned || MaxSizeAtCompileTime == Dynamic),
+      /* If the destination isn't aligned, we have to do runtime checks and we don't unroll,
+         so it's only good for large enough sizes. */
+    MaySliceVectorize  = MightVectorize && DstHasDirectAccess
+                       && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=3*PacketSize)
+      /* slice vectorization can be slow, so we only want it if the slices are big, which is
+         indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block
+         in a fixed-size matrix */
+  };
+
+public:
+  enum {
+    Traversal = int(MayInnerVectorize)  ? int(InnerVectorizedTraversal)
+              : int(MayLinearVectorize) ? int(LinearVectorizedTraversal)
+              : int(MaySliceVectorize)  ? int(SliceVectorizedTraversal)
+              : int(MayLinearize)       ? int(LinearTraversal)
+                                        : int(DefaultTraversal),
+    Vectorized = int(Traversal) == InnerVectorizedTraversal
+              || int(Traversal) == LinearVectorizedTraversal
+              || int(Traversal) == SliceVectorizedTraversal
+  };
+
+private:
+  enum {
+    UnrollingLimit      = EIGEN_UNROLLING_LIMIT * (Vectorized ? int(PacketSize) : 1),
+    MayUnrollCompletely = int(Derived::SizeAtCompileTime) != Dynamic
+                       && int(OtherDerived::CoeffReadCost) != Dynamic
+                       && int(Derived::SizeAtCompileTime) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit),
+    MayUnrollInner      = int(InnerSize) != Dynamic
+                       && int(OtherDerived::CoeffReadCost) != Dynamic
+                       && int(InnerSize) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit)
+  };
+
+public:
+  enum {
+    Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal))
+                ? (
+                    int(MayUnrollCompletely) ? int(CompleteUnrolling)
+                  : int(MayUnrollInner)      ? int(InnerUnrolling)
+                                             : int(NoUnrolling)
+                  )
+              : int(Traversal) == int(LinearVectorizedTraversal)
+                ? ( bool(MayUnrollCompletely) && bool(DstIsAligned) ? int(CompleteUnrolling) : int(NoUnrolling) )
+              : int(Traversal) == int(LinearTraversal)
+                ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) : int(NoUnrolling) )
+              : int(NoUnrolling)
+  };
+
+#ifdef EIGEN_DEBUG_ASSIGN
+  static void debug()
+  {
+    EIGEN_DEBUG_VAR(DstIsAligned)
+    EIGEN_DEBUG_VAR(SrcIsAligned)
+    EIGEN_DEBUG_VAR(JointAlignment)
+    EIGEN_DEBUG_VAR(InnerSize)
+    EIGEN_DEBUG_VAR(InnerMaxSize)
+    EIGEN_DEBUG_VAR(PacketSize)
+    EIGEN_DEBUG_VAR(StorageOrdersAgree)
+    EIGEN_DEBUG_VAR(MightVectorize)
+    EIGEN_DEBUG_VAR(MayLinearize)
+    EIGEN_DEBUG_VAR(MayInnerVectorize)
+    EIGEN_DEBUG_VAR(MayLinearVectorize)
+    EIGEN_DEBUG_VAR(MaySliceVectorize)
+    EIGEN_DEBUG_VAR(Traversal)
+    EIGEN_DEBUG_VAR(UnrollingLimit)
+    EIGEN_DEBUG_VAR(MayUnrollCompletely)
+    EIGEN_DEBUG_VAR(MayUnrollInner)
+    EIGEN_DEBUG_VAR(Unrolling)
+  }
+#endif
+};
+
+/***************************************************************************
+* Part 2 : meta-unrollers
+***************************************************************************/
+
+/************************
+*** Default traversal ***
+************************/
+
+template<typename Derived1, typename Derived2, int Index, int Stop>
+struct assign_DefaultTraversal_CompleteUnrolling
+{
+  enum {
+    outer = Index / Derived1::InnerSizeAtCompileTime,
+    inner = Index % Derived1::InnerSizeAtCompileTime
+  };
+
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    dst.copyCoeffByOuterInner(outer, inner, src);
+    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src);
+  }
+};
+
+template<typename Derived1, typename Derived2, int Stop>
+struct assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &) {}
+};
+
+template<typename Derived1, typename Derived2, int Index, int Stop>
+struct assign_DefaultTraversal_InnerUnrolling
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src, int outer)
+  {
+    dst.copyCoeffByOuterInner(outer, Index, src);
+    assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src, outer);
+  }
+};
+
+template<typename Derived1, typename Derived2, int Stop>
+struct assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, Stop, Stop>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &, int) {}
+};
+
+/***********************
+*** Linear traversal ***
+***********************/
+
+template<typename Derived1, typename Derived2, int Index, int Stop>
+struct assign_LinearTraversal_CompleteUnrolling
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    dst.copyCoeff(Index, src);
+    assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src);
+  }
+};
+
+template<typename Derived1, typename Derived2, int Stop>
+struct assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &) {}
+};
+
+/**************************
+*** Inner vectorization ***
+**************************/
+
+template<typename Derived1, typename Derived2, int Index, int Stop>
+struct assign_innervec_CompleteUnrolling
+{
+  enum {
+    outer = Index / Derived1::InnerSizeAtCompileTime,
+    inner = Index % Derived1::InnerSizeAtCompileTime,
+    JointAlignment = assign_traits<Derived1,Derived2>::JointAlignment
+  };
+
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    dst.template copyPacketByOuterInner<Derived2, Aligned, JointAlignment>(outer, inner, src);
+    assign_innervec_CompleteUnrolling<Derived1, Derived2,
+      Index+packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src);
+  }
+};
+
+template<typename Derived1, typename Derived2, int Stop>
+struct assign_innervec_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &) {}
+};
+
+template<typename Derived1, typename Derived2, int Index, int Stop>
+struct assign_innervec_InnerUnrolling
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src, int outer)
+  {
+    dst.template copyPacketByOuterInner<Derived2, Aligned, Aligned>(outer, Index, src);
+    assign_innervec_InnerUnrolling<Derived1, Derived2,
+      Index+packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src, outer);
+  }
+};
+
+template<typename Derived1, typename Derived2, int Stop>
+struct assign_innervec_InnerUnrolling<Derived1, Derived2, Stop, Stop>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &, const Derived2 &, int) {}
+};
+
+/***************************************************************************
+* Part 3 : implementation of all cases
+***************************************************************************/
+
+template<typename Derived1, typename Derived2,
+         int Traversal = assign_traits<Derived1, Derived2>::Traversal,
+         int Unrolling = assign_traits<Derived1, Derived2>::Unrolling>
+struct assign_impl;
+
+/************************
+*** Default traversal ***
+************************/
+
+template<typename Derived1, typename Derived2, int Unrolling>
+struct assign_impl<Derived1, Derived2, InvalidTraversal, Unrolling>
+{
+  inline static void run(Derived1 &, const Derived2 &) { }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, DefaultTraversal, NoUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index innerSize = dst.innerSize();
+    const Index outerSize = dst.outerSize();
+    for(Index outer = 0; outer < outerSize; ++outer)
+      for(Index inner = 0; inner < innerSize; ++inner)
+        dst.copyCoeffByOuterInner(outer, inner, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, DefaultTraversal, CompleteUnrolling>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
+      ::run(dst, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, DefaultTraversal, InnerUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index outerSize = dst.outerSize();
+    for(Index outer = 0; outer < outerSize; ++outer)
+      assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, 0, Derived1::InnerSizeAtCompileTime>
+        ::run(dst, src, outer);
+  }
+};
+
+/***********************
+*** Linear traversal ***
+***********************/
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, LinearTraversal, NoUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index size = dst.size();
+    for(Index i = 0; i < size; ++i)
+      dst.copyCoeff(i, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, LinearTraversal, CompleteUnrolling>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
+      ::run(dst, src);
+  }
+};
+
+/**************************
+*** Inner vectorization ***
+**************************/
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index innerSize = dst.innerSize();
+    const Index outerSize = dst.outerSize();
+    const Index packetSize = packet_traits<typename Derived1::Scalar>::size;
+    for(Index outer = 0; outer < outerSize; ++outer)
+      for(Index inner = 0; inner < innerSize; inner+=packetSize)
+        dst.template copyPacketByOuterInner<Derived2, Aligned, Aligned>(outer, inner, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, CompleteUnrolling>
+{
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
+      ::run(dst, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, InnerUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index outerSize = dst.outerSize();
+    for(Index outer = 0; outer < outerSize; ++outer)
+      assign_innervec_InnerUnrolling<Derived1, Derived2, 0, Derived1::InnerSizeAtCompileTime>
+        ::run(dst, src, outer);
+  }
+};
+
+/***************************
+*** Linear vectorization ***
+***************************/
+
+template <bool IsAligned = false>
+struct unaligned_assign_impl
+{
+  template <typename Derived, typename OtherDerived>
+  static EIGEN_STRONG_INLINE void run(const Derived&, OtherDerived&, typename Derived::Index, typename Derived::Index) {}
+};
+
+template <>
+struct unaligned_assign_impl<false>
+{
+  // MSVC must not inline this functions. If it does, it fails to optimize the
+  // packet access path.
+#ifdef _MSC_VER
+  template <typename Derived, typename OtherDerived>
+  static EIGEN_DONT_INLINE void run(const Derived& src, OtherDerived& dst, typename Derived::Index start, typename Derived::Index end)
+#else
+  template <typename Derived, typename OtherDerived>
+  static EIGEN_STRONG_INLINE void run(const Derived& src, OtherDerived& dst, typename Derived::Index start, typename Derived::Index end)
+#endif
+  {
+    for (typename Derived::Index index = start; index < end; ++index)
+      dst.copyCoeff(index, src);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, LinearVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    const Index size = dst.size();
+    typedef packet_traits<typename Derived1::Scalar> PacketTraits;
+    enum {
+      packetSize = PacketTraits::size,
+      dstAlignment = PacketTraits::AlignedOnScalar ? Aligned : int(assign_traits<Derived1,Derived2>::DstIsAligned) ,
+      srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment
+    };
+    const Index alignedStart = assign_traits<Derived1,Derived2>::DstIsAligned ? 0
+                             : first_aligned(&dst.coeffRef(0), size);
+    const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
+
+    unaligned_assign_impl<assign_traits<Derived1,Derived2>::DstIsAligned!=0>::run(src,dst,0,alignedStart);
+
+    for(Index index = alignedStart; index < alignedEnd; index += packetSize)
+    {
+      dst.template copyPacket<Derived2, dstAlignment, srcAlignment>(index, src);
+    }
+
+    unaligned_assign_impl<>::run(src,dst,alignedEnd,size);
+  }
+};
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, LinearVectorizedTraversal, CompleteUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  EIGEN_STRONG_INLINE static void run(Derived1 &dst, const Derived2 &src)
+  {
+    enum { size = Derived1::SizeAtCompileTime,
+           packetSize = packet_traits<typename Derived1::Scalar>::size,
+           alignedSize = (size/packetSize)*packetSize };
+
+    assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, alignedSize>::run(dst, src);
+    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, alignedSize, size>::run(dst, src);
+  }
+};
+
+/**************************
+*** Slice vectorization ***
+***************************/
+
+template<typename Derived1, typename Derived2>
+struct assign_impl<Derived1, Derived2, SliceVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    typedef packet_traits<typename Derived1::Scalar> PacketTraits;
+    enum {
+      packetSize = PacketTraits::size,
+      alignable = PacketTraits::AlignedOnScalar,
+      dstAlignment = alignable ? Aligned : int(assign_traits<Derived1,Derived2>::DstIsAligned) ,
+      srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment
+    };
+    const Index packetAlignedMask = packetSize - 1;
+    const Index innerSize = dst.innerSize();
+    const Index outerSize = dst.outerSize();
+    const Index alignedStep = alignable ? (packetSize - dst.outerStride() % packetSize) & packetAlignedMask : 0;
+    Index alignedStart = ((!alignable) || assign_traits<Derived1,Derived2>::DstIsAligned) ? 0
+                       : first_aligned(&dst.coeffRef(0,0), innerSize);
+
+    for(Index outer = 0; outer < outerSize; ++outer)
+    {
+      const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask);
+      // do the non-vectorizable part of the assignment
+      for(Index inner = 0; inner<alignedStart ; ++inner)
+        dst.copyCoeffByOuterInner(outer, inner, src);
+
+      // do the vectorizable part of the assignment
+      for(Index inner = alignedStart; inner<alignedEnd; inner+=packetSize)
+        dst.template copyPacketByOuterInner<Derived2, dstAlignment, Unaligned>(outer, inner, src);
+
+      // do the non-vectorizable part of the assignment
+      for(Index inner = alignedEnd; inner<innerSize ; ++inner)
+        dst.copyCoeffByOuterInner(outer, inner, src);
+
+      alignedStart = std::min<Index>((alignedStart+alignedStep)%packetSize, innerSize);
+    }
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Part 4 : implementation of DenseBase methods
+***************************************************************************/
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>
+  ::lazyAssign(const DenseBase<OtherDerived>& other)
+{
+  enum{
+    SameType = internal::is_same<typename Derived::Scalar,typename OtherDerived::Scalar>::value
+  };
+
+  EIGEN_STATIC_ASSERT_LVALUE(Derived)
+  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
+  EIGEN_STATIC_ASSERT(SameType,YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+#ifdef EIGEN_DEBUG_ASSIGN
+  internal::assign_traits<Derived, OtherDerived>::debug();
+#endif
+  eigen_assert(rows() == other.rows() && cols() == other.cols());
+  internal::assign_impl<Derived, OtherDerived, int(SameType) ? int(internal::assign_traits<Derived, OtherDerived>::Traversal)
+                                                       : int(InvalidTraversal)>::run(derived(),other.derived());
+#ifndef EIGEN_NO_DEBUG
+  checkTransposeAliasing(other.derived());
+#endif
+  return derived();
+}
+
+namespace internal {
+
+template<typename Derived, typename OtherDerived,
+         bool EvalBeforeAssigning = (int(OtherDerived::Flags) & EvalBeforeAssigningBit) != 0,
+         bool NeedToTranspose = Derived::IsVectorAtCompileTime
+                && OtherDerived::IsVectorAtCompileTime
+                && ((int(Derived::RowsAtCompileTime) == 1 && int(OtherDerived::ColsAtCompileTime) == 1)
+                      |  // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
+                         // revert to || as soon as not needed anymore.
+                    (int(Derived::ColsAtCompileTime) == 1 && int(OtherDerived::RowsAtCompileTime) == 1))
+                && int(Derived::SizeAtCompileTime) != 1>
+struct assign_selector;
+
+template<typename Derived, typename OtherDerived>
+struct assign_selector<Derived,OtherDerived,false,false> {
+  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.derived()); }
+};
+template<typename Derived, typename OtherDerived>
+struct assign_selector<Derived,OtherDerived,true,false> {
+  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.eval()); }
+};
+template<typename Derived, typename OtherDerived>
+struct assign_selector<Derived,OtherDerived,false,true> {
+  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose()); }
+};
+template<typename Derived, typename OtherDerived>
+struct assign_selector<Derived,OtherDerived,true,true> {
+  EIGEN_STRONG_INLINE static Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose().eval()); }
+};
+
+} // end namespace internal
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
+{
+  return internal::assign_selector<Derived,OtherDerived>::run(derived(), other.derived());
+}
+
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase& other)
+{
+  return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+}
+
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const MatrixBase& other)
+{
+  return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+}
+
+template<typename Derived>
+template <typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
+{
+  return internal::assign_selector<Derived,OtherDerived>::run(derived(), other.derived());
+}
+
+template<typename Derived>
+template <typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const EigenBase<OtherDerived>& other)
+{
+  other.derived().evalTo(derived());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
+{
+  other.evalTo(derived());
+  return derived();
+}
+
+#endif // EIGEN_ASSIGN_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/BandMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/BandMatrix.h
new file mode 100755
index 0000000..a1f71d5
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/BandMatrix.h
@@ -0,0 +1,345 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BANDMATRIX_H
+#define EIGEN_BANDMATRIX_H
+
+namespace internal {
+
+
+template<typename Derived>
+class BandMatrixBase : public EigenBase<Derived>
+{
+  public:
+
+    enum {
+      Flags = internal::traits<Derived>::Flags,
+      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+      Supers = internal::traits<Derived>::Supers,
+      Subs   = internal::traits<Derived>::Subs,
+      Options = internal::traits<Derived>::Options
+    };
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> DenseMatrixType;
+    typedef typename DenseMatrixType::Index Index;
+    typedef typename internal::traits<Derived>::CoefficientsType CoefficientsType;
+    typedef EigenBase<Derived> Base;
+
+  protected:
+    enum {
+      DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic))
+                            ? 1 + Supers + Subs
+                            : Dynamic,
+      SizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime)
+    };
+
+  public:
+    
+    using Base::derived;
+    using Base::rows;
+    using Base::cols;
+
+    /** \returns the number of super diagonals */
+    inline Index supers() const { return derived().supers(); }
+
+    /** \returns the number of sub diagonals */
+    inline Index subs() const { return derived().subs(); }
+    
+    /** \returns an expression of the underlying coefficient matrix */
+    inline const CoefficientsType& coeffs() const { return derived().coeffs(); }
+    
+    /** \returns an expression of the underlying coefficient matrix */
+    inline CoefficientsType& coeffs() { return derived().coeffs(); }
+
+    /** \returns a vector expression of the \a i -th column,
+      * only the meaningful part is returned.
+      * \warning the internal storage must be column major. */
+    inline Block<CoefficientsType,Dynamic,1> col(Index i)
+    {
+      EIGEN_STATIC_ASSERT((Options&RowMajor)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+      Index start = 0;
+      Index len = coeffs().rows();
+      if (i<=supers())
+      {
+        start = supers()-i;
+        len = std::min(rows(),std::max<Index>(0,coeffs().rows() - (supers()-i)));
+      }
+      else if (i>=rows()-subs())
+        len = std::max<Index>(0,coeffs().rows() - (i + 1 - rows() + subs()));
+      return Block<CoefficientsType,Dynamic,1>(coeffs(), start, i, len, 1);
+    }
+
+    /** \returns a vector expression of the main diagonal */
+    inline Block<CoefficientsType,1,SizeAtCompileTime> diagonal()
+    { return Block<CoefficientsType,1,SizeAtCompileTime>(coeffs(),supers(),0,1,std::min(rows(),cols())); }
+
+    /** \returns a vector expression of the main diagonal (const version) */
+    inline const Block<const CoefficientsType,1,SizeAtCompileTime> diagonal() const
+    { return Block<const CoefficientsType,1,SizeAtCompileTime>(coeffs(),supers(),0,1,std::min(rows(),cols())); }
+
+    template<int Index> struct DiagonalIntReturnType {
+      enum {
+        ReturnOpposite = (Options&SelfAdjoint) && (((Index)>0 && Supers==0) || ((Index)<0 && Subs==0)),
+        Conjugate = ReturnOpposite && NumTraits<Scalar>::IsComplex,
+        ActualIndex = ReturnOpposite ? -Index : Index,
+        DiagonalSize = (RowsAtCompileTime==Dynamic || ColsAtCompileTime==Dynamic)
+                     ? Dynamic
+                     : (ActualIndex<0
+                     ? EIGEN_SIZE_MIN_PREFER_DYNAMIC(ColsAtCompileTime, RowsAtCompileTime + ActualIndex)
+                     : EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime - ActualIndex))
+      };
+      typedef Block<CoefficientsType,1, DiagonalSize> BuildType;
+      typedef typename internal::conditional<Conjugate,
+                 CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>,BuildType >,
+                 BuildType>::type Type;
+    };
+
+    /** \returns a vector expression of the \a N -th sub or super diagonal */
+    template<int N> inline typename DiagonalIntReturnType<N>::Type diagonal()
+    {
+      return typename DiagonalIntReturnType<N>::BuildType(coeffs(), supers()-N, std::max(0,N), 1, diagonalLength(N));
+    }
+
+    /** \returns a vector expression of the \a N -th sub or super diagonal */
+    template<int N> inline const typename DiagonalIntReturnType<N>::Type diagonal() const
+    {
+      return typename DiagonalIntReturnType<N>::BuildType(coeffs(), supers()-N, std::max(0,N), 1, diagonalLength(N));
+    }
+
+    /** \returns a vector expression of the \a i -th sub or super diagonal */
+    inline Block<CoefficientsType,1,Dynamic> diagonal(Index i)
+    {
+      eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers()));
+      return Block<CoefficientsType,1,Dynamic>(coeffs(), supers()-i, std::max<Index>(0,i), 1, diagonalLength(i));
+    }
+
+    /** \returns a vector expression of the \a i -th sub or super diagonal */
+    inline const Block<const CoefficientsType,1,Dynamic> diagonal(Index i) const
+    {
+      eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers()));
+      return Block<const CoefficientsType,1,Dynamic>(coeffs(), supers()-i, std::max<Index>(0,i), 1, diagonalLength(i));
+    }
+    
+    template<typename Dest> inline void evalTo(Dest& dst) const
+    {
+      dst.resize(rows(),cols());
+      dst.setZero();
+      dst.diagonal() = diagonal();
+      for (Index i=1; i<=supers();++i)
+        dst.diagonal(i) = diagonal(i);
+      for (Index i=1; i<=subs();++i)
+        dst.diagonal(-i) = diagonal(-i);
+    }
+
+    DenseMatrixType toDenseMatrix() const
+    {
+      DenseMatrixType res(rows(),cols());
+      evalTo(res);
+      return res;
+    }
+
+  protected:
+
+    inline Index diagonalLength(Index i) const
+    { return i<0 ? std::min(cols(),rows()+i) : std::min(rows(),cols()-i); }
+};
+
+/**
+  * \class BandMatrix
+  * \ingroup Core_Module
+  *
+  * \brief Represents a rectangular matrix with a banded storage
+  *
+  * \param _Scalar Numeric type, i.e. float, double, int
+  * \param Rows Number of rows, or \b Dynamic
+  * \param Cols Number of columns, or \b Dynamic
+  * \param Supers Number of super diagonal
+  * \param Subs Number of sub diagonal
+  * \param _Options A combination of either \b RowMajor or \b ColMajor, and of \b SelfAdjoint
+  *                 The former controls \ref TopicStorageOrders "storage order", and defaults to
+  *                 column-major. The latter controls whether the matrix represents a selfadjoint 
+  *                 matrix in which case either Supers of Subs have to be null.
+  *
+  * \sa class TridiagonalMatrix
+  */
+
+template<typename _Scalar, int _Rows, int _Cols, int _Supers, int _Subs, int _Options>
+struct traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+  typedef _Scalar Scalar;
+  typedef Dense StorageKind;
+  typedef DenseIndex Index;
+  enum {
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    RowsAtCompileTime = _Rows,
+    ColsAtCompileTime = _Cols,
+    MaxRowsAtCompileTime = _Rows,
+    MaxColsAtCompileTime = _Cols,
+    Flags = LvalueBit,
+    Supers = _Supers,
+    Subs = _Subs,
+    Options = _Options,
+    DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic
+  };
+  typedef Matrix<Scalar,DataRowsAtCompileTime,ColsAtCompileTime,Options&RowMajor?RowMajor:ColMajor> CoefficientsType;
+};
+
+template<typename _Scalar, int Rows, int Cols, int Supers, int Subs, int Options>
+class BandMatrix : public BandMatrixBase<BandMatrix<_Scalar,Rows,Cols,Supers,Subs,Options> >
+{
+  public:
+
+    typedef typename internal::traits<BandMatrix>::Scalar Scalar;
+    typedef typename internal::traits<BandMatrix>::Index Index;
+    typedef typename internal::traits<BandMatrix>::CoefficientsType CoefficientsType;
+
+    inline BandMatrix(Index rows=Rows, Index cols=Cols, Index supers=Supers, Index subs=Subs)
+      : m_coeffs(1+supers+subs,cols),
+        m_rows(rows), m_supers(supers), m_subs(subs)
+    {
+    }
+
+    /** \returns the number of columns */
+    inline Index rows() const { return m_rows.value(); }
+
+    /** \returns the number of rows */
+    inline Index cols() const { return m_coeffs.cols(); }
+
+    /** \returns the number of super diagonals */
+    inline Index supers() const { return m_supers.value(); }
+
+    /** \returns the number of sub diagonals */
+    inline Index subs() const { return m_subs.value(); }
+
+    inline const CoefficientsType& coeffs() const { return m_coeffs; }
+    inline CoefficientsType& coeffs() { return m_coeffs; }
+
+  protected:
+
+    CoefficientsType m_coeffs;
+    internal::variable_if_dynamic<Index, Rows>   m_rows;
+    internal::variable_if_dynamic<Index, Supers> m_supers;
+    internal::variable_if_dynamic<Index, Subs>   m_subs;
+};
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+class BandMatrixWrapper;
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+struct traits<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+  typedef typename _CoefficientsType::Scalar Scalar;
+  typedef typename _CoefficientsType::StorageKind StorageKind;
+  typedef typename _CoefficientsType::Index Index;
+  enum {
+    CoeffReadCost = internal::traits<_CoefficientsType>::CoeffReadCost,
+    RowsAtCompileTime = _Rows,
+    ColsAtCompileTime = _Cols,
+    MaxRowsAtCompileTime = _Rows,
+    MaxColsAtCompileTime = _Cols,
+    Flags = LvalueBit,
+    Supers = _Supers,
+    Subs = _Subs,
+    Options = _Options,
+    DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic
+  };
+  typedef _CoefficientsType CoefficientsType;
+};
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+  public:
+
+    typedef typename internal::traits<BandMatrixWrapper>::Scalar Scalar;
+    typedef typename internal::traits<BandMatrixWrapper>::CoefficientsType CoefficientsType;
+    typedef typename internal::traits<BandMatrixWrapper>::Index Index;
+
+    inline BandMatrixWrapper(const CoefficientsType& coeffs, Index rows=_Rows, Index cols=_Cols, Index supers=_Supers, Index subs=_Subs)
+      : m_coeffs(coeffs),
+        m_rows(rows), m_supers(supers), m_subs(subs)
+    {
+      //internal::assert(coeffs.cols()==cols() && (supers()+subs()+1)==coeffs.rows());
+    }
+
+    /** \returns the number of columns */
+    inline Index rows() const { return m_rows.value(); }
+
+    /** \returns the number of rows */
+    inline Index cols() const { return m_coeffs.cols(); }
+
+    /** \returns the number of super diagonals */
+    inline Index supers() const { return m_supers.value(); }
+
+    /** \returns the number of sub diagonals */
+    inline Index subs() const { return m_subs.value(); }
+
+    inline const CoefficientsType& coeffs() const { return m_coeffs; }
+
+  protected:
+
+    const CoefficientsType& m_coeffs;
+    internal::variable_if_dynamic<Index, _Rows>   m_rows;
+    internal::variable_if_dynamic<Index, _Supers> m_supers;
+    internal::variable_if_dynamic<Index, _Subs>   m_subs;
+};
+
+/**
+  * \class TridiagonalMatrix
+  * \ingroup Core_Module
+  *
+  * \brief Represents a tridiagonal matrix with a compact banded storage
+  *
+  * \param _Scalar Numeric type, i.e. float, double, int
+  * \param Size Number of rows and cols, or \b Dynamic
+  * \param _Options Can be 0 or \b SelfAdjoint
+  *
+  * \sa class BandMatrix
+  */
+template<typename Scalar, int Size, int Options>
+class TridiagonalMatrix : public BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor>
+{
+    typedef BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor> Base;
+    typedef typename Base::Index Index;
+  public:
+    TridiagonalMatrix(Index size = Size) : Base(size,size,Options&SelfAdjoint?0:1,1) {}
+
+    inline typename Base::template DiagonalIntReturnType<1>::Type super()
+    { return Base::template diagonal<1>(); }
+    inline const typename Base::template DiagonalIntReturnType<1>::Type super() const
+    { return Base::template diagonal<1>(); }
+    inline typename Base::template DiagonalIntReturnType<-1>::Type sub()
+    { return Base::template diagonal<-1>(); }
+    inline const typename Base::template DiagonalIntReturnType<-1>::Type sub() const
+    { return Base::template diagonal<-1>(); }
+  protected:
+};
+
+} // end namespace internal
+
+#endif // EIGEN_BANDMATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Block.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Block.h
new file mode 100755
index 0000000..2b251bc
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Block.h
@@ -0,0 +1,349 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BLOCK_H
+#define EIGEN_BLOCK_H
+
+/** \class Block
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a fixed-size or dynamic-size block
+  *
+  * \param XprType the type of the expression in which we are taking a block
+  * \param BlockRows the number of rows of the block we are taking at compile time (optional)
+  * \param BlockCols the number of columns of the block we are taking at compile time (optional)
+  * \param _DirectAccessStatus \internal used for partial specialization
+  *
+  * This class represents an expression of either a fixed-size or dynamic-size block. It is the return
+  * type of DenseBase::block(Index,Index,Index,Index) and DenseBase::block<int,int>(Index,Index) and
+  * most of the time this is the only way it is used.
+  *
+  * However, if you want to directly maniputate block expressions,
+  * for instance if you want to write a function returning such an expression, you
+  * will need to use this class.
+  *
+  * Here is an example illustrating the dynamic case:
+  * \include class_Block.cpp
+  * Output: \verbinclude class_Block.out
+  *
+  * \note Even though this expression has dynamic size, in the case where \a XprType
+  * has fixed size, this expression inherits a fixed maximal size which means that evaluating
+  * it does not cause a dynamic memory allocation.
+  *
+  * Here is an example illustrating the fixed-size case:
+  * \include class_FixedBlock.cpp
+  * Output: \verbinclude class_FixedBlock.out
+  *
+  * \sa DenseBase::block(Index,Index,Index,Index), DenseBase::block(Index,Index), class VectorBlock
+  */
+
+namespace internal {
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess>
+struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel, HasDirectAccess> > : traits<XprType>
+{
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef typename traits<XprType>::StorageKind StorageKind;
+  typedef typename traits<XprType>::XprKind XprKind;
+  typedef typename nested<XprType>::type XprTypeNested;
+  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
+  enum{
+    MatrixRows = traits<XprType>::RowsAtCompileTime,
+    MatrixCols = traits<XprType>::ColsAtCompileTime,
+    RowsAtCompileTime = MatrixRows == 0 ? 0 : BlockRows,
+    ColsAtCompileTime = MatrixCols == 0 ? 0 : BlockCols,
+    MaxRowsAtCompileTime = BlockRows==0 ? 0
+                         : RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime)
+                         : int(traits<XprType>::MaxRowsAtCompileTime),
+    MaxColsAtCompileTime = BlockCols==0 ? 0
+                         : ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime)
+                         : int(traits<XprType>::MaxColsAtCompileTime),
+    XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0,
+    IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+               : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+               : XprTypeIsRowMajor,
+    HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor),
+    InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
+    InnerStrideAtCompileTime = HasSameStorageOrderAsXprType
+                             ? int(inner_stride_at_compile_time<XprType>::ret)
+                             : int(outer_stride_at_compile_time<XprType>::ret),
+    OuterStrideAtCompileTime = HasSameStorageOrderAsXprType
+                             ? int(outer_stride_at_compile_time<XprType>::ret)
+                             : int(inner_stride_at_compile_time<XprType>::ret),
+    MaskPacketAccessBit = (InnerSize == Dynamic || (InnerSize % packet_traits<Scalar>::size) == 0)
+                       && (InnerStrideAtCompileTime == 1)
+                        ? PacketAccessBit : 0,
+    MaskAlignedBit = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && ((OuterStrideAtCompileTime % packet_traits<Scalar>::size) == 0)) ? AlignedBit : 0,
+    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1) ? LinearAccessBit : 0,
+    FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
+    FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,
+    Flags0 = traits<XprType>::Flags & ( (HereditaryBits & ~RowMajorBit) |
+                                        DirectAccessBit |
+                                        MaskPacketAccessBit |
+                                        MaskAlignedBit),
+    Flags = Flags0 | FlagsLinearAccessBit | FlagsLvalueBit | FlagsRowMajorBit
+  };
+};
+}
+
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess> class Block
+  : public internal::dense_xpr_base<Block<XprType, BlockRows, BlockCols, InnerPanel, HasDirectAccess> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Block>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Block)
+
+    class InnerIterator;
+
+    /** Column or Row constructor
+      */
+    inline Block(XprType& xpr, Index i)
+      : m_xpr(xpr),
+        // It is a row if and only if BlockRows==1 and BlockCols==XprType::ColsAtCompileTime,
+        // and it is a column if and only if BlockRows==XprType::RowsAtCompileTime and BlockCols==1,
+        // all other cases are invalid.
+        // The case a 1x1 matrix seems ambiguous, but the result is the same anyway.
+        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0),
+        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0),
+        m_blockRows(BlockRows==1 ? 1 : xpr.rows()),
+        m_blockCols(BlockCols==1 ? 1 : xpr.cols())
+    {
+      eigen_assert( (i>=0) && (
+          ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows())
+        ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols())));
+    }
+
+    /** Fixed-size constructor
+      */
+    inline Block(XprType& xpr, Index startRow, Index startCol)
+      : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
+        m_blockRows(BlockRows), m_blockCols(BlockCols)
+    {
+      EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
+      eigen_assert(startRow >= 0 && BlockRows >= 1 && startRow + BlockRows <= xpr.rows()
+             && startCol >= 0 && BlockCols >= 1 && startCol + BlockCols <= xpr.cols());
+    }
+
+    /** Dynamic-size constructor
+      */
+    inline Block(XprType& xpr,
+          Index startRow, Index startCol,
+          Index blockRows, Index blockCols)
+      : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
+                          m_blockRows(blockRows), m_blockCols(blockCols)
+    {
+      eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
+          && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
+      eigen_assert(startRow >= 0 && blockRows >= 0 && startRow + blockRows <= xpr.rows()
+          && startCol >= 0 && blockCols >= 0 && startCol + blockCols <= xpr.cols());
+    }
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
+
+    inline Index rows() const { return m_blockRows.value(); }
+    inline Index cols() const { return m_blockCols.value(); }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(XprType)
+      return m_xpr.const_cast_derived()
+               .coeffRef(row + m_startRow.value(), col + m_startCol.value());
+    }
+
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_xpr.derived()
+               .coeffRef(row + m_startRow.value(), col + m_startCol.value());
+    }
+
+    EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_xpr.coeff(row + m_startRow.value(), col + m_startCol.value());
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(XprType)
+      return m_xpr.const_cast_derived()
+             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_xpr.const_cast_derived()
+             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return m_xpr
+             .coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                    m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+    }
+
+    template<int LoadMode>
+    inline PacketScalar packet(Index row, Index col) const
+    {
+      return m_xpr.template packet<Unaligned>
+              (row + m_startRow.value(), col + m_startCol.value());
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_xpr.const_cast_derived().template writePacket<Unaligned>
+              (row + m_startRow.value(), col + m_startCol.value(), x);
+    }
+
+    template<int LoadMode>
+    inline PacketScalar packet(Index index) const
+    {
+      return m_xpr.template packet<Unaligned>
+              (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+               m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_xpr.const_cast_derived().template writePacket<Unaligned>
+         (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+          m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0), x);
+    }
+
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
+    /** \sa MapBase::data() */
+    inline const Scalar* data() const;
+    inline Index innerStride() const;
+    inline Index outerStride() const;
+    #endif
+
+  protected:
+
+    const typename XprType::Nested m_xpr;
+    const internal::variable_if_dynamic<Index, XprType::RowsAtCompileTime == 1 ? 0 : Dynamic> m_startRow;
+    const internal::variable_if_dynamic<Index, XprType::ColsAtCompileTime == 1 ? 0 : Dynamic> m_startCol;
+    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_blockRows;
+    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_blockCols;
+};
+
+/** \internal */
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
+class Block<XprType,BlockRows,BlockCols, InnerPanel,true>
+  : public MapBase<Block<XprType, BlockRows, BlockCols, InnerPanel, true> >
+{
+  public:
+
+    typedef MapBase<Block> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Block)
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
+
+    /** Column or Row constructor
+      */
+    inline Block(XprType& xpr, Index i)
+      : Base(internal::const_cast_ptr(&xpr.coeffRef(
+              (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0,
+              (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0)),
+             BlockRows==1 ? 1 : xpr.rows(),
+             BlockCols==1 ? 1 : xpr.cols()),
+        m_xpr(xpr)
+    {
+      eigen_assert( (i>=0) && (
+          ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows())
+        ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols())));
+      init();
+    }
+
+    /** Fixed-size constructor
+      */
+    inline Block(XprType& xpr, Index startRow, Index startCol)
+      : Base(internal::const_cast_ptr(&xpr.coeffRef(startRow,startCol))), m_xpr(xpr)
+    {
+      eigen_assert(startRow >= 0 && BlockRows >= 1 && startRow + BlockRows <= xpr.rows()
+             && startCol >= 0 && BlockCols >= 1 && startCol + BlockCols <= xpr.cols());
+      init();
+    }
+
+    /** Dynamic-size constructor
+      */
+    inline Block(XprType& xpr,
+          Index startRow, Index startCol,
+          Index blockRows, Index blockCols)
+      : Base(internal::const_cast_ptr(&xpr.coeffRef(startRow,startCol)), blockRows, blockCols),
+        m_xpr(xpr)
+    {
+      eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
+             && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
+      eigen_assert(startRow >= 0 && blockRows >= 0 && startRow + blockRows <= xpr.rows()
+             && startCol >= 0 && blockCols >= 0 && startCol + blockCols <= xpr.cols());
+      init();
+    }
+
+    /** \sa MapBase::innerStride() */
+    inline Index innerStride() const
+    {
+      return internal::traits<Block>::HasSameStorageOrderAsXprType
+             ? m_xpr.innerStride()
+             : m_xpr.outerStride();
+    }
+
+    /** \sa MapBase::outerStride() */
+    inline Index outerStride() const
+    {
+      return m_outerStride;
+    }
+
+  #ifndef __SUNPRO_CC
+  // FIXME sunstudio is not friendly with the above friend...
+  // META-FIXME there is no 'friend' keyword around here. Is this obsolete?
+  protected:
+  #endif
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** \internal used by allowAligned() */
+    inline Block(XprType& xpr, const Scalar* data, Index blockRows, Index blockCols)
+      : Base(data, blockRows, blockCols), m_xpr(xpr)
+    {
+      init();
+    }
+    #endif
+
+  protected:
+    void init()
+    {
+      m_outerStride = internal::traits<Block>::HasSameStorageOrderAsXprType
+                    ? m_xpr.outerStride()
+                    : m_xpr.innerStride();
+    }
+
+    const typename XprType::Nested m_xpr;
+    int m_outerStride;
+};
+
+
+#endif // EIGEN_BLOCK_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/BooleanRedux.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/BooleanRedux.h
new file mode 100755
index 0000000..5c3444a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/BooleanRedux.h
@@ -0,0 +1,149 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ALLANDANY_H
+#define EIGEN_ALLANDANY_H
+
+namespace internal {
+
+template<typename Derived, int UnrollCount>
+struct all_unroller
+{
+  enum {
+    col = (UnrollCount-1) / Derived::RowsAtCompileTime,
+    row = (UnrollCount-1) % Derived::RowsAtCompileTime
+  };
+
+  inline static bool run(const Derived &mat)
+  {
+    return all_unroller<Derived, UnrollCount-1>::run(mat) && mat.coeff(row, col);
+  }
+};
+
+template<typename Derived>
+struct all_unroller<Derived, 1>
+{
+  inline static bool run(const Derived &mat) { return mat.coeff(0, 0); }
+};
+
+template<typename Derived>
+struct all_unroller<Derived, Dynamic>
+{
+  inline static bool run(const Derived &) { return false; }
+};
+
+template<typename Derived, int UnrollCount>
+struct any_unroller
+{
+  enum {
+    col = (UnrollCount-1) / Derived::RowsAtCompileTime,
+    row = (UnrollCount-1) % Derived::RowsAtCompileTime
+  };
+
+  inline static bool run(const Derived &mat)
+  {
+    return any_unroller<Derived, UnrollCount-1>::run(mat) || mat.coeff(row, col);
+  }
+};
+
+template<typename Derived>
+struct any_unroller<Derived, 1>
+{
+  inline static bool run(const Derived &mat) { return mat.coeff(0, 0); }
+};
+
+template<typename Derived>
+struct any_unroller<Derived, Dynamic>
+{
+  inline static bool run(const Derived &) { return false; }
+};
+
+} // end namespace internal
+
+/** \returns true if all coefficients are true
+  *
+  * Example: \include MatrixBase_all.cpp
+  * Output: \verbinclude MatrixBase_all.out
+  *
+  * \sa any(), Cwise::operator<()
+  */
+template<typename Derived>
+inline bool DenseBase<Derived>::all() const
+{
+  enum {
+    unroll = SizeAtCompileTime != Dynamic
+          && CoeffReadCost != Dynamic
+          && NumTraits<Scalar>::AddCost != Dynamic
+          && SizeAtCompileTime * (CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+  };
+  if(unroll)
+    return internal::all_unroller<Derived,
+                           unroll ? int(SizeAtCompileTime) : Dynamic
+     >::run(derived());
+  else
+  {
+    for(Index j = 0; j < cols(); ++j)
+      for(Index i = 0; i < rows(); ++i)
+        if (!coeff(i, j)) return false;
+    return true;
+  }
+}
+
+/** \returns true if at least one coefficient is true
+  *
+  * \sa all()
+  */
+template<typename Derived>
+inline bool DenseBase<Derived>::any() const
+{
+  enum {
+    unroll = SizeAtCompileTime != Dynamic
+          && CoeffReadCost != Dynamic
+          && NumTraits<Scalar>::AddCost != Dynamic
+          && SizeAtCompileTime * (CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+  };
+  if(unroll)
+    return internal::any_unroller<Derived,
+                           unroll ? int(SizeAtCompileTime) : Dynamic
+           >::run(derived());
+  else
+  {
+    for(Index j = 0; j < cols(); ++j)
+      for(Index i = 0; i < rows(); ++i)
+        if (coeff(i, j)) return true;
+    return false;
+  }
+}
+
+/** \returns the number of coefficients which evaluate to true
+  *
+  * \sa all(), any()
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::Index DenseBase<Derived>::count() const
+{
+  return derived().template cast<bool>().template cast<Index>().sum();
+}
+
+#endif // EIGEN_ALLANDANY_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CMakeLists.txt
new file mode 100755
index 0000000..2346fc2
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CMakeLists.txt
@@ -0,0 +1,10 @@
+FILE(GLOB Eigen_Core_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Core_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core COMPONENT Devel
+  )
+
+ADD_SUBDIRECTORY(products)
+ADD_SUBDIRECTORY(util)
+ADD_SUBDIRECTORY(arch)
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CommaInitializer.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CommaInitializer.h
new file mode 100755
index 0000000..92422bf
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CommaInitializer.h
@@ -0,0 +1,150 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMMAINITIALIZER_H
+#define EIGEN_COMMAINITIALIZER_H
+
+/** \class CommaInitializer
+  * \ingroup Core_Module
+  *
+  * \brief Helper class used by the comma initializer operator
+  *
+  * This class is internally used to implement the comma initializer feature. It is
+  * the return type of MatrixBase::operator<<, and most of the time this is the only
+  * way it is used.
+  *
+  * \sa \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished()
+  */
+template<typename XprType>
+struct CommaInitializer
+{
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::Index Index;
+
+  inline CommaInitializer(XprType& xpr, const Scalar& s)
+    : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1)
+  {
+    m_xpr.coeffRef(0,0) = s;
+  }
+
+  template<typename OtherDerived>
+  inline CommaInitializer(XprType& xpr, const DenseBase<OtherDerived>& other)
+    : m_xpr(xpr), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows())
+  {
+    m_xpr.block(0, 0, other.rows(), other.cols()) = other;
+  }
+
+  /* inserts a scalar value in the target matrix */
+  CommaInitializer& operator,(const Scalar& s)
+  {
+    if (m_col==m_xpr.cols())
+    {
+      m_row+=m_currentBlockRows;
+      m_col = 0;
+      m_currentBlockRows = 1;
+      eigen_assert(m_row<m_xpr.rows()
+        && "Too many rows passed to comma initializer (operator<<)");
+    }
+    eigen_assert(m_col<m_xpr.cols()
+      && "Too many coefficients passed to comma initializer (operator<<)");
+    eigen_assert(m_currentBlockRows==1);
+    m_xpr.coeffRef(m_row, m_col++) = s;
+    return *this;
+  }
+
+  /* inserts a matrix expression in the target matrix */
+  template<typename OtherDerived>
+  CommaInitializer& operator,(const DenseBase<OtherDerived>& other)
+  {
+    if (m_col==m_xpr.cols())
+    {
+      m_row+=m_currentBlockRows;
+      m_col = 0;
+      m_currentBlockRows = other.rows();
+      eigen_assert(m_row+m_currentBlockRows<=m_xpr.rows()
+        && "Too many rows passed to comma initializer (operator<<)");
+    }
+    eigen_assert(m_col<m_xpr.cols()
+      && "Too many coefficients passed to comma initializer (operator<<)");
+    eigen_assert(m_currentBlockRows==other.rows());
+    if (OtherDerived::SizeAtCompileTime != Dynamic)
+      m_xpr.template block<OtherDerived::RowsAtCompileTime != Dynamic ? OtherDerived::RowsAtCompileTime : 1,
+                              OtherDerived::ColsAtCompileTime != Dynamic ? OtherDerived::ColsAtCompileTime : 1>
+                    (m_row, m_col) = other;
+    else
+      m_xpr.block(m_row, m_col, other.rows(), other.cols()) = other;
+    m_col += other.cols();
+    return *this;
+  }
+
+  inline ~CommaInitializer()
+  {
+    eigen_assert((m_row+m_currentBlockRows) == m_xpr.rows()
+         && m_col == m_xpr.cols()
+         && "Too few coefficients passed to comma initializer (operator<<)");
+  }
+
+  /** \returns the built matrix once all its coefficients have been set.
+    * Calling finished is 100% optional. Its purpose is to write expressions
+    * like this:
+    * \code
+    * quaternion.fromRotationMatrix((Matrix3f() << axis0, axis1, axis2).finished());
+    * \endcode
+    */
+  inline XprType& finished() { return m_xpr; }
+
+  XprType& m_xpr;   // target expression
+  Index m_row;              // current row id
+  Index m_col;              // current col id
+  Index m_currentBlockRows; // current block height
+};
+
+/** \anchor MatrixBaseCommaInitRef
+  * Convenient operator to set the coefficients of a matrix.
+  *
+  * The coefficients must be provided in a row major order and exactly match
+  * the size of the matrix. Otherwise an assertion is raised.
+  *
+  * Example: \include MatrixBase_set.cpp
+  * Output: \verbinclude MatrixBase_set.out
+  *
+  * \sa CommaInitializer::finished(), class CommaInitializer
+  */
+template<typename Derived>
+inline CommaInitializer<Derived> DenseBase<Derived>::operator<< (const Scalar& s)
+{
+  return CommaInitializer<Derived>(*static_cast<Derived*>(this), s);
+}
+
+/** \sa operator<<(const Scalar&) */
+template<typename Derived>
+template<typename OtherDerived>
+inline CommaInitializer<Derived>
+DenseBase<Derived>::operator<<(const DenseBase<OtherDerived>& other)
+{
+  return CommaInitializer<Derived>(*static_cast<Derived *>(this), other);
+}
+
+#endif // EIGEN_COMMAINITIALIZER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseBinaryOp.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseBinaryOp.h
new file mode 100755
index 0000000..7386b2e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseBinaryOp.h
@@ -0,0 +1,240 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CWISE_BINARY_OP_H
+#define EIGEN_CWISE_BINARY_OP_H
+
+/** \class CwiseBinaryOp
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions
+  *
+  * \param BinaryOp template functor implementing the operator
+  * \param Lhs the type of the left-hand side
+  * \param Rhs the type of the right-hand side
+  *
+  * This class represents an expression  where a coefficient-wise binary operator is applied to two expressions.
+  * It is the return type of binary operators, by which we mean only those binary operators where
+  * both the left-hand side and the right-hand side are Eigen expressions.
+  * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp.
+  *
+  * Most of the time, this is the only way that it is used, so you typically don't have to name
+  * CwiseBinaryOp types explicitly.
+  *
+  * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp
+  */
+
+namespace internal {
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct traits<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+  // we must not inherit from traits<Lhs> since it has
+  // the potential to cause problems with MSVC
+  typedef typename remove_all<Lhs>::type Ancestor;
+  typedef typename traits<Ancestor>::XprKind XprKind;
+  enum {
+    RowsAtCompileTime = traits<Ancestor>::RowsAtCompileTime,
+    ColsAtCompileTime = traits<Ancestor>::ColsAtCompileTime,
+    MaxRowsAtCompileTime = traits<Ancestor>::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = traits<Ancestor>::MaxColsAtCompileTime
+  };
+
+  // even though we require Lhs and Rhs to have the same scalar type (see CwiseBinaryOp constructor),
+  // we still want to handle the case when the result type is different.
+  typedef typename result_of<
+                     BinaryOp(
+                       typename Lhs::Scalar,
+                       typename Rhs::Scalar
+                     )
+                   >::type Scalar;
+  typedef typename promote_storage_type<typename traits<Lhs>::StorageKind,
+                                           typename traits<Rhs>::StorageKind>::ret StorageKind;
+  typedef typename promote_index_type<typename traits<Lhs>::Index,
+                                         typename traits<Rhs>::Index>::type Index;
+  typedef typename Lhs::Nested LhsNested;
+  typedef typename Rhs::Nested RhsNested;
+  typedef typename remove_reference<LhsNested>::type _LhsNested;
+  typedef typename remove_reference<RhsNested>::type _RhsNested;
+  enum {
+    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
+    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
+    LhsFlags = _LhsNested::Flags,
+    RhsFlags = _RhsNested::Flags,
+    SameType = is_same<typename _LhsNested::Scalar,typename _RhsNested::Scalar>::value,
+    StorageOrdersAgree = (int(Lhs::Flags)&RowMajorBit)==(int(Rhs::Flags)&RowMajorBit),
+    Flags0 = (int(LhsFlags) | int(RhsFlags)) & (
+        HereditaryBits
+      | (int(LhsFlags) & int(RhsFlags) &
+           ( AlignedBit
+           | (StorageOrdersAgree ? LinearAccessBit : 0)
+           | (functor_traits<BinaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
+           )
+        )
+     ),
+    Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit),
+    CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + functor_traits<BinaryOp>::Cost
+  };
+};
+} // end namespace internal
+
+// we require Lhs and Rhs to have the same scalar type. Currently there is no example of a binary functor
+// that would take two operands of different types. If there were such an example, then this check should be
+// moved to the BinaryOp functors, on a per-case basis. This would however require a change in the BinaryOp functors, as
+// currently they take only one typename Scalar template parameter.
+// It is tempting to always allow mixing different types but remember that this is often impossible in the vectorized paths.
+// So allowing mixing different types gives very unexpected errors when enabling vectorization, when the user tries to
+// add together a float matrix and a double matrix.
+#define EIGEN_CHECK_BINARY_COMPATIBILIY(BINOP,LHS,RHS) \
+  EIGEN_STATIC_ASSERT((internal::functor_allows_mixing_real_and_complex<BINOP>::ret \
+                        ? int(internal::is_same<typename NumTraits<LHS>::Real, typename NumTraits<RHS>::Real>::value) \
+                        : int(internal::is_same<LHS, RHS>::value)), \
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+template<typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
+class CwiseBinaryOpImpl;
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+class CwiseBinaryOp : internal::no_assignment_operator,
+  public CwiseBinaryOpImpl<
+          BinaryOp, Lhs, Rhs,
+          typename internal::promote_storage_type<typename internal::traits<Lhs>::StorageKind,
+                                           typename internal::traits<Rhs>::StorageKind>::ret>
+{
+  public:
+
+    typedef typename CwiseBinaryOpImpl<
+        BinaryOp, Lhs, Rhs,
+        typename internal::promote_storage_type<typename internal::traits<Lhs>::StorageKind,
+                                         typename internal::traits<Rhs>::StorageKind>::ret>::Base Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseBinaryOp)
+
+    typedef typename internal::nested<Lhs>::type LhsNested;
+    typedef typename internal::nested<Rhs>::type RhsNested;
+    typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
+    typedef typename internal::remove_reference<RhsNested>::type _RhsNested;
+
+    EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& lhs, const Rhs& rhs, const BinaryOp& func = BinaryOp())
+      : m_lhs(lhs), m_rhs(rhs), m_functor(func)
+    {
+      EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename Rhs::Scalar);
+      // require the sizes to match
+      EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs)
+      eigen_assert(lhs.rows() == rhs.rows() && lhs.cols() == rhs.cols());
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const {
+      // return the fixed size type if available to enable compile time optimizations
+      if (internal::traits<typename internal::remove_all<LhsNested>::type>::RowsAtCompileTime==Dynamic)
+        return m_rhs.rows();
+      else
+        return m_lhs.rows();
+    }
+    EIGEN_STRONG_INLINE Index cols() const {
+      // return the fixed size type if available to enable compile time optimizations
+      if (internal::traits<typename internal::remove_all<LhsNested>::type>::ColsAtCompileTime==Dynamic)
+        return m_rhs.cols();
+      else
+        return m_lhs.cols();
+    }
+
+    /** \returns the left hand side nested expression */
+    const _LhsNested& lhs() const { return m_lhs; }
+    /** \returns the right hand side nested expression */
+    const _RhsNested& rhs() const { return m_rhs; }
+    /** \returns the functor representing the binary operation */
+    const BinaryOp& functor() const { return m_functor; }
+
+  protected:
+    const LhsNested m_lhs;
+    const RhsNested m_rhs;
+    const BinaryOp m_functor;
+};
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+class CwiseBinaryOpImpl<BinaryOp, Lhs, Rhs, Dense>
+  : public internal::dense_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
+{
+    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> Derived;
+  public:
+
+    typedef typename internal::dense_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE( Derived )
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+    {
+      return derived().functor()(derived().lhs().coeff(row, col),
+                                 derived().rhs().coeff(row, col));
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
+    {
+      return derived().functor().packetOp(derived().lhs().template packet<LoadMode>(row, col),
+                                          derived().rhs().template packet<LoadMode>(row, col));
+    }
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
+    {
+      return derived().functor()(derived().lhs().coeff(index),
+                                 derived().rhs().coeff(index));
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
+    {
+      return derived().functor().packetOp(derived().lhs().template packet<LoadMode>(index),
+                                          derived().rhs().template packet<LoadMode>(index));
+    }
+};
+
+/** replaces \c *this by \c *this - \a other.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+MatrixBase<Derived>::operator-=(const MatrixBase<OtherDerived> &other)
+{
+  SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+/** replaces \c *this by \c *this + \a other.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+MatrixBase<Derived>::operator+=(const MatrixBase<OtherDerived>& other)
+{
+  SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, Derived, OtherDerived> tmp(derived());
+  tmp = other.derived();
+  return derived();
+}
+
+#endif // EIGEN_CWISE_BINARY_OP_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseNullaryOp.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseNullaryOp.h
new file mode 100755
index 0000000..a2f5049
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseNullaryOp.h
@@ -0,0 +1,851 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CWISE_NULLARY_OP_H
+#define EIGEN_CWISE_NULLARY_OP_H
+
+/** \class CwiseNullaryOp
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression of a matrix where all coefficients are defined by a functor
+  *
+  * \param NullaryOp template functor implementing the operator
+  * \param PlainObjectType the underlying plain matrix/array type
+  *
+  * This class represents an expression of a generic nullary operator.
+  * It is the return type of the Ones(), Zero(), Constant(), Identity() and Random() methods,
+  * and most of the time this is the only way it is used.
+  *
+  * However, if you want to write a function returning such an expression, you
+  * will need to use this class.
+  *
+  * \sa class CwiseUnaryOp, class CwiseBinaryOp, DenseBase::NullaryExpr()
+  */
+
+namespace internal {
+template<typename NullaryOp, typename PlainObjectType>
+struct traits<CwiseNullaryOp<NullaryOp, PlainObjectType> > : traits<PlainObjectType>
+{
+  enum {
+    Flags = (traits<PlainObjectType>::Flags
+      & (  HereditaryBits
+         | (functor_has_linear_access<NullaryOp>::ret ? LinearAccessBit : 0)
+         | (functor_traits<NullaryOp>::PacketAccess ? PacketAccessBit : 0)))
+      | (functor_traits<NullaryOp>::IsRepeatable ? 0 : EvalBeforeNestingBit),
+    CoeffReadCost = functor_traits<NullaryOp>::Cost
+  };
+};
+}
+
+template<typename NullaryOp, typename PlainObjectType>
+class CwiseNullaryOp : internal::no_assignment_operator,
+  public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<CwiseNullaryOp>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(CwiseNullaryOp)
+
+    CwiseNullaryOp(Index rows, Index cols, const NullaryOp& func = NullaryOp())
+      : m_rows(rows), m_cols(cols), m_functor(func)
+    {
+      eigen_assert(rows >= 0
+            && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+            &&  cols >= 0
+            && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_rows.value(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_cols.value(); }
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index rows, Index cols) const
+    {
+      return m_functor(rows, cols);
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
+    {
+      return m_functor.packetOp(row, col);
+    }
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
+    {
+      return m_functor(index);
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
+    {
+      return m_functor.packetOp(index);
+    }
+
+  protected:
+    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_rows;
+    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_cols;
+    const NullaryOp m_functor;
+};
+
+
+/** \returns an expression of a matrix defined by a custom functor \a func
+  *
+  * The parameters \a rows and \a cols are the number of rows and of columns of
+  * the returned matrix. Must be compatible with this MatrixBase type.
+  *
+  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+  * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
+  * instead.
+  *
+  * The template parameter \a CustomNullaryOp is the type of the functor.
+  *
+  * \sa class CwiseNullaryOp
+  */
+template<typename Derived>
+template<typename CustomNullaryOp>
+EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
+DenseBase<Derived>::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func)
+{
+  return CwiseNullaryOp<CustomNullaryOp, Derived>(rows, cols, func);
+}
+
+/** \returns an expression of a matrix defined by a custom functor \a func
+  *
+  * The parameter \a size is the size of the returned vector.
+  * Must be compatible with this MatrixBase type.
+  *
+  * \only_for_vectors
+  *
+  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
+  * it is redundant to pass \a size as argument, so Zero() should be used
+  * instead.
+  *
+  * The template parameter \a CustomNullaryOp is the type of the functor.
+  *
+  * \sa class CwiseNullaryOp
+  */
+template<typename Derived>
+template<typename CustomNullaryOp>
+EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
+DenseBase<Derived>::NullaryExpr(Index size, const CustomNullaryOp& func)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  if(RowsAtCompileTime == 1) return CwiseNullaryOp<CustomNullaryOp, Derived>(1, size, func);
+  else return CwiseNullaryOp<CustomNullaryOp, Derived>(size, 1, func);
+}
+
+/** \returns an expression of a matrix defined by a custom functor \a func
+  *
+  * This variant is only for fixed-size DenseBase types. For dynamic-size types, you
+  * need to use the variants taking size arguments.
+  *
+  * The template parameter \a CustomNullaryOp is the type of the functor.
+  *
+  * \sa class CwiseNullaryOp
+  */
+template<typename Derived>
+template<typename CustomNullaryOp>
+EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
+DenseBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
+{
+  return CwiseNullaryOp<CustomNullaryOp, Derived>(RowsAtCompileTime, ColsAtCompileTime, func);
+}
+
+/** \returns an expression of a constant matrix of value \a value
+  *
+  * The parameters \a rows and \a cols are the number of rows and of columns of
+  * the returned matrix. Must be compatible with this DenseBase type.
+  *
+  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+  * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
+  * instead.
+  *
+  * The template parameter \a CustomNullaryOp is the type of the functor.
+  *
+  * \sa class CwiseNullaryOp
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Constant(Index rows, Index cols, const Scalar& value)
+{
+  return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_constant_op<Scalar>(value));
+}
+
+/** \returns an expression of a constant matrix of value \a value
+  *
+  * The parameter \a size is the size of the returned vector.
+  * Must be compatible with this DenseBase type.
+  *
+  * \only_for_vectors
+  *
+  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
+  * it is redundant to pass \a size as argument, so Zero() should be used
+  * instead.
+  *
+  * The template parameter \a CustomNullaryOp is the type of the functor.
+  *
+  * \sa class CwiseNullaryOp
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Constant(Index size, const Scalar& value)
+{
+  return DenseBase<Derived>::NullaryExpr(size, internal::scalar_constant_op<Scalar>(value));
+}
+
+/** \returns an expression of a constant matrix of value \a value
+  *
+  * This variant is only for fixed-size DenseBase types. For dynamic-size types, you
+  * need to use the variants taking size arguments.
+  *
+  * The template parameter \a CustomNullaryOp is the type of the functor.
+  *
+  * \sa class CwiseNullaryOp
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Constant(const Scalar& value)
+{
+  EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+  return DenseBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_constant_op<Scalar>(value));
+}
+
+/**
+  * \brief Sets a linearly space vector.
+  *
+  * The function generates 'size' equally spaced values in the closed interval [low,high].
+  * This particular version of LinSpaced() uses sequential access, i.e. vector access is
+  * assumed to be a(0), a(1), ..., a(size). This assumption allows for better vectorization
+  * and yields faster code than the random access version.
+  *
+  * \only_for_vectors
+  *
+  * Example: \include DenseBase_LinSpaced_seq.cpp
+  * Output: \verbinclude DenseBase_LinSpaced_seq.out
+  *
+  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), LinSpaced(Index,Scalar,Scalar), CwiseNullaryOp
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::SequentialLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,false>(low,high,size));
+}
+
+/**
+  * \copydoc DenseBase::LinSpaced(Sequential_t, Index, const Scalar&, const Scalar&)
+  * Special version for fixed size types which does not require the size parameter.
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::SequentialLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(Sequential_t, const Scalar& low, const Scalar& high)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,false>(low,high,Derived::SizeAtCompileTime));
+}
+
+/**
+  * \brief Sets a linearly space vector.
+  *
+  * The function generates 'size' equally spaced values in the closed interval [low,high].
+  *
+  * \only_for_vectors
+  *
+  * Example: \include DenseBase_LinSpaced.cpp
+  * Output: \verbinclude DenseBase_LinSpaced.out
+  *
+  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), LinSpaced(Sequential_t,Index,const Scalar&,const Scalar&,Index), CwiseNullaryOp
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(Index size, const Scalar& low, const Scalar& high)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,true>(low,high,size));
+}
+
+/**
+  * \copydoc DenseBase::LinSpaced(Index, const Scalar&, const Scalar&)
+  * Special version for fixed size types which does not require the size parameter.
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(const Scalar& low, const Scalar& high)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,true>(low,high,Derived::SizeAtCompileTime));
+}
+
+/** \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */
+template<typename Derived>
+bool DenseBase<Derived>::isApproxToConstant
+(const Scalar& value, RealScalar prec) const
+{
+  for(Index j = 0; j < cols(); ++j)
+    for(Index i = 0; i < rows(); ++i)
+      if(!internal::isApprox(this->coeff(i, j), value, prec))
+        return false;
+  return true;
+}
+
+/** This is just an alias for isApproxToConstant().
+  *
+  * \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */
+template<typename Derived>
+bool DenseBase<Derived>::isConstant
+(const Scalar& value, RealScalar prec) const
+{
+  return isApproxToConstant(value, prec);
+}
+
+/** Alias for setConstant(): sets all coefficients in this expression to \a value.
+  *
+  * \sa setConstant(), Constant(), class CwiseNullaryOp
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE void DenseBase<Derived>::fill(const Scalar& value)
+{
+  setConstant(value);
+}
+
+/** Sets all coefficients in this expression to \a value.
+  *
+  * \sa fill(), setConstant(Index,const Scalar&), setConstant(Index,Index,const Scalar&), setZero(), setOnes(), Constant(), class CwiseNullaryOp, setZero(), setOnes()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setConstant(const Scalar& value)
+{
+  return derived() = Constant(rows(), cols(), value);
+}
+
+/** Resizes to the given \a size, and sets all coefficients in this expression to the given \a value.
+  *
+  * \only_for_vectors
+  *
+  * Example: \include Matrix_setConstant_int.cpp
+  * Output: \verbinclude Matrix_setConstant_int.out
+  *
+  * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setConstant(Index size, const Scalar& value)
+{
+  resize(size);
+  return setConstant(value);
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to the given \a value.
+  *
+  * \param rows the new number of rows
+  * \param cols the new number of columns
+  * \param value the value to which all coefficients are set
+  *
+  * Example: \include Matrix_setConstant_int_int.cpp
+  * Output: \verbinclude Matrix_setConstant_int_int.out
+  *
+  * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setConstant(Index rows, Index cols, const Scalar& value)
+{
+  resize(rows, cols);
+  return setConstant(value);
+}
+
+/**
+  * \brief Sets a linearly space vector.
+  *
+  * The function generates 'size' equally spaced values in the closed interval [low,high].
+  *
+  * \only_for_vectors
+  *
+  * Example: \include DenseBase_setLinSpaced.cpp
+  * Output: \verbinclude DenseBase_setLinSpaced.out
+  *
+  * \sa CwiseNullaryOp
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(Index size, const Scalar& low, const Scalar& high)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return derived() = Derived::NullaryExpr(size, internal::linspaced_op<Scalar,false>(low,high,size));
+}
+
+// zero:
+
+/** \returns an expression of a zero matrix.
+  *
+  * The parameters \a rows and \a cols are the number of rows and of columns of
+  * the returned matrix. Must be compatible with this MatrixBase type.
+  *
+  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+  * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
+  * instead.
+  *
+  * Example: \include MatrixBase_zero_int_int.cpp
+  * Output: \verbinclude MatrixBase_zero_int_int.out
+  *
+  * \sa Zero(), Zero(Index)
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Zero(Index rows, Index cols)
+{
+  return Constant(rows, cols, Scalar(0));
+}
+
+/** \returns an expression of a zero vector.
+  *
+  * The parameter \a size is the size of the returned vector.
+  * Must be compatible with this MatrixBase type.
+  *
+  * \only_for_vectors
+  *
+  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
+  * it is redundant to pass \a size as argument, so Zero() should be used
+  * instead.
+  *
+  * Example: \include MatrixBase_zero_int.cpp
+  * Output: \verbinclude MatrixBase_zero_int.out
+  *
+  * \sa Zero(), Zero(Index,Index)
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Zero(Index size)
+{
+  return Constant(size, Scalar(0));
+}
+
+/** \returns an expression of a fixed-size zero matrix or vector.
+  *
+  * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
+  * need to use the variants taking size arguments.
+  *
+  * Example: \include MatrixBase_zero.cpp
+  * Output: \verbinclude MatrixBase_zero.out
+  *
+  * \sa Zero(Index), Zero(Index,Index)
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Zero()
+{
+  return Constant(Scalar(0));
+}
+
+/** \returns true if *this is approximately equal to the zero matrix,
+  *          within the precision given by \a prec.
+  *
+  * Example: \include MatrixBase_isZero.cpp
+  * Output: \verbinclude MatrixBase_isZero.out
+  *
+  * \sa class CwiseNullaryOp, Zero()
+  */
+template<typename Derived>
+bool DenseBase<Derived>::isZero(RealScalar prec) const
+{
+  for(Index j = 0; j < cols(); ++j)
+    for(Index i = 0; i < rows(); ++i)
+      if(!internal::isMuchSmallerThan(this->coeff(i, j), static_cast<Scalar>(1), prec))
+        return false;
+  return true;
+}
+
+/** Sets all coefficients in this expression to zero.
+  *
+  * Example: \include MatrixBase_setZero.cpp
+  * Output: \verbinclude MatrixBase_setZero.out
+  *
+  * \sa class CwiseNullaryOp, Zero()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setZero()
+{
+  return setConstant(Scalar(0));
+}
+
+/** Resizes to the given \a size, and sets all coefficients in this expression to zero.
+  *
+  * \only_for_vectors
+  *
+  * Example: \include Matrix_setZero_int.cpp
+  * Output: \verbinclude Matrix_setZero_int.out
+  *
+  * \sa DenseBase::setZero(), setZero(Index,Index), class CwiseNullaryOp, DenseBase::Zero()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setZero(Index size)
+{
+  resize(size);
+  return setConstant(Scalar(0));
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to zero.
+  *
+  * \param rows the new number of rows
+  * \param cols the new number of columns
+  *
+  * Example: \include Matrix_setZero_int_int.cpp
+  * Output: \verbinclude Matrix_setZero_int_int.out
+  *
+  * \sa DenseBase::setZero(), setZero(Index), class CwiseNullaryOp, DenseBase::Zero()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setZero(Index rows, Index cols)
+{
+  resize(rows, cols);
+  return setConstant(Scalar(0));
+}
+
+// ones:
+
+/** \returns an expression of a matrix where all coefficients equal one.
+  *
+  * The parameters \a rows and \a cols are the number of rows and of columns of
+  * the returned matrix. Must be compatible with this MatrixBase type.
+  *
+  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+  * it is redundant to pass \a rows and \a cols as arguments, so Ones() should be used
+  * instead.
+  *
+  * Example: \include MatrixBase_ones_int_int.cpp
+  * Output: \verbinclude MatrixBase_ones_int_int.out
+  *
+  * \sa Ones(), Ones(Index), isOnes(), class Ones
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Ones(Index rows, Index cols)
+{
+  return Constant(rows, cols, Scalar(1));
+}
+
+/** \returns an expression of a vector where all coefficients equal one.
+  *
+  * The parameter \a size is the size of the returned vector.
+  * Must be compatible with this MatrixBase type.
+  *
+  * \only_for_vectors
+  *
+  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
+  * it is redundant to pass \a size as argument, so Ones() should be used
+  * instead.
+  *
+  * Example: \include MatrixBase_ones_int.cpp
+  * Output: \verbinclude MatrixBase_ones_int.out
+  *
+  * \sa Ones(), Ones(Index,Index), isOnes(), class Ones
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Ones(Index size)
+{
+  return Constant(size, Scalar(1));
+}
+
+/** \returns an expression of a fixed-size matrix or vector where all coefficients equal one.
+  *
+  * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
+  * need to use the variants taking size arguments.
+  *
+  * Example: \include MatrixBase_ones.cpp
+  * Output: \verbinclude MatrixBase_ones.out
+  *
+  * \sa Ones(Index), Ones(Index,Index), isOnes(), class Ones
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Ones()
+{
+  return Constant(Scalar(1));
+}
+
+/** \returns true if *this is approximately equal to the matrix where all coefficients
+  *          are equal to 1, within the precision given by \a prec.
+  *
+  * Example: \include MatrixBase_isOnes.cpp
+  * Output: \verbinclude MatrixBase_isOnes.out
+  *
+  * \sa class CwiseNullaryOp, Ones()
+  */
+template<typename Derived>
+bool DenseBase<Derived>::isOnes
+(RealScalar prec) const
+{
+  return isApproxToConstant(Scalar(1), prec);
+}
+
+/** Sets all coefficients in this expression to one.
+  *
+  * Example: \include MatrixBase_setOnes.cpp
+  * Output: \verbinclude MatrixBase_setOnes.out
+  *
+  * \sa class CwiseNullaryOp, Ones()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setOnes()
+{
+  return setConstant(Scalar(1));
+}
+
+/** Resizes to the given \a size, and sets all coefficients in this expression to one.
+  *
+  * \only_for_vectors
+  *
+  * Example: \include Matrix_setOnes_int.cpp
+  * Output: \verbinclude Matrix_setOnes_int.out
+  *
+  * \sa MatrixBase::setOnes(), setOnes(Index,Index), class CwiseNullaryOp, MatrixBase::Ones()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setOnes(Index size)
+{
+  resize(size);
+  return setConstant(Scalar(1));
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to one.
+  *
+  * \param rows the new number of rows
+  * \param cols the new number of columns
+  *
+  * Example: \include Matrix_setOnes_int_int.cpp
+  * Output: \verbinclude Matrix_setOnes_int_int.out
+  *
+  * \sa MatrixBase::setOnes(), setOnes(Index), class CwiseNullaryOp, MatrixBase::Ones()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setOnes(Index rows, Index cols)
+{
+  resize(rows, cols);
+  return setConstant(Scalar(1));
+}
+
+// Identity:
+
+/** \returns an expression of the identity matrix (not necessarily square).
+  *
+  * The parameters \a rows and \a cols are the number of rows and of columns of
+  * the returned matrix. Must be compatible with this MatrixBase type.
+  *
+  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+  * it is redundant to pass \a rows and \a cols as arguments, so Identity() should be used
+  * instead.
+  *
+  * Example: \include MatrixBase_identity_int_int.cpp
+  * Output: \verbinclude MatrixBase_identity_int_int.out
+  *
+  * \sa Identity(), setIdentity(), isIdentity()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
+MatrixBase<Derived>::Identity(Index rows, Index cols)
+{
+  return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_identity_op<Scalar>());
+}
+
+/** \returns an expression of the identity matrix (not necessarily square).
+  *
+  * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
+  * need to use the variant taking size arguments.
+  *
+  * Example: \include MatrixBase_identity.cpp
+  * Output: \verbinclude MatrixBase_identity.out
+  *
+  * \sa Identity(Index,Index), setIdentity(), isIdentity()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
+MatrixBase<Derived>::Identity()
+{
+  EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+  return MatrixBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_identity_op<Scalar>());
+}
+
+/** \returns true if *this is approximately equal to the identity matrix
+  *          (not necessarily square),
+  *          within the precision given by \a prec.
+  *
+  * Example: \include MatrixBase_isIdentity.cpp
+  * Output: \verbinclude MatrixBase_isIdentity.out
+  *
+  * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), setIdentity()
+  */
+template<typename Derived>
+bool MatrixBase<Derived>::isIdentity
+(RealScalar prec) const
+{
+  for(Index j = 0; j < cols(); ++j)
+  {
+    for(Index i = 0; i < rows(); ++i)
+    {
+      if(i == j)
+      {
+        if(!internal::isApprox(this->coeff(i, j), static_cast<Scalar>(1), prec))
+          return false;
+      }
+      else
+      {
+        if(!internal::isMuchSmallerThan(this->coeff(i, j), static_cast<RealScalar>(1), prec))
+          return false;
+      }
+    }
+  }
+  return true;
+}
+
+namespace internal {
+
+template<typename Derived, bool Big = (Derived::SizeAtCompileTime>=16)>
+struct setIdentity_impl
+{
+  static EIGEN_STRONG_INLINE Derived& run(Derived& m)
+  {
+    return m = Derived::Identity(m.rows(), m.cols());
+  }
+};
+
+template<typename Derived>
+struct setIdentity_impl<Derived, true>
+{
+  typedef typename Derived::Index Index;
+  static EIGEN_STRONG_INLINE Derived& run(Derived& m)
+  {
+    m.setZero();
+    const Index size = std::min(m.rows(), m.cols());
+    for(Index i = 0; i < size; ++i) m.coeffRef(i,i) = typename Derived::Scalar(1);
+    return m;
+  }
+};
+
+} // end namespace internal
+
+/** Writes the identity expression (not necessarily square) into *this.
+  *
+  * Example: \include MatrixBase_setIdentity.cpp
+  * Output: \verbinclude MatrixBase_setIdentity.out
+  *
+  * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), isIdentity()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
+{
+  return internal::setIdentity_impl<Derived>::run(derived());
+}
+
+/** \brief Resizes to the given size, and writes the identity expression (not necessarily square) into *this.
+  *
+  * \param rows the new number of rows
+  * \param cols the new number of columns
+  *
+  * Example: \include Matrix_setIdentity_int_int.cpp
+  * Output: \verbinclude Matrix_setIdentity_int_int.out
+  *
+  * \sa MatrixBase::setIdentity(), class CwiseNullaryOp, MatrixBase::Identity()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity(Index rows, Index cols)
+{
+  derived().resize(rows, cols);
+  return setIdentity();
+}
+
+/** \returns an expression of the i-th unit (basis) vector.
+  *
+  * \only_for_vectors
+  *
+  * \sa MatrixBase::Unit(Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index size, Index i)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return BasisReturnType(SquareMatrixType::Identity(size,size), i);
+}
+
+/** \returns an expression of the i-th unit (basis) vector.
+  *
+  * \only_for_vectors
+  *
+  * This variant is for fixed-size vector only.
+  *
+  * \sa MatrixBase::Unit(Index,Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index i)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return BasisReturnType(SquareMatrixType::Identity(),i);
+}
+
+/** \returns an expression of the X axis unit vector (1{,0}^*)
+  *
+  * \only_for_vectors
+  *
+  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitX()
+{ return Derived::Unit(0); }
+
+/** \returns an expression of the Y axis unit vector (0,1{,0}^*)
+  *
+  * \only_for_vectors
+  *
+  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitY()
+{ return Derived::Unit(1); }
+
+/** \returns an expression of the Z axis unit vector (0,0,1{,0}^*)
+  *
+  * \only_for_vectors
+  *
+  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitZ()
+{ return Derived::Unit(2); }
+
+/** \returns an expression of the W axis unit vector (0,0,0,1)
+  *
+  * \only_for_vectors
+  *
+  * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitW()
+{ return Derived::Unit(3); }
+
+#endif // EIGEN_CWISE_NULLARY_OP_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseUnaryOp.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseUnaryOp.h
new file mode 100755
index 0000000..958571d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseUnaryOp.h
@@ -0,0 +1,137 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CWISE_UNARY_OP_H
+#define EIGEN_CWISE_UNARY_OP_H
+
+/** \class CwiseUnaryOp
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression where a coefficient-wise unary operator is applied to an expression
+  *
+  * \param UnaryOp template functor implementing the operator
+  * \param XprType the type of the expression to which we are applying the unary operator
+  *
+  * This class represents an expression where a unary operator is applied to an expression.
+  * It is the return type of all operations taking exactly 1 input expression, regardless of the
+  * presence of other inputs such as scalars. For example, the operator* in the expression 3*matrix
+  * is considered unary, because only the right-hand side is an expression, and its
+  * return type is a specialization of CwiseUnaryOp.
+  *
+  * Most of the time, this is the only way that it is used, so you typically don't have to name
+  * CwiseUnaryOp types explicitly.
+  *
+  * \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp
+  */
+
+namespace internal {
+template<typename UnaryOp, typename XprType>
+struct traits<CwiseUnaryOp<UnaryOp, XprType> >
+ : traits<XprType>
+{
+  typedef typename result_of<
+                     UnaryOp(typename XprType::Scalar)
+                   >::type Scalar;
+  typedef typename XprType::Nested XprTypeNested;
+  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
+  enum {
+    Flags = _XprTypeNested::Flags & (
+      HereditaryBits | LinearAccessBit | AlignedBit
+      | (functor_traits<UnaryOp>::PacketAccess ? PacketAccessBit : 0)),
+    CoeffReadCost = _XprTypeNested::CoeffReadCost + functor_traits<UnaryOp>::Cost
+  };
+};
+}
+
+template<typename UnaryOp, typename XprType, typename StorageKind>
+class CwiseUnaryOpImpl;
+
+template<typename UnaryOp, typename XprType>
+class CwiseUnaryOp : internal::no_assignment_operator,
+  public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>
+{
+  public:
+
+    typedef typename CwiseUnaryOpImpl<UnaryOp, XprType,typename internal::traits<XprType>::StorageKind>::Base Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryOp)
+
+    inline CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
+      : m_xpr(xpr), m_functor(func) {}
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_xpr.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_xpr.cols(); }
+
+    /** \returns the functor representing the unary operation */
+    const UnaryOp& functor() const { return m_functor; }
+
+    /** \returns the nested expression */
+    const typename internal::remove_all<typename XprType::Nested>::type&
+    nestedExpression() const { return m_xpr; }
+
+    /** \returns the nested expression */
+    typename internal::remove_all<typename XprType::Nested>::type&
+    nestedExpression() { return m_xpr.const_cast_derived(); }
+
+  protected:
+    const typename XprType::Nested m_xpr;
+    const UnaryOp m_functor;
+};
+
+// This is the generic implementation for dense storage.
+// It can be used for any expression types implementing the dense concept.
+template<typename UnaryOp, typename XprType>
+class CwiseUnaryOpImpl<UnaryOp,XprType,Dense>
+  : public internal::dense_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type
+{
+  public:
+
+    typedef CwiseUnaryOp<UnaryOp, XprType> Derived;
+    typedef typename internal::dense_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+    {
+      return derived().functor()(derived().nestedExpression().coeff(row, col));
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
+    {
+      return derived().functor().packetOp(derived().nestedExpression().template packet<LoadMode>(row, col));
+    }
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
+    {
+      return derived().functor()(derived().nestedExpression().coeff(index));
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
+    {
+      return derived().functor().packetOp(derived().nestedExpression().template packet<LoadMode>(index));
+    }
+};
+
+#endif // EIGEN_CWISE_UNARY_OP_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseUnaryView.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseUnaryView.h
new file mode 100755
index 0000000..d24ef03
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/CwiseUnaryView.h
@@ -0,0 +1,148 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CWISE_UNARY_VIEW_H
+#define EIGEN_CWISE_UNARY_VIEW_H
+
+/** \class CwiseUnaryView
+  * \ingroup Core_Module
+  *
+  * \brief Generic lvalue expression of a coefficient-wise unary operator of a matrix or a vector
+  *
+  * \param ViewOp template functor implementing the view
+  * \param MatrixType the type of the matrix we are applying the unary operator
+  *
+  * This class represents a lvalue expression of a generic unary view operator of a matrix or a vector.
+  * It is the return type of real() and imag(), and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::unaryViewExpr(const CustomUnaryOp &) const, class CwiseUnaryOp
+  */
+
+namespace internal {
+template<typename ViewOp, typename MatrixType>
+struct traits<CwiseUnaryView<ViewOp, MatrixType> >
+ : traits<MatrixType>
+{
+  typedef typename result_of<
+                     ViewOp(typename traits<MatrixType>::Scalar)
+                   >::type Scalar;
+  typedef typename MatrixType::Nested MatrixTypeNested;
+  typedef typename remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+  enum {
+    Flags = (traits<_MatrixTypeNested>::Flags & (HereditaryBits | LvalueBit | LinearAccessBit | DirectAccessBit)),
+    CoeffReadCost = traits<_MatrixTypeNested>::CoeffReadCost + functor_traits<ViewOp>::Cost,
+    MatrixTypeInnerStride =  inner_stride_at_compile_time<MatrixType>::ret,
+    // need to cast the sizeof's from size_t to int explicitly, otherwise:
+    // "error: no integral type can represent all of the enumerator values
+    InnerStrideAtCompileTime = MatrixTypeInnerStride == Dynamic
+                             ? int(Dynamic)
+                             : int(MatrixTypeInnerStride)
+                               * int(sizeof(typename traits<MatrixType>::Scalar) / sizeof(Scalar)),
+    OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret
+  };
+};
+}
+
+template<typename ViewOp, typename MatrixType, typename StorageKind>
+class CwiseUnaryViewImpl;
+
+template<typename ViewOp, typename MatrixType>
+class CwiseUnaryView : internal::no_assignment_operator,
+  public CwiseUnaryViewImpl<ViewOp, MatrixType, typename internal::traits<MatrixType>::StorageKind>
+{
+  public:
+
+    typedef typename CwiseUnaryViewImpl<ViewOp, MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryView)
+
+    inline CwiseUnaryView(const MatrixType& mat, const ViewOp& func = ViewOp())
+      : m_matrix(mat), m_functor(func) {}
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryView)
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_matrix.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_matrix.cols(); }
+
+    /** \returns the functor representing unary operation */
+    const ViewOp& functor() const { return m_functor; }
+
+    /** \returns the nested expression */
+    const typename internal::remove_all<typename MatrixType::Nested>::type&
+    nestedExpression() const { return m_matrix; }
+
+    /** \returns the nested expression */
+    typename internal::remove_all<typename MatrixType::Nested>::type&
+    nestedExpression() { return m_matrix.const_cast_derived(); }
+
+  protected:
+    // FIXME changed from MatrixType::Nested because of a weird compilation error with sun CC
+    const typename internal::nested<MatrixType>::type m_matrix;
+    ViewOp m_functor;
+};
+
+template<typename ViewOp, typename MatrixType>
+class CwiseUnaryViewImpl<ViewOp,MatrixType,Dense>
+  : public internal::dense_xpr_base< CwiseUnaryView<ViewOp, MatrixType> >::type
+{
+  public:
+
+    typedef CwiseUnaryView<ViewOp, MatrixType> Derived;
+    typedef typename internal::dense_xpr_base< CwiseUnaryView<ViewOp, MatrixType> >::type Base;
+
+    EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+
+    inline Index innerStride() const
+    {
+      return derived().nestedExpression().innerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
+    }
+
+    inline Index outerStride() const
+    {
+      return derived().nestedExpression().outerStride();
+    }
+
+    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const
+    {
+      return derived().functor()(derived().nestedExpression().coeff(row, col));
+    }
+
+    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
+    {
+      return derived().functor()(derived().nestedExpression().coeff(index));
+    }
+
+    EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
+    {
+      return derived().functor()(const_cast_derived().nestedExpression().coeffRef(row, col));
+    }
+
+    EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
+    {
+      return derived().functor()(const_cast_derived().nestedExpression().coeffRef(index));
+    }
+};
+
+
+
+#endif // EIGEN_CWISE_UNARY_VIEW_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DenseBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DenseBase.h
new file mode 100755
index 0000000..838fa40
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DenseBase.h
@@ -0,0 +1,543 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DENSEBASE_H
+#define EIGEN_DENSEBASE_H
+
+/** \class DenseBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for all dense matrices, vectors, and arrays
+  *
+  * This class is the base that is inherited by all dense objects (matrix, vector, arrays,
+  * and related expression types). The common Eigen API for dense objects is contained in this class.
+  *
+  * \tparam Derived is the derived type, e.g., a matrix type or an expression.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN.
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived> class DenseBase
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  : public internal::special_scalar_op_base<Derived,typename internal::traits<Derived>::Scalar,
+                                     typename NumTraits<typename internal::traits<Derived>::Scalar>::Real>
+#else
+  : public DenseCoeffsBase<Derived>
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+{
+  public:
+    using internal::special_scalar_op_base<Derived,typename internal::traits<Derived>::Scalar,
+                typename NumTraits<typename internal::traits<Derived>::Scalar>::Real>::operator*;
+
+    class InnerIterator;
+
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+
+    /** \brief The type of indices 
+      * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
+      * \sa \ref TopicPreprocessorDirectives.
+      */
+    typedef typename internal::traits<Derived>::Index Index; 
+
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    typedef DenseCoeffsBase<Derived> Base;
+    using Base::derived;
+    using Base::const_cast_derived;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::rowIndexByOuterInner;
+    using Base::colIndexByOuterInner;
+    using Base::coeff;
+    using Base::coeffByOuterInner;
+    using Base::packet;
+    using Base::packetByOuterInner;
+    using Base::writePacket;
+    using Base::writePacketByOuterInner;
+    using Base::coeffRef;
+    using Base::coeffRefByOuterInner;
+    using Base::copyCoeff;
+    using Base::copyCoeffByOuterInner;
+    using Base::copyPacket;
+    using Base::copyPacketByOuterInner;
+    using Base::operator();
+    using Base::operator[];
+    using Base::x;
+    using Base::y;
+    using Base::z;
+    using Base::w;
+    using Base::stride;
+    using Base::innerStride;
+    using Base::outerStride;
+    using Base::rowStride;
+    using Base::colStride;
+    typedef typename Base::CoeffReturnType CoeffReturnType;
+
+    enum {
+
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+        /**< The number of rows at compile-time. This is just a copy of the value provided
+          * by the \a Derived type. If a value is not known at compile-time,
+          * it is set to the \a Dynamic constant.
+          * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
+
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+        /**< The number of columns at compile-time. This is just a copy of the value provided
+          * by the \a Derived type. If a value is not known at compile-time,
+          * it is set to the \a Dynamic constant.
+          * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
+
+
+      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+                                                   internal::traits<Derived>::ColsAtCompileTime>::ret),
+        /**< This is equal to the number of coefficients, i.e. the number of
+          * rows times the number of columns, or to \a Dynamic if this is not
+          * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
+
+      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+        /**< This value is equal to the maximum possible number of rows that this expression
+          * might have. If this expression might have an arbitrarily high number of rows,
+          * this value is set to \a Dynamic.
+          *
+          * This value is useful to know when evaluating an expression, in order to determine
+          * whether it is possible to avoid doing a dynamic memory allocation.
+          *
+          * \sa RowsAtCompileTime, MaxColsAtCompileTime, MaxSizeAtCompileTime
+          */
+
+      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+        /**< This value is equal to the maximum possible number of columns that this expression
+          * might have. If this expression might have an arbitrarily high number of columns,
+          * this value is set to \a Dynamic.
+          *
+          * This value is useful to know when evaluating an expression, in order to determine
+          * whether it is possible to avoid doing a dynamic memory allocation.
+          *
+          * \sa ColsAtCompileTime, MaxRowsAtCompileTime, MaxSizeAtCompileTime
+          */
+
+      MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
+                                                      internal::traits<Derived>::MaxColsAtCompileTime>::ret),
+        /**< This value is equal to the maximum possible number of coefficients that this expression
+          * might have. If this expression might have an arbitrarily high number of coefficients,
+          * this value is set to \a Dynamic.
+          *
+          * This value is useful to know when evaluating an expression, in order to determine
+          * whether it is possible to avoid doing a dynamic memory allocation.
+          *
+          * \sa SizeAtCompileTime, MaxRowsAtCompileTime, MaxColsAtCompileTime
+          */
+
+      IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
+                           || internal::traits<Derived>::MaxColsAtCompileTime == 1,
+        /**< This is set to true if either the number of rows or the number of
+          * columns is known at compile-time to be equal to 1. Indeed, in that case,
+          * we are dealing with a column-vector (if there is only one column) or with
+          * a row-vector (if there is only one row). */
+
+      Flags = internal::traits<Derived>::Flags,
+        /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
+          * constructed from this one. See the \ref flags "list of flags".
+          */
+
+      IsRowMajor = int(Flags) & RowMajorBit, /**< True if this expression has row-major storage order. */
+
+      InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? SizeAtCompileTime
+                             : int(IsRowMajor) ? ColsAtCompileTime : RowsAtCompileTime,
+
+      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
+        /**< This is a rough measure of how expensive it is to read one coefficient from
+          * this expression.
+          */
+
+      InnerStrideAtCompileTime = internal::inner_stride_at_compile_time<Derived>::ret,
+      OuterStrideAtCompileTime = internal::outer_stride_at_compile_time<Derived>::ret
+    };
+
+    enum { ThisConstantIsPrivateInPlainObjectBase };
+
+    /** \returns the number of nonzero coefficients which is in practice the number
+      * of stored coefficients. */
+    inline Index nonZeros() const { return size(); }
+    /** \returns true if either the number of rows or the number of columns is equal to 1.
+      * In other words, this function returns
+      * \code rows()==1 || cols()==1 \endcode
+      * \sa rows(), cols(), IsVectorAtCompileTime. */
+
+    /** \returns the outer size.
+      *
+      * \note For a vector, this returns just 1. For a matrix (non-vector), this is the major dimension
+      * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of columns for a
+      * column-major matrix, and the number of rows for a row-major matrix. */
+    Index outerSize() const
+    {
+      return IsVectorAtCompileTime ? 1
+           : int(IsRowMajor) ? this->rows() : this->cols();
+    }
+
+    /** \returns the inner size.
+      *
+      * \note For a vector, this is just the size. For a matrix (non-vector), this is the minor dimension
+      * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of rows for a 
+      * column-major matrix, and the number of columns for a row-major matrix. */
+    Index innerSize() const
+    {
+      return IsVectorAtCompileTime ? this->size()
+           : int(IsRowMajor) ? this->cols() : this->rows();
+    }
+
+    /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
+      * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
+      * nothing else.
+      */
+    void resize(Index size)
+    {
+      EIGEN_ONLY_USED_FOR_DEBUG(size);
+      eigen_assert(size == this->size()
+                && "DenseBase::resize() does not actually allow to resize.");
+    }
+    /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
+      * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
+      * nothing else.
+      */
+    void resize(Index rows, Index cols)
+    {
+      EIGEN_ONLY_USED_FOR_DEBUG(rows);
+      EIGEN_ONLY_USED_FOR_DEBUG(cols);
+      eigen_assert(rows == this->rows() && cols == this->cols()
+                && "DenseBase::resize() does not actually allow to resize.");
+    }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+    /** \internal Represents a matrix with all coefficients equal to one another*/
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
+    /** \internal Represents a vector with linearly spaced coefficients that allows sequential access only. */
+    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,false>,Derived> SequentialLinSpacedReturnType;
+    /** \internal Represents a vector with linearly spaced coefficients that allows random access. */
+    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,true>,Derived> RandomAccessLinSpacedReturnType;
+    /** \internal the return type of MatrixBase::eigenvalues() */
+    typedef Matrix<typename NumTraits<typename internal::traits<Derived>::Scalar>::Real, internal::traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    /** Copies \a other into *this. \returns a reference to *this. */
+    template<typename OtherDerived>
+    Derived& operator=(const DenseBase<OtherDerived>& other);
+
+    /** Special case of the template operator=, in order to prevent the compiler
+      * from generating a default operator= (issue hit with g++ 4.1)
+      */
+    Derived& operator=(const DenseBase& other);
+
+    template<typename OtherDerived>
+    Derived& operator=(const EigenBase<OtherDerived> &other);
+
+    template<typename OtherDerived>
+    Derived& operator+=(const EigenBase<OtherDerived> &other);
+
+    template<typename OtherDerived>
+    Derived& operator-=(const EigenBase<OtherDerived> &other);
+
+    template<typename OtherDerived>
+    Derived& operator=(const ReturnByValue<OtherDerived>& func);
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** Copies \a other into *this without evaluating other. \returns a reference to *this. */
+    template<typename OtherDerived>
+    Derived& lazyAssign(const DenseBase<OtherDerived>& other);
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    CommaInitializer<Derived> operator<< (const Scalar& s);
+
+    template<unsigned int Added,unsigned int Removed>
+    const Flagged<Derived, Added, Removed> flagged() const;
+
+    template<typename OtherDerived>
+    CommaInitializer<Derived> operator<< (const DenseBase<OtherDerived>& other);
+
+    Eigen::Transpose<Derived> transpose();
+    typedef const Transpose<const Derived> ConstTransposeReturnType;
+    ConstTransposeReturnType transpose() const;
+    void transposeInPlace();
+#ifndef EIGEN_NO_DEBUG
+  protected:
+    template<typename OtherDerived>
+    void checkTransposeAliasing(const OtherDerived& other) const;
+  public:
+#endif
+
+    typedef VectorBlock<Derived> SegmentReturnType;
+    typedef const VectorBlock<const Derived> ConstSegmentReturnType;
+    template<int Size> struct FixedSegmentReturnType { typedef VectorBlock<Derived, Size> Type; };
+    template<int Size> struct ConstFixedSegmentReturnType { typedef const VectorBlock<const Derived, Size> Type; };
+    
+    // Note: The "DenseBase::" prefixes are added to help MSVC9 to match these declarations with the later implementations.
+    SegmentReturnType segment(Index start, Index size);
+    typename DenseBase::ConstSegmentReturnType segment(Index start, Index size) const;
+
+    SegmentReturnType head(Index size);
+    typename DenseBase::ConstSegmentReturnType head(Index size) const;
+
+    SegmentReturnType tail(Index size);
+    typename DenseBase::ConstSegmentReturnType tail(Index size) const;
+
+    template<int Size> typename FixedSegmentReturnType<Size>::Type head();
+    template<int Size> typename ConstFixedSegmentReturnType<Size>::Type head() const;
+
+    template<int Size> typename FixedSegmentReturnType<Size>::Type tail();
+    template<int Size> typename ConstFixedSegmentReturnType<Size>::Type tail() const;
+
+    template<int Size> typename FixedSegmentReturnType<Size>::Type segment(Index start);
+    template<int Size> typename ConstFixedSegmentReturnType<Size>::Type segment(Index start) const;
+
+    static const ConstantReturnType
+    Constant(Index rows, Index cols, const Scalar& value);
+    static const ConstantReturnType
+    Constant(Index size, const Scalar& value);
+    static const ConstantReturnType
+    Constant(const Scalar& value);
+
+    static const SequentialLinSpacedReturnType
+    LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high);
+    static const RandomAccessLinSpacedReturnType
+    LinSpaced(Index size, const Scalar& low, const Scalar& high);
+    static const SequentialLinSpacedReturnType
+    LinSpaced(Sequential_t, const Scalar& low, const Scalar& high);
+    static const RandomAccessLinSpacedReturnType
+    LinSpaced(const Scalar& low, const Scalar& high);
+
+    template<typename CustomNullaryOp>
+    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func);
+    template<typename CustomNullaryOp>
+    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    NullaryExpr(Index size, const CustomNullaryOp& func);
+    template<typename CustomNullaryOp>
+    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    NullaryExpr(const CustomNullaryOp& func);
+
+    static const ConstantReturnType Zero(Index rows, Index cols);
+    static const ConstantReturnType Zero(Index size);
+    static const ConstantReturnType Zero();
+    static const ConstantReturnType Ones(Index rows, Index cols);
+    static const ConstantReturnType Ones(Index size);
+    static const ConstantReturnType Ones();
+
+    void fill(const Scalar& value);
+    Derived& setConstant(const Scalar& value);
+    Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high);
+    Derived& setLinSpaced(const Scalar& low, const Scalar& high);
+    Derived& setZero();
+    Derived& setOnes();
+    Derived& setRandom();
+
+    template<typename OtherDerived>
+    bool isApprox(const DenseBase<OtherDerived>& other,
+                  RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isMuchSmallerThan(const RealScalar& other,
+                           RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    template<typename OtherDerived>
+    bool isMuchSmallerThan(const DenseBase<OtherDerived>& other,
+                           RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+    bool isApproxToConstant(const Scalar& value, RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isConstant(const Scalar& value, RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isZero(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isOnes(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+    inline Derived& operator*=(const Scalar& other);
+    inline Derived& operator/=(const Scalar& other);
+
+    /** \returns the matrix or vector obtained by evaluating this expression.
+      *
+      * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
+      * a const reference, in order to avoid a useless copy.
+      */
+    EIGEN_STRONG_INLINE const typename internal::eval<Derived>::type eval() const
+    {
+      // Even though MSVC does not honor strong inlining when the return type
+      // is a dynamic matrix, we desperately need strong inlining for fixed
+      // size types on MSVC.
+      return typename internal::eval<Derived>::type(derived());
+    }
+
+    /** swaps *this with the expression \a other.
+      *
+      */
+    template<typename OtherDerived>
+    void swap(const DenseBase<OtherDerived>& other,
+              int = OtherDerived::ThisConstantIsPrivateInPlainObjectBase)
+    {
+      SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
+    }
+
+    /** swaps *this with the matrix or array \a other.
+      *
+      */
+    template<typename OtherDerived>
+    void swap(PlainObjectBase<OtherDerived>& other)
+    {
+      SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
+    }
+
+
+    inline const NestByValue<Derived> nestByValue() const;
+    inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
+    inline ForceAlignedAccess<Derived> forceAlignedAccess();
+    template<bool Enable> inline const typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf() const;
+    template<bool Enable> inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
+
+    Scalar sum() const;
+    Scalar mean() const;
+    Scalar trace() const;
+
+    Scalar prod() const;
+
+    typename internal::traits<Derived>::Scalar minCoeff() const;
+    typename internal::traits<Derived>::Scalar maxCoeff() const;
+
+    template<typename IndexType>
+    typename internal::traits<Derived>::Scalar minCoeff(IndexType* row, IndexType* col) const;
+    template<typename IndexType>
+    typename internal::traits<Derived>::Scalar maxCoeff(IndexType* row, IndexType* col) const;
+    template<typename IndexType>
+    typename internal::traits<Derived>::Scalar minCoeff(IndexType* index) const;
+    template<typename IndexType>
+    typename internal::traits<Derived>::Scalar maxCoeff(IndexType* index) const;
+
+    template<typename BinaryOp>
+    typename internal::result_of<BinaryOp(typename internal::traits<Derived>::Scalar)>::type
+    redux(const BinaryOp& func) const;
+
+    template<typename Visitor>
+    void visit(Visitor& func) const;
+
+    inline const WithFormat<Derived> format(const IOFormat& fmt) const;
+
+    /** \returns the unique coefficient of a 1x1 expression */
+    CoeffReturnType value() const
+    {
+      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+      eigen_assert(this->rows() == 1 && this->cols() == 1);
+      return derived().coeff(0,0);
+    }
+
+/////////// Array module ///////////
+
+    bool all(void) const;
+    bool any(void) const;
+    Index count() const;
+
+    typedef VectorwiseOp<Derived, Horizontal> RowwiseReturnType;
+    typedef const VectorwiseOp<const Derived, Horizontal> ConstRowwiseReturnType;
+    typedef VectorwiseOp<Derived, Vertical> ColwiseReturnType;
+    typedef const VectorwiseOp<const Derived, Vertical> ConstColwiseReturnType;
+
+    ConstRowwiseReturnType rowwise() const;
+    RowwiseReturnType rowwise();
+    ConstColwiseReturnType colwise() const;
+    ColwiseReturnType colwise();
+
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index rows, Index cols);
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index size);
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random();
+
+    template<typename ThenDerived,typename ElseDerived>
+    const Select<Derived,ThenDerived,ElseDerived>
+    select(const DenseBase<ThenDerived>& thenMatrix,
+           const DenseBase<ElseDerived>& elseMatrix) const;
+
+    template<typename ThenDerived>
+    inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
+    select(const DenseBase<ThenDerived>& thenMatrix, typename ThenDerived::Scalar elseScalar) const;
+
+    template<typename ElseDerived>
+    inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
+    select(typename ElseDerived::Scalar thenScalar, const DenseBase<ElseDerived>& elseMatrix) const;
+
+    template<int p> RealScalar lpNorm() const;
+
+    template<int RowFactor, int ColFactor>
+    const Replicate<Derived,RowFactor,ColFactor> replicate() const;
+    const Replicate<Derived,Dynamic,Dynamic> replicate(Index rowFacor,Index colFactor) const;
+
+    typedef Reverse<Derived, BothDirections> ReverseReturnType;
+    typedef const Reverse<const Derived, BothDirections> ConstReverseReturnType;
+    ReverseReturnType reverse();
+    ConstReverseReturnType reverse() const;
+    void reverseInPlace();
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase
+#   include "../plugins/BlockMethods.h"
+#   ifdef EIGEN_DENSEBASE_PLUGIN
+#     include EIGEN_DENSEBASE_PLUGIN
+#   endif
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+
+#ifdef EIGEN2_SUPPORT
+
+    Block<Derived> corner(CornerType type, Index cRows, Index cCols);
+    const Block<Derived> corner(CornerType type, Index cRows, Index cCols) const;
+    template<int CRows, int CCols>
+    Block<Derived, CRows, CCols> corner(CornerType type);
+    template<int CRows, int CCols>
+    const Block<Derived, CRows, CCols> corner(CornerType type) const;
+
+#endif // EIGEN2_SUPPORT
+
+
+    // disable the use of evalTo for dense objects with a nice compilation error
+    template<typename Dest> inline void evalTo(Dest& ) const
+    {
+      EIGEN_STATIC_ASSERT((internal::is_same<Dest,void>::value),THE_EVAL_EVALTO_FUNCTION_SHOULD_NEVER_BE_CALLED_FOR_DENSE_OBJECTS);
+    }
+
+  protected:
+    /** Default constructor. Do nothing. */
+    DenseBase()
+    {
+      /* Just checks for self-consistency of the flags.
+       * Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down
+       */
+#ifdef EIGEN_INTERNAL_DEBUGGING
+      EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, int(IsRowMajor))
+                        && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, int(!IsRowMajor))),
+                          INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION)
+#endif
+    }
+
+  private:
+    explicit DenseBase(int);
+    DenseBase(int,int);
+    template<typename OtherDerived> explicit DenseBase(const DenseBase<OtherDerived>&);
+};
+
+#endif // EIGEN_DENSEBASE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DenseCoeffsBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DenseCoeffsBase.h
new file mode 100755
index 0000000..7838a1c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DenseCoeffsBase.h
@@ -0,0 +1,765 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DENSECOEFFSBASE_H
+#define EIGEN_DENSECOEFFSBASE_H
+
+namespace internal {
+template<typename T> struct add_const_on_value_type_if_arithmetic
+{
+  typedef typename conditional<is_arithmetic<T>::value, T, typename add_const_on_value_type<T>::type>::type type;
+};
+}
+
+/** \brief Base class providing read-only coefficient access to matrices and arrays.
+  * \ingroup Core_Module
+  * \tparam Derived Type of the derived class
+  * \tparam ReadOnlyAccessors Constant indicating read-only access
+  *
+  * This class defines the \c operator() \c const function and friends, which can be used to read specific
+  * entries of a matrix or array.
+  * 
+  * \sa DenseCoeffsBase<Derived, WriteAccessors>, DenseCoeffsBase<Derived, DirectAccessors>,
+  *     \ref TopicClassHierarchy
+  */
+template<typename Derived>
+class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
+{
+  public:
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+
+    // Explanation for this CoeffReturnType typedef.
+    // - This is the return type of the coeff() method.
+    // - The LvalueBit means exactly that we can offer a coeffRef() method, which means exactly that we can get references
+    // to coeffs, which means exactly that we can have coeff() return a const reference (as opposed to returning a value).
+    // - The is_artihmetic check is required since "const int", "const double", etc. will cause warnings on some systems
+    // while the declaration of "const T", where T is a non arithmetic type does not. Always returning "const Scalar&" is
+    // not possible, since the underlying expressions might not offer a valid address the reference could be referring to.
+    typedef typename internal::conditional<bool(internal::traits<Derived>::Flags&LvalueBit),
+                         const Scalar&,
+                         typename internal::conditional<internal::is_arithmetic<Scalar>::value, Scalar, const Scalar>::type
+                     >::type CoeffReturnType;
+
+    typedef typename internal::add_const_on_value_type_if_arithmetic<
+                         typename internal::packet_traits<Scalar>::type
+                     >::type PacketReturnType;
+
+    typedef EigenBase<Derived> Base;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::derived;
+
+    EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) const
+    {
+      return int(Derived::RowsAtCompileTime) == 1 ? 0
+          : int(Derived::ColsAtCompileTime) == 1 ? inner
+          : int(Derived::Flags)&RowMajorBit ? outer
+          : inner;
+    }
+
+    EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) const
+    {
+      return int(Derived::ColsAtCompileTime) == 1 ? 0
+          : int(Derived::RowsAtCompileTime) == 1 ? inner
+          : int(Derived::Flags)&RowMajorBit ? inner
+          : outer;
+    }
+
+    /** Short version: don't use this function, use
+      * \link operator()(Index,Index) const \endlink instead.
+      *
+      * Long version: this function is similar to
+      * \link operator()(Index,Index) const \endlink, but without the assertion.
+      * Use this for limiting the performance cost of debugging code when doing
+      * repeated coefficient access. Only use this when it is guaranteed that the
+      * parameters \a row and \a col are in range.
+      *
+      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+      * function equivalent to \link operator()(Index,Index) const \endlink.
+      *
+      * \sa operator()(Index,Index) const, coeffRef(Index,Index), coeff(Index) const
+      */
+    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      return derived().coeff(row, col);
+    }
+
+    EIGEN_STRONG_INLINE CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
+    {
+      return coeff(rowIndexByOuterInner(outer, inner),
+                   colIndexByOuterInner(outer, inner));
+    }
+
+    /** \returns the coefficient at given the given row and column.
+      *
+      * \sa operator()(Index,Index), operator[](Index)
+      */
+    EIGEN_STRONG_INLINE CoeffReturnType operator()(Index row, Index col) const
+    {
+      eigen_assert(row >= 0 && row < rows()
+          && col >= 0 && col < cols());
+      return derived().coeff(row, col);
+    }
+
+    /** Short version: don't use this function, use
+      * \link operator[](Index) const \endlink instead.
+      *
+      * Long version: this function is similar to
+      * \link operator[](Index) const \endlink, but without the assertion.
+      * Use this for limiting the performance cost of debugging code when doing
+      * repeated coefficient access. Only use this when it is guaranteed that the
+      * parameter \a index is in range.
+      *
+      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+      * function equivalent to \link operator[](Index) const \endlink.
+      *
+      * \sa operator[](Index) const, coeffRef(Index), coeff(Index,Index) const
+      */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    coeff(Index index) const
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      return derived().coeff(index);
+    }
+
+
+    /** \returns the coefficient at given index.
+      *
+      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+      *
+      * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const,
+      * z() const, w() const
+      */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    operator[](Index index) const
+    {
+      #ifndef EIGEN2_SUPPORT
+      EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
+                          THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
+      #endif
+      eigen_assert(index >= 0 && index < size());
+      return derived().coeff(index);
+    }
+
+    /** \returns the coefficient at given index.
+      *
+      * This is synonymous to operator[](Index) const.
+      *
+      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+      *
+      * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const,
+      * z() const, w() const
+      */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    operator()(Index index) const
+    {
+      eigen_assert(index >= 0 && index < size());
+      return derived().coeff(index);
+    }
+
+    /** equivalent to operator[](0).  */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    x() const { return (*this)[0]; }
+
+    /** equivalent to operator[](1).  */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    y() const { return (*this)[1]; }
+
+    /** equivalent to operator[](2).  */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    z() const { return (*this)[2]; }
+
+    /** equivalent to operator[](3).  */
+
+    EIGEN_STRONG_INLINE CoeffReturnType
+    w() const { return (*this)[3]; }
+
+    /** \internal
+      * \returns the packet of coefficients starting at the given row and column. It is your responsibility
+      * to ensure that a packet really starts there. This method is only available on expressions having the
+      * PacketAccessBit.
+      *
+      * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
+      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
+      * starting at an address which is a multiple of the packet size.
+      */
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketReturnType packet(Index row, Index col) const
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                      && col >= 0 && col < cols());
+      return derived().template packet<LoadMode>(row,col);
+    }
+
+
+    /** \internal */
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketReturnType packetByOuterInner(Index outer, Index inner) const
+    {
+      return packet<LoadMode>(rowIndexByOuterInner(outer, inner),
+                              colIndexByOuterInner(outer, inner));
+    }
+
+    /** \internal
+      * \returns the packet of coefficients starting at the given index. It is your responsibility
+      * to ensure that a packet really starts there. This method is only available on expressions having the
+      * PacketAccessBit and the LinearAccessBit.
+      *
+      * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
+      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
+      * starting at an address which is a multiple of the packet size.
+      */
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      return derived().template packet<LoadMode>(index);
+    }
+
+  protected:
+    // explanation: DenseBase is doing "using ..." on the methods from DenseCoeffsBase.
+    // But some methods are only available in the DirectAccess case.
+    // So we add dummy methods here with these names, so that "using... " doesn't fail.
+    // It's not private so that the child class DenseBase can access them, and it's not public
+    // either since it's an implementation detail, so has to be protected.
+    void coeffRef();
+    void coeffRefByOuterInner();
+    void writePacket();
+    void writePacketByOuterInner();
+    void copyCoeff();
+    void copyCoeffByOuterInner();
+    void copyPacket();
+    void copyPacketByOuterInner();
+    void stride();
+    void innerStride();
+    void outerStride();
+    void rowStride();
+    void colStride();
+};
+
+/** \brief Base class providing read/write coefficient access to matrices and arrays.
+  * \ingroup Core_Module
+  * \tparam Derived Type of the derived class
+  * \tparam WriteAccessors Constant indicating read/write access
+  *
+  * This class defines the non-const \c operator() function and friends, which can be used to write specific
+  * entries of a matrix or array. This class inherits DenseCoeffsBase<Derived, ReadOnlyAccessors> which
+  * defines the const variant for reading specific entries.
+  * 
+  * \sa DenseCoeffsBase<Derived, DirectAccessors>, \ref TopicClassHierarchy
+  */
+template<typename Derived>
+class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
+{
+  public:
+
+    typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
+
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    using Base::coeff;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::derived;
+    using Base::rowIndexByOuterInner;
+    using Base::colIndexByOuterInner;
+    using Base::operator[];
+    using Base::operator();
+    using Base::x;
+    using Base::y;
+    using Base::z;
+    using Base::w;
+
+    /** Short version: don't use this function, use
+      * \link operator()(Index,Index) \endlink instead.
+      *
+      * Long version: this function is similar to
+      * \link operator()(Index,Index) \endlink, but without the assertion.
+      * Use this for limiting the performance cost of debugging code when doing
+      * repeated coefficient access. Only use this when it is guaranteed that the
+      * parameters \a row and \a col are in range.
+      *
+      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+      * function equivalent to \link operator()(Index,Index) \endlink.
+      *
+      * \sa operator()(Index,Index), coeff(Index, Index) const, coeffRef(Index)
+      */
+    EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      return derived().coeffRef(row, col);
+    }
+
+    EIGEN_STRONG_INLINE Scalar&
+    coeffRefByOuterInner(Index outer, Index inner)
+    {
+      return coeffRef(rowIndexByOuterInner(outer, inner),
+                      colIndexByOuterInner(outer, inner));
+    }
+
+    /** \returns a reference to the coefficient at given the given row and column.
+      *
+      * \sa operator[](Index)
+      */
+
+    EIGEN_STRONG_INLINE Scalar&
+    operator()(Index row, Index col)
+    {
+      eigen_assert(row >= 0 && row < rows()
+          && col >= 0 && col < cols());
+      return derived().coeffRef(row, col);
+    }
+
+
+    /** Short version: don't use this function, use
+      * \link operator[](Index) \endlink instead.
+      *
+      * Long version: this function is similar to
+      * \link operator[](Index) \endlink, but without the assertion.
+      * Use this for limiting the performance cost of debugging code when doing
+      * repeated coefficient access. Only use this when it is guaranteed that the
+      * parameters \a row and \a col are in range.
+      *
+      * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+      * function equivalent to \link operator[](Index) \endlink.
+      *
+      * \sa operator[](Index), coeff(Index) const, coeffRef(Index,Index)
+      */
+
+    EIGEN_STRONG_INLINE Scalar&
+    coeffRef(Index index)
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      return derived().coeffRef(index);
+    }
+
+    /** \returns a reference to the coefficient at given index.
+      *
+      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+      *
+      * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
+      */
+
+    EIGEN_STRONG_INLINE Scalar&
+    operator[](Index index)
+    {
+      #ifndef EIGEN2_SUPPORT
+      EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
+                          THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
+      #endif
+      eigen_assert(index >= 0 && index < size());
+      return derived().coeffRef(index);
+    }
+
+    /** \returns a reference to the coefficient at given index.
+      *
+      * This is synonymous to operator[](Index).
+      *
+      * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+      *
+      * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
+      */
+
+    EIGEN_STRONG_INLINE Scalar&
+    operator()(Index index)
+    {
+      eigen_assert(index >= 0 && index < size());
+      return derived().coeffRef(index);
+    }
+
+    /** equivalent to operator[](0).  */
+
+    EIGEN_STRONG_INLINE Scalar&
+    x() { return (*this)[0]; }
+
+    /** equivalent to operator[](1).  */
+
+    EIGEN_STRONG_INLINE Scalar&
+    y() { return (*this)[1]; }
+
+    /** equivalent to operator[](2).  */
+
+    EIGEN_STRONG_INLINE Scalar&
+    z() { return (*this)[2]; }
+
+    /** equivalent to operator[](3).  */
+
+    EIGEN_STRONG_INLINE Scalar&
+    w() { return (*this)[3]; }
+
+    /** \internal
+      * Stores the given packet of coefficients, at the given row and column of this expression. It is your responsibility
+      * to ensure that a packet really starts there. This method is only available on expressions having the
+      * PacketAccessBit.
+      *
+      * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
+      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
+      * starting at an address which is a multiple of the packet size.
+      */
+
+    template<int StoreMode>
+    EIGEN_STRONG_INLINE void writePacket
+    (Index row, Index col, const typename internal::packet_traits<Scalar>::type& x)
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      derived().template writePacket<StoreMode>(row,col,x);
+    }
+
+
+    /** \internal */
+    template<int StoreMode>
+    EIGEN_STRONG_INLINE void writePacketByOuterInner
+    (Index outer, Index inner, const typename internal::packet_traits<Scalar>::type& x)
+    {
+      writePacket<StoreMode>(rowIndexByOuterInner(outer, inner),
+                            colIndexByOuterInner(outer, inner),
+                            x);
+    }
+
+    /** \internal
+      * Stores the given packet of coefficients, at the given index in this expression. It is your responsibility
+      * to ensure that a packet really starts there. This method is only available on expressions having the
+      * PacketAccessBit and the LinearAccessBit.
+      *
+      * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
+      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
+      * starting at an address which is a multiple of the packet size.
+      */
+    template<int StoreMode>
+    EIGEN_STRONG_INLINE void writePacket
+    (Index index, const typename internal::packet_traits<Scalar>::type& x)
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      derived().template writePacket<StoreMode>(index,x);
+    }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+    /** \internal Copies the coefficient at position (row,col) of other into *this.
+      *
+      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
+      * with usual assignments.
+      *
+      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
+      */
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void copyCoeff(Index row, Index col, const DenseBase<OtherDerived>& other)
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      derived().coeffRef(row, col) = other.derived().coeff(row, col);
+    }
+
+    /** \internal Copies the coefficient at the given index of other into *this.
+      *
+      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
+      * with usual assignments.
+      *
+      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
+      */
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      derived().coeffRef(index) = other.derived().coeff(index);
+    }
+
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void copyCoeffByOuterInner(Index outer, Index inner, const DenseBase<OtherDerived>& other)
+    {
+      const Index row = rowIndexByOuterInner(outer,inner);
+      const Index col = colIndexByOuterInner(outer,inner);
+      // derived() is important here: copyCoeff() may be reimplemented in Derived!
+      derived().copyCoeff(row, col, other);
+    }
+
+    /** \internal Copies the packet at position (row,col) of other into *this.
+      *
+      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
+      * with usual assignments.
+      *
+      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
+      */
+
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    EIGEN_STRONG_INLINE void copyPacket(Index row, Index col, const DenseBase<OtherDerived>& other)
+    {
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      derived().template writePacket<StoreMode>(row, col,
+        other.derived().template packet<LoadMode>(row, col));
+    }
+
+    /** \internal Copies the packet at the given index of other into *this.
+      *
+      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
+      * with usual assignments.
+      *
+      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
+      */
+
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    EIGEN_STRONG_INLINE void copyPacket(Index index, const DenseBase<OtherDerived>& other)
+    {
+      eigen_internal_assert(index >= 0 && index < size());
+      derived().template writePacket<StoreMode>(index,
+        other.derived().template packet<LoadMode>(index));
+    }
+
+    /** \internal */
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    EIGEN_STRONG_INLINE void copyPacketByOuterInner(Index outer, Index inner, const DenseBase<OtherDerived>& other)
+    {
+      const Index row = rowIndexByOuterInner(outer,inner);
+      const Index col = colIndexByOuterInner(outer,inner);
+      // derived() is important here: copyCoeff() may be reimplemented in Derived!
+      derived().template copyPacket< OtherDerived, StoreMode, LoadMode>(row, col, other);
+    }
+#endif
+
+};
+
+/** \brief Base class providing direct read-only coefficient access to matrices and arrays.
+  * \ingroup Core_Module
+  * \tparam Derived Type of the derived class
+  * \tparam DirectAccessors Constant indicating direct access
+  *
+  * This class defines functions to work with strides which can be used to access entries directly. This class
+  * inherits DenseCoeffsBase<Derived, ReadOnlyAccessors> which defines functions to access entries read-only using
+  * \c operator() .
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived>
+class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
+{
+  public:
+
+    typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::derived;
+
+    /** \returns the pointer increment between two consecutive elements within a slice in the inner direction.
+      *
+      * \sa outerStride(), rowStride(), colStride()
+      */
+    inline Index innerStride() const
+    {
+      return derived().innerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns
+      *          in a column-major matrix).
+      *
+      * \sa innerStride(), rowStride(), colStride()
+      */
+    inline Index outerStride() const
+    {
+      return derived().outerStride();
+    }
+
+    // FIXME shall we remove it ?
+    inline Index stride() const
+    {
+      return Derived::IsVectorAtCompileTime ? innerStride() : outerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive rows.
+      *
+      * \sa innerStride(), outerStride(), colStride()
+      */
+    inline Index rowStride() const
+    {
+      return Derived::IsRowMajor ? outerStride() : innerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive columns.
+      *
+      * \sa innerStride(), outerStride(), rowStride()
+      */
+    inline Index colStride() const
+    {
+      return Derived::IsRowMajor ? innerStride() : outerStride();
+    }
+};
+
+/** \brief Base class providing direct read/write coefficient access to matrices and arrays.
+  * \ingroup Core_Module
+  * \tparam Derived Type of the derived class
+  * \tparam DirectAccessors Constant indicating direct access
+  *
+  * This class defines functions to work with strides which can be used to access entries directly. This class
+  * inherits DenseCoeffsBase<Derived, WriteAccessors> which defines functions to access entries read/write using
+  * \c operator().
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived>
+class DenseCoeffsBase<Derived, DirectWriteAccessors>
+  : public DenseCoeffsBase<Derived, WriteAccessors>
+{
+  public:
+
+    typedef DenseCoeffsBase<Derived, WriteAccessors> Base;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::derived;
+
+    /** \returns the pointer increment between two consecutive elements within a slice in the inner direction.
+      *
+      * \sa outerStride(), rowStride(), colStride()
+      */
+    inline Index innerStride() const
+    {
+      return derived().innerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns
+      *          in a column-major matrix).
+      *
+      * \sa innerStride(), rowStride(), colStride()
+      */
+    inline Index outerStride() const
+    {
+      return derived().outerStride();
+    }
+
+    // FIXME shall we remove it ?
+    inline Index stride() const
+    {
+      return Derived::IsVectorAtCompileTime ? innerStride() : outerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive rows.
+      *
+      * \sa innerStride(), outerStride(), colStride()
+      */
+    inline Index rowStride() const
+    {
+      return Derived::IsRowMajor ? outerStride() : innerStride();
+    }
+
+    /** \returns the pointer increment between two consecutive columns.
+      *
+      * \sa innerStride(), outerStride(), rowStride()
+      */
+    inline Index colStride() const
+    {
+      return Derived::IsRowMajor ? innerStride() : outerStride();
+    }
+};
+
+namespace internal {
+
+template<typename Derived, bool JustReturnZero>
+struct first_aligned_impl
+{
+  inline static typename Derived::Index run(const Derived&)
+  { return 0; }
+};
+
+template<typename Derived>
+struct first_aligned_impl<Derived, false>
+{
+  inline static typename Derived::Index run(const Derived& m)
+  {
+    return first_aligned(&m.const_cast_derived().coeffRef(0,0), m.size());
+  }
+};
+
+/** \internal \returns the index of the first element of the array that is well aligned for vectorization.
+  *
+  * There is also the variant first_aligned(const Scalar*, Integer) defined in Memory.h. See it for more
+  * documentation.
+  */
+template<typename Derived>
+inline static typename Derived::Index first_aligned(const Derived& m)
+{
+  return first_aligned_impl
+          <Derived, (Derived::Flags & AlignedBit) || !(Derived::Flags & DirectAccessBit)>
+          ::run(m);
+}
+
+template<typename Derived, bool HasDirectAccess = has_direct_access<Derived>::ret>
+struct inner_stride_at_compile_time
+{
+  enum { ret = traits<Derived>::InnerStrideAtCompileTime };
+};
+
+template<typename Derived>
+struct inner_stride_at_compile_time<Derived, false>
+{
+  enum { ret = 0 };
+};
+
+template<typename Derived, bool HasDirectAccess = has_direct_access<Derived>::ret>
+struct outer_stride_at_compile_time
+{
+  enum { ret = traits<Derived>::OuterStrideAtCompileTime };
+};
+
+template<typename Derived>
+struct outer_stride_at_compile_time<Derived, false>
+{
+  enum { ret = 0 };
+};
+
+} // end namespace internal
+
+#endif // EIGEN_DENSECOEFFSBASE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DenseStorage.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DenseStorage.h
new file mode 100755
index 0000000..1bcaf4c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DenseStorage.h
@@ -0,0 +1,304 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MATRIXSTORAGE_H
+#define EIGEN_MATRIXSTORAGE_H
+
+#ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+  #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN EIGEN_DENSE_STORAGE_CTOR_PLUGIN;
+#else
+  #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+#endif
+
+namespace internal {
+
+struct constructor_without_unaligned_array_assert {};
+
+/** \internal
+  * Static array. If the MatrixOrArrayOptions require auto-alignment, the array will be automatically aligned:
+  * to 16 bytes boundary if the total size is a multiple of 16 bytes.
+  */
+template <typename T, int Size, int MatrixOrArrayOptions,
+          int Alignment = (MatrixOrArrayOptions&DontAlign) ? 0
+                        : (((Size*sizeof(T))%16)==0) ? 16
+                        : 0 >
+struct plain_array
+{
+  T array[Size];
+  plain_array() {}
+  plain_array(constructor_without_unaligned_array_assert) {}
+};
+
+#ifdef EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+  #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask)
+#else
+  #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \
+    eigen_assert((reinterpret_cast<size_t>(array) & sizemask) == 0 \
+              && "this assertion is explained here: " \
+              "http://eigen.tuxfamily.org/dox/UnalignedArrayAssert.html" \
+              " **** READ THIS WEB PAGE !!! ****");
+#endif
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 16>
+{
+  EIGEN_USER_ALIGN16 T array[Size];
+  plain_array() { EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(0xf) }
+  plain_array(constructor_without_unaligned_array_assert) {}
+};
+
+template <typename T, int MatrixOrArrayOptions, int Alignment>
+struct plain_array<T, 0, MatrixOrArrayOptions, Alignment>
+{
+  EIGEN_USER_ALIGN16 T array[1];
+  plain_array() {}
+  plain_array(constructor_without_unaligned_array_assert) {}
+};
+
+} // end namespace internal
+
+/** \internal
+  *
+  * \class DenseStorage
+  * \ingroup Core_Module
+  *
+  * \brief Stores the data of a matrix
+  *
+  * This class stores the data of fixed-size, dynamic-size or mixed matrices
+  * in a way as compact as possible.
+  *
+  * \sa Matrix
+  */
+template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseStorage;
+
+// purely fixed-size matrix
+template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseStorage
+{
+    internal::plain_array<T,Size,_Options> m_data;
+  public:
+    inline explicit DenseStorage() {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+      : m_data(internal::constructor_without_unaligned_array_assert()) {}
+    inline DenseStorage(DenseIndex,DenseIndex,DenseIndex) {}
+    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); }
+    inline static DenseIndex rows(void) {return _Rows;}
+    inline static DenseIndex cols(void) {return _Cols;}
+    inline void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {}
+    inline void resize(DenseIndex,DenseIndex,DenseIndex) {}
+    inline const T *data() const { return m_data.array; }
+    inline T *data() { return m_data.array; }
+};
+
+// null matrix
+template<typename T, int _Rows, int _Cols, int _Options> class DenseStorage<T, 0, _Rows, _Cols, _Options>
+{
+  public:
+    inline explicit DenseStorage() {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert) {}
+    inline DenseStorage(DenseIndex,DenseIndex,DenseIndex) {}
+    inline void swap(DenseStorage& ) {}
+    inline static DenseIndex rows(void) {return _Rows;}
+    inline static DenseIndex cols(void) {return _Cols;}
+    inline void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {}
+    inline void resize(DenseIndex,DenseIndex,DenseIndex) {}
+    inline const T *data() const { return 0; }
+    inline T *data() { return 0; }
+};
+
+// dynamic-size matrix with fixed-size storage
+template<typename T, int Size, int _Options> class DenseStorage<T, Size, Dynamic, Dynamic, _Options>
+{
+    internal::plain_array<T,Size,_Options> m_data;
+    DenseIndex m_rows;
+    DenseIndex m_cols;
+  public:
+    inline explicit DenseStorage() : m_rows(0), m_cols(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+      : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0), m_cols(0) {}
+    inline DenseStorage(DenseIndex, DenseIndex rows, DenseIndex cols) : m_rows(rows), m_cols(cols) {}
+    inline void swap(DenseStorage& other)
+    { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
+    inline DenseIndex rows(void) const {return m_rows;}
+    inline DenseIndex cols(void) const {return m_cols;}
+    inline void conservativeResize(DenseIndex, DenseIndex rows, DenseIndex cols) { m_rows = rows; m_cols = cols; }
+    inline void resize(DenseIndex, DenseIndex rows, DenseIndex cols) { m_rows = rows; m_cols = cols; }
+    inline const T *data() const { return m_data.array; }
+    inline T *data() { return m_data.array; }
+};
+
+// dynamic-size matrix with fixed-size storage and fixed width
+template<typename T, int Size, int _Cols, int _Options> class DenseStorage<T, Size, Dynamic, _Cols, _Options>
+{
+    internal::plain_array<T,Size,_Options> m_data;
+    DenseIndex m_rows;
+  public:
+    inline explicit DenseStorage() : m_rows(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+      : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0) {}
+    inline DenseStorage(DenseIndex, DenseIndex rows, DenseIndex) : m_rows(rows) {}
+    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
+    inline DenseIndex rows(void) const {return m_rows;}
+    inline DenseIndex cols(void) const {return _Cols;}
+    inline void conservativeResize(DenseIndex, DenseIndex rows, DenseIndex) { m_rows = rows; }
+    inline void resize(DenseIndex, DenseIndex rows, DenseIndex) { m_rows = rows; }
+    inline const T *data() const { return m_data.array; }
+    inline T *data() { return m_data.array; }
+};
+
+// dynamic-size matrix with fixed-size storage and fixed height
+template<typename T, int Size, int _Rows, int _Options> class DenseStorage<T, Size, _Rows, Dynamic, _Options>
+{
+    internal::plain_array<T,Size,_Options> m_data;
+    DenseIndex m_cols;
+  public:
+    inline explicit DenseStorage() : m_cols(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+      : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(0) {}
+    inline DenseStorage(DenseIndex, DenseIndex, DenseIndex cols) : m_cols(cols) {}
+    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
+    inline DenseIndex rows(void) const {return _Rows;}
+    inline DenseIndex cols(void) const {return m_cols;}
+    inline void conservativeResize(DenseIndex, DenseIndex, DenseIndex cols) { m_cols = cols; }
+    inline void resize(DenseIndex, DenseIndex, DenseIndex cols) { m_cols = cols; }
+    inline const T *data() const { return m_data.array; }
+    inline T *data() { return m_data.array; }
+};
+
+// purely dynamic matrix.
+template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynamic, _Options>
+{
+    T *m_data;
+    DenseIndex m_rows;
+    DenseIndex m_cols;
+  public:
+    inline explicit DenseStorage() : m_data(0), m_rows(0), m_cols(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+       : m_data(0), m_rows(0), m_cols(0) {}
+    inline DenseStorage(DenseIndex size, DenseIndex rows, DenseIndex cols)
+      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows), m_cols(cols) 
+    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
+    inline ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols); }
+    inline void swap(DenseStorage& other)
+    { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
+    inline DenseIndex rows(void) const {return m_rows;}
+    inline DenseIndex cols(void) const {return m_cols;}
+    inline void conservativeResize(DenseIndex size, DenseIndex rows, DenseIndex cols)
+    {
+      m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*m_cols);
+      m_rows = rows;
+      m_cols = cols;
+    }
+    void resize(DenseIndex size, DenseIndex rows, DenseIndex cols)
+    {
+      if(size != m_rows*m_cols)
+      {
+        internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols);
+        if (size)
+          m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
+        else
+          m_data = 0;
+        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+      }
+      m_rows = rows;
+      m_cols = cols;
+    }
+    inline const T *data() const { return m_data; }
+    inline T *data() { return m_data; }
+};
+
+// matrix with dynamic width and fixed height (so that matrix has dynamic size).
+template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Rows, Dynamic, _Options>
+{
+    T *m_data;
+    DenseIndex m_cols;
+  public:
+    inline explicit DenseStorage() : m_data(0), m_cols(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {}
+    inline DenseStorage(DenseIndex size, DenseIndex, DenseIndex cols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_cols(cols)
+    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
+    inline ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols); }
+    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
+    inline static DenseIndex rows(void) {return _Rows;}
+    inline DenseIndex cols(void) const {return m_cols;}
+    inline void conservativeResize(DenseIndex size, DenseIndex, DenseIndex cols)
+    {
+      m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, _Rows*m_cols);
+      m_cols = cols;
+    }
+    EIGEN_STRONG_INLINE void resize(DenseIndex size, DenseIndex, DenseIndex cols)
+    {
+      if(size != _Rows*m_cols)
+      {
+        internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols);
+        if (size)
+          m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
+        else
+          m_data = 0;
+        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+      }
+      m_cols = cols;
+    }
+    inline const T *data() const { return m_data; }
+    inline T *data() { return m_data; }
+};
+
+// matrix with dynamic height and fixed width (so that matrix has dynamic size).
+template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dynamic, _Cols, _Options>
+{
+    T *m_data;
+    DenseIndex m_rows;
+  public:
+    inline explicit DenseStorage() : m_data(0), m_rows(0) {}
+    inline DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {}
+    inline DenseStorage(DenseIndex size, DenseIndex rows, DenseIndex) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows)
+    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
+    inline ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows); }
+    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
+    inline DenseIndex rows(void) const {return m_rows;}
+    inline static DenseIndex cols(void) {return _Cols;}
+    inline void conservativeResize(DenseIndex size, DenseIndex rows, DenseIndex)
+    {
+      m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*_Cols);
+      m_rows = rows;
+    }
+    EIGEN_STRONG_INLINE void resize(DenseIndex size, DenseIndex rows, DenseIndex)
+    {
+      if(size != m_rows*_Cols)
+      {
+        internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows);
+        if (size)
+          m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
+        else
+          m_data = 0;
+        EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+      }
+      m_rows = rows;
+    }
+    inline const T *data() const { return m_data; }
+    inline T *data() { return m_data; }
+};
+
+#endif // EIGEN_MATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Diagonal.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Diagonal.h
new file mode 100755
index 0000000..e807a49
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Diagonal.h
@@ -0,0 +1,227 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DIAGONAL_H
+#define EIGEN_DIAGONAL_H
+
+/** \class Diagonal
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a diagonal/subdiagonal/superdiagonal in a matrix
+  *
+  * \param MatrixType the type of the object in which we are taking a sub/main/super diagonal
+  * \param DiagIndex the index of the sub/super diagonal. The default is 0 and it means the main diagonal.
+  *              A positive value means a superdiagonal, a negative value means a subdiagonal.
+  *              You can also use Dynamic so the index can be set at runtime.
+  *
+  * The matrix is not required to be square.
+  *
+  * This class represents an expression of the main diagonal, or any sub/super diagonal
+  * of a square matrix. It is the return type of MatrixBase::diagonal() and MatrixBase::diagonal(Index) and most of the
+  * time this is the only way it is used.
+  *
+  * \sa MatrixBase::diagonal(), MatrixBase::diagonal(Index)
+  */
+
+namespace internal {
+template<typename MatrixType, int DiagIndex>
+struct traits<Diagonal<MatrixType,DiagIndex> >
+ : traits<MatrixType>
+{
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+  typedef typename MatrixType::StorageKind StorageKind;
+  enum {
+    AbsDiagIndex = DiagIndex<0 ? -DiagIndex : DiagIndex, // only used if DiagIndex != Dynamic
+    // FIXME these computations are broken in the case where the matrix is rectangular and DiagIndex!=0
+    RowsAtCompileTime = (int(DiagIndex) == Dynamic || int(MatrixType::SizeAtCompileTime) == Dynamic) ? Dynamic
+                      : (EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime,
+                                        MatrixType::ColsAtCompileTime) - AbsDiagIndex),
+    ColsAtCompileTime = 1,
+    MaxRowsAtCompileTime = int(MatrixType::MaxSizeAtCompileTime) == Dynamic ? Dynamic
+                         : DiagIndex == Dynamic ? EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::MaxRowsAtCompileTime,
+                                                                    MatrixType::MaxColsAtCompileTime)
+                         : (EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::MaxRowsAtCompileTime, MatrixType::MaxColsAtCompileTime) - AbsDiagIndex),
+    MaxColsAtCompileTime = 1,
+    MaskLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+    Flags = (unsigned int)_MatrixTypeNested::Flags & (HereditaryBits | LinearAccessBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit,
+    CoeffReadCost = _MatrixTypeNested::CoeffReadCost,
+    MatrixTypeOuterStride = outer_stride_at_compile_time<MatrixType>::ret,
+    InnerStrideAtCompileTime = MatrixTypeOuterStride == Dynamic ? Dynamic : MatrixTypeOuterStride+1,
+    OuterStrideAtCompileTime = 0
+  };
+};
+}
+
+template<typename MatrixType, int DiagIndex> class Diagonal
+   : public internal::dense_xpr_base< Diagonal<MatrixType,DiagIndex> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Diagonal>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Diagonal)
+
+    inline Diagonal(MatrixType& matrix, Index index = DiagIndex) : m_matrix(matrix), m_index(index) {}
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Diagonal)
+
+    inline Index rows() const
+    { return m_index.value()<0 ? std::min(m_matrix.cols(),m_matrix.rows()+m_index.value()) : std::min(m_matrix.rows(),m_matrix.cols()-m_index.value()); }
+
+    inline Index cols() const { return 1; }
+
+    inline Index innerStride() const
+    {
+      return m_matrix.outerStride() + 1;
+    }
+
+    inline Index outerStride() const
+    {
+      return 0;
+    }
+
+    inline Scalar& coeffRef(Index row, Index)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      return m_matrix.const_cast_derived().coeffRef(row+rowOffset(), row+colOffset());
+    }
+
+    inline const Scalar& coeffRef(Index row, Index) const
+    {
+      return m_matrix.const_cast_derived().coeffRef(row+rowOffset(), row+colOffset());
+    }
+
+    inline CoeffReturnType coeff(Index row, Index) const
+    {
+      return m_matrix.coeff(row+rowOffset(), row+colOffset());
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      return m_matrix.const_cast_derived().coeffRef(index+rowOffset(), index+colOffset());
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_matrix.const_cast_derived().coeffRef(index+rowOffset(), index+colOffset());
+    }
+
+    inline CoeffReturnType coeff(Index index) const
+    {
+      return m_matrix.coeff(index+rowOffset(), index+colOffset());
+    }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+    const internal::variable_if_dynamic<Index, DiagIndex> m_index;
+
+  private:
+    // some compilers may fail to optimize std::max etc in case of compile-time constants...
+    EIGEN_STRONG_INLINE Index absDiagIndex() const { return m_index.value()>0 ? m_index.value() : -m_index.value(); }
+    EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value()>0 ? 0 : -m_index.value(); }
+    EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value()>0 ? m_index.value() : 0; }
+    // triger a compile time error is someone try to call packet
+    template<int LoadMode> typename MatrixType::PacketReturnType packet(Index) const;
+    template<int LoadMode> typename MatrixType::PacketReturnType packet(Index,Index) const;
+};
+
+/** \returns an expression of the main diagonal of the matrix \c *this
+  *
+  * \c *this is not required to be square.
+  *
+  * Example: \include MatrixBase_diagonal.cpp
+  * Output: \verbinclude MatrixBase_diagonal.out
+  *
+  * \sa class Diagonal */
+template<typename Derived>
+inline typename MatrixBase<Derived>::DiagonalReturnType
+MatrixBase<Derived>::diagonal()
+{
+  return derived();
+}
+
+/** This is the const version of diagonal(). */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::ConstDiagonalReturnType
+MatrixBase<Derived>::diagonal() const
+{
+  return ConstDiagonalReturnType(derived());
+}
+
+/** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this
+  *
+  * \c *this is not required to be square.
+  *
+  * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0
+  * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal.
+  *
+  * Example: \include MatrixBase_diagonal_int.cpp
+  * Output: \verbinclude MatrixBase_diagonal_int.out
+  *
+  * \sa MatrixBase::diagonal(), class Diagonal */
+template<typename Derived>
+inline typename MatrixBase<Derived>::template DiagonalIndexReturnType<Dynamic>::Type
+MatrixBase<Derived>::diagonal(Index index)
+{
+  return typename DiagonalIndexReturnType<Dynamic>::Type(derived(), index);
+}
+
+/** This is the const version of diagonal(Index). */
+template<typename Derived>
+inline typename MatrixBase<Derived>::template ConstDiagonalIndexReturnType<Dynamic>::Type
+MatrixBase<Derived>::diagonal(Index index) const
+{
+  return typename ConstDiagonalIndexReturnType<Dynamic>::Type(derived(), index);
+}
+
+/** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this
+  *
+  * \c *this is not required to be square.
+  *
+  * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0
+  * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal.
+  *
+  * Example: \include MatrixBase_diagonal_template_int.cpp
+  * Output: \verbinclude MatrixBase_diagonal_template_int.out
+  *
+  * \sa MatrixBase::diagonal(), class Diagonal */
+template<typename Derived>
+template<int Index>
+inline typename MatrixBase<Derived>::template DiagonalIndexReturnType<Index>::Type
+MatrixBase<Derived>::diagonal()
+{
+  return derived();
+}
+
+/** This is the const version of diagonal<int>(). */
+template<typename Derived>
+template<int Index>
+inline typename MatrixBase<Derived>::template ConstDiagonalIndexReturnType<Index>::Type
+MatrixBase<Derived>::diagonal() const
+{
+  return derived();
+}
+
+#endif // EIGEN_DIAGONAL_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DiagonalMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DiagonalMatrix.h
new file mode 100755
index 0000000..f41a74b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DiagonalMatrix.h
@@ -0,0 +1,306 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DIAGONALMATRIX_H
+#define EIGEN_DIAGONALMATRIX_H
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename Derived>
+class DiagonalBase : public EigenBase<Derived>
+{
+  public:
+    typedef typename internal::traits<Derived>::DiagonalVectorType DiagonalVectorType;
+    typedef typename DiagonalVectorType::Scalar Scalar;
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+
+    enum {
+      RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+      ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+      MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+      MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+      IsVectorAtCompileTime = 0,
+      Flags = 0
+    };
+
+    typedef Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime, 0, MaxRowsAtCompileTime, MaxColsAtCompileTime> DenseMatrixType;
+    typedef DenseMatrixType DenseType;
+    typedef DiagonalMatrix<Scalar,DiagonalVectorType::SizeAtCompileTime,DiagonalVectorType::MaxSizeAtCompileTime> PlainObject;
+
+    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    inline Derived& derived() { return *static_cast<Derived*>(this); }
+
+    DenseMatrixType toDenseMatrix() const { return derived(); }
+    template<typename DenseDerived>
+    void evalTo(MatrixBase<DenseDerived> &other) const;
+    template<typename DenseDerived>
+    void addTo(MatrixBase<DenseDerived> &other) const
+    { other.diagonal() += diagonal(); }
+    template<typename DenseDerived>
+    void subTo(MatrixBase<DenseDerived> &other) const
+    { other.diagonal() -= diagonal(); }
+
+    inline const DiagonalVectorType& diagonal() const { return derived().diagonal(); }
+    inline DiagonalVectorType& diagonal() { return derived().diagonal(); }
+
+    inline Index rows() const { return diagonal().size(); }
+    inline Index cols() const { return diagonal().size(); }
+
+    template<typename MatrixDerived>
+    const DiagonalProduct<MatrixDerived, Derived, OnTheLeft>
+    operator*(const MatrixBase<MatrixDerived> &matrix) const;
+
+    inline const DiagonalWrapper<CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const DiagonalVectorType> >
+    inverse() const
+    {
+      return diagonal().cwiseInverse();
+    }
+    
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived>
+    bool isApprox(const DiagonalBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
+    {
+      return diagonal().isApprox(other.diagonal(), precision);
+    }
+    template<typename OtherDerived>
+    bool isApprox(const MatrixBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
+    {
+      return toDenseMatrix().isApprox(other, precision);
+    }
+    #endif
+};
+
+template<typename Derived>
+template<typename DenseDerived>
+void DiagonalBase<Derived>::evalTo(MatrixBase<DenseDerived> &other) const
+{
+  other.setZero();
+  other.diagonal() = diagonal();
+}
+#endif
+
+/** \class DiagonalMatrix
+  * \ingroup Core_Module
+  *
+  * \brief Represents a diagonal matrix with its storage
+  *
+  * \param _Scalar the type of coefficients
+  * \param SizeAtCompileTime the dimension of the matrix, or Dynamic
+  * \param MaxSizeAtCompileTime the dimension of the matrix, or Dynamic. This parameter is optional and defaults
+  *        to SizeAtCompileTime. Most of the time, you do not need to specify it.
+  *
+  * \sa class DiagonalWrapper
+  */
+
+namespace internal {
+template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime>
+struct traits<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
+ : traits<Matrix<_Scalar,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+  typedef Matrix<_Scalar,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1> DiagonalVectorType;
+  typedef Dense StorageKind;
+  typedef DenseIndex Index;
+  enum {
+    Flags = LvalueBit
+  };
+};
+}
+template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime>
+class DiagonalMatrix
+  : public DiagonalBase<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+  public:
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef typename internal::traits<DiagonalMatrix>::DiagonalVectorType DiagonalVectorType;
+    typedef const DiagonalMatrix& Nested;
+    typedef _Scalar Scalar;
+    typedef typename internal::traits<DiagonalMatrix>::StorageKind StorageKind;
+    typedef typename internal::traits<DiagonalMatrix>::Index Index;
+    #endif
+
+  protected:
+
+    DiagonalVectorType m_diagonal;
+
+  public:
+
+    /** const version of diagonal(). */
+    inline const DiagonalVectorType& diagonal() const { return m_diagonal; }
+    /** \returns a reference to the stored vector of diagonal coefficients. */
+    inline DiagonalVectorType& diagonal() { return m_diagonal; }
+
+    /** Default constructor without initialization */
+    inline DiagonalMatrix() {}
+
+    /** Constructs a diagonal matrix with given dimension  */
+    inline DiagonalMatrix(Index dim) : m_diagonal(dim) {}
+
+    /** 2D constructor. */
+    inline DiagonalMatrix(const Scalar& x, const Scalar& y) : m_diagonal(x,y) {}
+
+    /** 3D constructor. */
+    inline DiagonalMatrix(const Scalar& x, const Scalar& y, const Scalar& z) : m_diagonal(x,y,z) {}
+
+    /** Copy constructor. */
+    template<typename OtherDerived>
+    inline DiagonalMatrix(const DiagonalBase<OtherDerived>& other) : m_diagonal(other.diagonal()) {}
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** copy constructor. prevent a default copy constructor from hiding the other templated constructor */
+    inline DiagonalMatrix(const DiagonalMatrix& other) : m_diagonal(other.diagonal()) {}
+    #endif
+
+    /** generic constructor from expression of the diagonal coefficients */
+    template<typename OtherDerived>
+    explicit inline DiagonalMatrix(const MatrixBase<OtherDerived>& other) : m_diagonal(other)
+    {}
+
+    /** Copy operator. */
+    template<typename OtherDerived>
+    DiagonalMatrix& operator=(const DiagonalBase<OtherDerived>& other)
+    {
+      m_diagonal = other.diagonal();
+      return *this;
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    DiagonalMatrix& operator=(const DiagonalMatrix& other)
+    {
+      m_diagonal = other.diagonal();
+      return *this;
+    }
+    #endif
+
+    /** Resizes to given size. */
+    inline void resize(Index size) { m_diagonal.resize(size); }
+    /** Sets all coefficients to zero. */
+    inline void setZero() { m_diagonal.setZero(); }
+    /** Resizes and sets all coefficients to zero. */
+    inline void setZero(Index size) { m_diagonal.setZero(size); }
+    /** Sets this matrix to be the identity matrix of the current size. */
+    inline void setIdentity() { m_diagonal.setOnes(); }
+    /** Sets this matrix to be the identity matrix of the given size. */
+    inline void setIdentity(Index size) { m_diagonal.setOnes(size); }
+};
+
+/** \class DiagonalWrapper
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a diagonal matrix
+  *
+  * \param _DiagonalVectorType the type of the vector of diagonal coefficients
+  *
+  * This class is an expression of a diagonal matrix, but not storing its own vector of diagonal coefficients,
+  * instead wrapping an existing vector expression. It is the return type of MatrixBase::asDiagonal()
+  * and most of the time this is the only way that it is used.
+  *
+  * \sa class DiagonalMatrix, class DiagonalBase, MatrixBase::asDiagonal()
+  */
+
+namespace internal {
+template<typename _DiagonalVectorType>
+struct traits<DiagonalWrapper<_DiagonalVectorType> >
+{
+  typedef _DiagonalVectorType DiagonalVectorType;
+  typedef typename DiagonalVectorType::Scalar Scalar;
+  typedef typename DiagonalVectorType::Index Index;
+  typedef typename DiagonalVectorType::StorageKind StorageKind;
+  enum {
+    RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+    ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+    MaxRowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+    MaxColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+    Flags =  traits<DiagonalVectorType>::Flags & LvalueBit
+  };
+};
+}
+
+template<typename _DiagonalVectorType>
+class DiagonalWrapper
+  : public DiagonalBase<DiagonalWrapper<_DiagonalVectorType> >, internal::no_assignment_operator
+{
+  public:
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef _DiagonalVectorType DiagonalVectorType;
+    typedef DiagonalWrapper Nested;
+    #endif
+
+    /** Constructor from expression of diagonal coefficients to wrap. */
+    inline DiagonalWrapper(const DiagonalVectorType& diagonal) : m_diagonal(diagonal) {}
+
+    /** \returns a const reference to the wrapped expression of diagonal coefficients. */
+    const DiagonalVectorType& diagonal() const { return m_diagonal; }
+
+  protected:
+    const typename DiagonalVectorType::Nested m_diagonal;
+};
+
+/** \returns a pseudo-expression of a diagonal matrix with *this as vector of diagonal coefficients
+  *
+  * \only_for_vectors
+  *
+  * Example: \include MatrixBase_asDiagonal.cpp
+  * Output: \verbinclude MatrixBase_asDiagonal.out
+  *
+  * \sa class DiagonalWrapper, class DiagonalMatrix, diagonal(), isDiagonal()
+  **/
+template<typename Derived>
+inline const DiagonalWrapper<const Derived>
+MatrixBase<Derived>::asDiagonal() const
+{
+  return derived();
+}
+
+/** \returns true if *this is approximately equal to a diagonal matrix,
+  *          within the precision given by \a prec.
+  *
+  * Example: \include MatrixBase_isDiagonal.cpp
+  * Output: \verbinclude MatrixBase_isDiagonal.out
+  *
+  * \sa asDiagonal()
+  */
+template<typename Derived>
+bool MatrixBase<Derived>::isDiagonal(RealScalar prec) const
+{
+  if(cols() != rows()) return false;
+  RealScalar maxAbsOnDiagonal = static_cast<RealScalar>(-1);
+  for(Index j = 0; j < cols(); ++j)
+  {
+    RealScalar absOnDiagonal = internal::abs(coeff(j,j));
+    if(absOnDiagonal > maxAbsOnDiagonal) maxAbsOnDiagonal = absOnDiagonal;
+  }
+  for(Index j = 0; j < cols(); ++j)
+    for(Index i = 0; i < j; ++i)
+    {
+      if(!internal::isMuchSmallerThan(coeff(i, j), maxAbsOnDiagonal, prec)) return false;
+      if(!internal::isMuchSmallerThan(coeff(j, i), maxAbsOnDiagonal, prec)) return false;
+    }
+  return true;
+}
+
+#endif // EIGEN_DIAGONALMATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DiagonalProduct.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DiagonalProduct.h
new file mode 100755
index 0000000..de0c6ed
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/DiagonalProduct.h
@@ -0,0 +1,135 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DIAGONALPRODUCT_H
+#define EIGEN_DIAGONALPRODUCT_H
+
+namespace internal {
+template<typename MatrixType, typename DiagonalType, int ProductOrder>
+struct traits<DiagonalProduct<MatrixType, DiagonalType, ProductOrder> >
+ : traits<MatrixType>
+{
+  typedef typename scalar_product_traits<typename MatrixType::Scalar, typename DiagonalType::Scalar>::ReturnType Scalar;
+  enum {
+    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+
+    _StorageOrder = MatrixType::Flags & RowMajorBit ? RowMajor : ColMajor,
+    _PacketOnDiag = !((int(_StorageOrder) == RowMajor && int(ProductOrder) == OnTheLeft)
+                    ||(int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheRight)),
+    _SameTypes = is_same<typename MatrixType::Scalar, typename DiagonalType::Scalar>::value,
+    // FIXME currently we need same types, but in the future the next rule should be the one
+    //_Vectorizable = bool(int(MatrixType::Flags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagonalType::Flags)&PacketAccessBit))),
+    _Vectorizable = bool(int(MatrixType::Flags)&PacketAccessBit) && _SameTypes && ((!_PacketOnDiag) || (bool(int(DiagonalType::Flags)&PacketAccessBit))),
+
+    Flags = (HereditaryBits & (unsigned int)(MatrixType::Flags)) | (_Vectorizable ? PacketAccessBit : 0),
+    CoeffReadCost = NumTraits<Scalar>::MulCost + MatrixType::CoeffReadCost + DiagonalType::DiagonalVectorType::CoeffReadCost
+  };
+};
+}
+
+template<typename MatrixType, typename DiagonalType, int ProductOrder>
+class DiagonalProduct : internal::no_assignment_operator,
+                        public MatrixBase<DiagonalProduct<MatrixType, DiagonalType, ProductOrder> >
+{
+  public:
+
+    typedef MatrixBase<DiagonalProduct> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(DiagonalProduct)
+
+    inline DiagonalProduct(const MatrixType& matrix, const DiagonalType& diagonal)
+      : m_matrix(matrix), m_diagonal(diagonal)
+    {
+      eigen_assert(diagonal.diagonal().size() == (ProductOrder == OnTheLeft ? matrix.rows() : matrix.cols()));
+    }
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+    const Scalar coeff(Index row, Index col) const
+    {
+      return m_diagonal.diagonal().coeff(ProductOrder == OnTheLeft ? row : col) * m_matrix.coeff(row, col);
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
+    {
+      enum {
+        StorageOrder = Flags & RowMajorBit ? RowMajor : ColMajor
+      };
+      const Index indexInDiagonalVector = ProductOrder == OnTheLeft ? row : col;
+
+      return packet_impl<LoadMode>(row,col,indexInDiagonalVector,typename internal::conditional<
+        ((int(StorageOrder) == RowMajor && int(ProductOrder) == OnTheLeft)
+       ||(int(StorageOrder) == ColMajor && int(ProductOrder) == OnTheRight)), internal::true_type, internal::false_type>::type());
+    }
+
+  protected:
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet_impl(Index row, Index col, Index id, internal::true_type) const
+    {
+      return internal::pmul(m_matrix.template packet<LoadMode>(row, col),
+                     internal::pset1<PacketScalar>(m_diagonal.diagonal().coeff(id)));
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet_impl(Index row, Index col, Index id, internal::false_type) const
+    {
+      enum {
+        InnerSize = (MatrixType::Flags & RowMajorBit) ? MatrixType::ColsAtCompileTime : MatrixType::RowsAtCompileTime,
+        DiagonalVectorPacketLoadMode = (LoadMode == Aligned && ((InnerSize%16) == 0)) ? Aligned : Unaligned
+      };
+      return internal::pmul(m_matrix.template packet<LoadMode>(row, col),
+                     m_diagonal.diagonal().template packet<DiagonalVectorPacketLoadMode>(id));
+    }
+
+    const typename MatrixType::Nested m_matrix;
+    const typename DiagonalType::Nested m_diagonal;
+};
+
+/** \returns the diagonal matrix product of \c *this by the diagonal matrix \a diagonal.
+  */
+template<typename Derived>
+template<typename DiagonalDerived>
+inline const DiagonalProduct<Derived, DiagonalDerived, OnTheRight>
+MatrixBase<Derived>::operator*(const DiagonalBase<DiagonalDerived> &diagonal) const
+{
+  return DiagonalProduct<Derived, DiagonalDerived, OnTheRight>(derived(), diagonal.derived());
+}
+
+/** \returns the diagonal matrix product of \c *this by the matrix \a matrix.
+  */
+template<typename DiagonalDerived>
+template<typename MatrixDerived>
+inline const DiagonalProduct<MatrixDerived, DiagonalDerived, OnTheLeft>
+DiagonalBase<DiagonalDerived>::operator*(const MatrixBase<MatrixDerived> &matrix) const
+{
+  return DiagonalProduct<MatrixDerived, DiagonalDerived, OnTheLeft>(matrix.derived(), derived());
+}
+
+
+#endif // EIGEN_DIAGONALPRODUCT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Dot.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Dot.h
new file mode 100755
index 0000000..6e83191
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Dot.h
@@ -0,0 +1,268 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008, 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DOT_H
+#define EIGEN_DOT_H
+
+namespace internal {
+
+// helper function for dot(). The problem is that if we put that in the body of dot(), then upon calling dot
+// with mismatched types, the compiler emits errors about failing to instantiate cwiseProduct BEFORE
+// looking at the static assertions. Thus this is a trick to get better compile errors.
+template<typename T, typename U,
+// the NeedToTranspose condition here is taken straight from Assign.h
+         bool NeedToTranspose = T::IsVectorAtCompileTime
+                && U::IsVectorAtCompileTime
+                && ((int(T::RowsAtCompileTime) == 1 && int(U::ColsAtCompileTime) == 1)
+                      |  // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
+                         // revert to || as soon as not needed anymore.
+                    (int(T::ColsAtCompileTime) == 1 && int(U::RowsAtCompileTime) == 1))
+>
+struct dot_nocheck
+{
+  typedef typename scalar_product_traits<typename traits<T>::Scalar,typename traits<U>::Scalar>::ReturnType ResScalar;
+  static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
+  {
+    return a.template binaryExpr<scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> >(b).sum();
+  }
+};
+
+template<typename T, typename U>
+struct dot_nocheck<T, U, true>
+{
+  typedef typename scalar_product_traits<typename traits<T>::Scalar,typename traits<U>::Scalar>::ReturnType ResScalar;
+  static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
+  {
+    return a.transpose().template binaryExpr<scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> >(b).sum();
+  }
+};
+
+} // end namespace internal
+
+/** \returns the dot product of *this with other.
+  *
+  * \only_for_vectors
+  *
+  * \note If the scalar type is complex numbers, then this function returns the hermitian
+  * (sesquilinear) dot product, conjugate-linear in the first variable and linear in the
+  * second variable.
+  *
+  * \sa squaredNorm(), norm()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
+MatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
+  typedef internal::scalar_conj_product_op<Scalar,typename OtherDerived::Scalar> func;
+  EIGEN_CHECK_BINARY_COMPATIBILIY(func,Scalar,typename OtherDerived::Scalar);
+
+  eigen_assert(size() == other.size());
+
+  return internal::dot_nocheck<Derived,OtherDerived>::run(*this, other);
+}
+
+#ifdef EIGEN2_SUPPORT
+/** \returns the dot product of *this with other, with the Eigen2 convention that the dot product is linear in the first variable
+  * (conjugating the second variable). Of course this only makes a difference in the complex case.
+  *
+  * This method is only available in EIGEN2_SUPPORT mode.
+  *
+  * \only_for_vectors
+  *
+  * \sa dot()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+typename internal::traits<Derived>::Scalar
+MatrixBase<Derived>::eigen2_dot(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+  eigen_assert(size() == other.size());
+
+  return internal::dot_nocheck<OtherDerived,Derived>::run(other,*this);
+}
+#endif
+
+
+//---------- implementation of L2 norm and related functions ----------
+
+/** \returns the squared \em l2 norm of *this, i.e., for vectors, the dot product of *this with itself.
+  *
+  * \sa dot(), norm()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::squaredNorm() const
+{
+  return internal::real((*this).cwiseAbs2().sum());
+}
+
+/** \returns the \em l2 norm of *this, i.e., for vectors, the square root of the dot product of *this with itself.
+  *
+  * \sa dot(), squaredNorm()
+  */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::norm() const
+{
+  return internal::sqrt(squaredNorm());
+}
+
+/** \returns an expression of the quotient of *this by its own norm.
+  *
+  * \only_for_vectors
+  *
+  * \sa norm(), normalize()
+  */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::normalized() const
+{
+  typedef typename internal::nested<Derived>::type Nested;
+  typedef typename internal::remove_reference<Nested>::type _Nested;
+  _Nested n(derived());
+  return n / n.norm();
+}
+
+/** Normalizes the vector, i.e. divides it by its own norm.
+  *
+  * \only_for_vectors
+  *
+  * \sa norm(), normalized()
+  */
+template<typename Derived>
+inline void MatrixBase<Derived>::normalize()
+{
+  *this /= norm();
+}
+
+//---------- implementation of other norms ----------
+
+namespace internal {
+
+template<typename Derived, int p>
+struct lpNorm_selector
+{
+  typedef typename NumTraits<typename traits<Derived>::Scalar>::Real RealScalar;
+  inline static RealScalar run(const MatrixBase<Derived>& m)
+  {
+    return pow(m.cwiseAbs().array().pow(p).sum(), RealScalar(1)/p);
+  }
+};
+
+template<typename Derived>
+struct lpNorm_selector<Derived, 1>
+{
+  inline static typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
+  {
+    return m.cwiseAbs().sum();
+  }
+};
+
+template<typename Derived>
+struct lpNorm_selector<Derived, 2>
+{
+  inline static typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
+  {
+    return m.norm();
+  }
+};
+
+template<typename Derived>
+struct lpNorm_selector<Derived, Infinity>
+{
+  inline static typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
+  {
+    return m.cwiseAbs().maxCoeff();
+  }
+};
+
+} // end namespace internal
+
+/** \returns the \f$ \ell^p \f$ norm of *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values
+  *          of the coefficients of *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^\infty \f$
+  *          norm, that is the maximum of the absolute values of the coefficients of *this.
+  *
+  * \sa norm()
+  */
+template<typename Derived>
+template<int p>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::lpNorm() const
+{
+  return internal::lpNorm_selector<Derived, p>::run(*this);
+}
+
+//---------- implementation of isOrthogonal / isUnitary ----------
+
+/** \returns true if *this is approximately orthogonal to \a other,
+  *          within the precision given by \a prec.
+  *
+  * Example: \include MatrixBase_isOrthogonal.cpp
+  * Output: \verbinclude MatrixBase_isOrthogonal.out
+  */
+template<typename Derived>
+template<typename OtherDerived>
+bool MatrixBase<Derived>::isOrthogonal
+(const MatrixBase<OtherDerived>& other, RealScalar prec) const
+{
+  typename internal::nested<Derived,2>::type nested(derived());
+  typename internal::nested<OtherDerived,2>::type otherNested(other.derived());
+  return internal::abs2(nested.dot(otherNested)) <= prec * prec * nested.squaredNorm() * otherNested.squaredNorm();
+}
+
+/** \returns true if *this is approximately an unitary matrix,
+  *          within the precision given by \a prec. In the case where the \a Scalar
+  *          type is real numbers, a unitary matrix is an orthogonal matrix, whence the name.
+  *
+  * \note This can be used to check whether a family of vectors forms an orthonormal basis.
+  *       Indeed, \c m.isUnitary() returns true if and only if the columns (equivalently, the rows) of m form an
+  *       orthonormal basis.
+  *
+  * Example: \include MatrixBase_isUnitary.cpp
+  * Output: \verbinclude MatrixBase_isUnitary.out
+  */
+template<typename Derived>
+bool MatrixBase<Derived>::isUnitary(RealScalar prec) const
+{
+  typename Derived::Nested nested(derived());
+  for(Index i = 0; i < cols(); ++i)
+  {
+    if(!internal::isApprox(nested.col(i).squaredNorm(), static_cast<RealScalar>(1), prec))
+      return false;
+    for(Index j = 0; j < i; ++j)
+      if(!internal::isMuchSmallerThan(nested.col(i).dot(nested.col(j)), static_cast<Scalar>(1), prec))
+        return false;
+  }
+  return true;
+}
+
+#endif // EIGEN_DOT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/EigenBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/EigenBase.h
new file mode 100755
index 0000000..0472539
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/EigenBase.h
@@ -0,0 +1,172 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_EIGENBASE_H
+#define EIGEN_EIGENBASE_H
+
+
+/** Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T).
+  *
+  * In other words, an EigenBase object is an object that can be copied into a MatrixBase.
+  *
+  * Besides MatrixBase-derived classes, this also includes special matrix classes such as diagonal matrices, etc.
+  *
+  * Notice that this class is trivial, it is only used to disambiguate overloaded functions.
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived> struct EigenBase
+{
+//   typedef typename internal::plain_matrix_type<Derived>::type PlainObject;
+
+  typedef typename internal::traits<Derived>::StorageKind StorageKind;
+  typedef typename internal::traits<Derived>::Index Index;
+
+  /** \returns a reference to the derived object */
+  Derived& derived() { return *static_cast<Derived*>(this); }
+  /** \returns a const reference to the derived object */
+  const Derived& derived() const { return *static_cast<const Derived*>(this); }
+
+  inline Derived& const_cast_derived() const
+  { return *static_cast<Derived*>(const_cast<EigenBase*>(this)); }
+  inline const Derived& const_derived() const
+  { return *static_cast<const Derived*>(this); }
+
+  /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
+  inline Index rows() const { return derived().rows(); }
+  /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
+  inline Index cols() const { return derived().cols(); }
+  /** \returns the number of coefficients, which is rows()*cols().
+    * \sa rows(), cols(), SizeAtCompileTime. */
+  inline Index size() const { return rows() * cols(); }
+
+  /** \internal Don't use it, but do the equivalent: \code dst = *this; \endcode */
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  { derived().evalTo(dst); }
+
+  /** \internal Don't use it, but do the equivalent: \code dst += *this; \endcode */
+  template<typename Dest> inline void addTo(Dest& dst) const
+  {
+    // This is the default implementation,
+    // derived class can reimplement it in a more optimized way.
+    typename Dest::PlainObject res(rows(),cols());
+    evalTo(res);
+    dst += res;
+  }
+
+  /** \internal Don't use it, but do the equivalent: \code dst -= *this; \endcode */
+  template<typename Dest> inline void subTo(Dest& dst) const
+  {
+    // This is the default implementation,
+    // derived class can reimplement it in a more optimized way.
+    typename Dest::PlainObject res(rows(),cols());
+    evalTo(res);
+    dst -= res;
+  }
+
+  /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheRight(*this); \endcode */
+  template<typename Dest> inline void applyThisOnTheRight(Dest& dst) const
+  {
+    // This is the default implementation,
+    // derived class can reimplement it in a more optimized way.
+    dst = dst * this->derived();
+  }
+
+  /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheLeft(*this); \endcode */
+  template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
+  {
+    // This is the default implementation,
+    // derived class can reimplement it in a more optimized way.
+    dst = this->derived() * dst;
+  }
+
+};
+
+/***************************************************************************
+* Implementation of matrix base methods
+***************************************************************************/
+
+/** \brief Copies the generic expression \a other into *this.
+  *
+  * \details The expression must provide a (templated) evalTo(Derived& dst) const
+  * function which does the actual job. In practice, this allows any user to write
+  * its own special matrix without having to modify MatrixBase
+  *
+  * \returns a reference to *this.
+  */
+template<typename Derived>
+template<typename OtherDerived>
+Derived& DenseBase<Derived>::operator=(const EigenBase<OtherDerived> &other)
+{
+  other.derived().evalTo(derived());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& DenseBase<Derived>::operator+=(const EigenBase<OtherDerived> &other)
+{
+  other.derived().addTo(derived());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& DenseBase<Derived>::operator-=(const EigenBase<OtherDerived> &other)
+{
+  other.derived().subTo(derived());
+  return derived();
+}
+
+/** replaces \c *this by \c *this * \a other.
+  *
+  * \returns a reference to \c *this
+  */
+template<typename Derived>
+template<typename OtherDerived>
+inline Derived&
+MatrixBase<Derived>::operator*=(const EigenBase<OtherDerived> &other)
+{
+  other.derived().applyThisOnTheRight(derived());
+  return derived();
+}
+
+/** replaces \c *this by \c *this * \a other. It is equivalent to MatrixBase::operator*=() */
+template<typename Derived>
+template<typename OtherDerived>
+inline void MatrixBase<Derived>::applyOnTheRight(const EigenBase<OtherDerived> &other)
+{
+  other.derived().applyThisOnTheRight(derived());
+}
+
+/** replaces \c *this by \c *this * \a other. */
+template<typename Derived>
+template<typename OtherDerived>
+inline void MatrixBase<Derived>::applyOnTheLeft(const EigenBase<OtherDerived> &other)
+{
+  other.derived().applyThisOnTheLeft(derived());
+}
+
+#endif // EIGEN_EIGENBASE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Flagged.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Flagged.h
new file mode 100755
index 0000000..458213a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Flagged.h
@@ -0,0 +1,151 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FLAGGED_H
+#define EIGEN_FLAGGED_H
+
+/** \class Flagged
+  * \ingroup Core_Module
+  *
+  * \brief Expression with modified flags
+  *
+  * \param ExpressionType the type of the object of which we are modifying the flags
+  * \param Added the flags added to the expression
+  * \param Removed the flags removed from the expression (has priority over Added).
+  *
+  * This class represents an expression whose flags have been modified.
+  * It is the return type of MatrixBase::flagged()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::flagged()
+  */
+
+namespace internal {
+template<typename ExpressionType, unsigned int Added, unsigned int Removed>
+struct traits<Flagged<ExpressionType, Added, Removed> > : traits<ExpressionType>
+{
+  enum { Flags = (ExpressionType::Flags | Added) & ~Removed };
+};
+}
+
+template<typename ExpressionType, unsigned int Added, unsigned int Removed> class Flagged
+  : public MatrixBase<Flagged<ExpressionType, Added, Removed> >
+{
+  public:
+
+    typedef MatrixBase<Flagged> Base;
+    
+    EIGEN_DENSE_PUBLIC_INTERFACE(Flagged)
+    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
+        ExpressionType, const ExpressionType&>::type ExpressionTypeNested;
+    typedef typename ExpressionType::InnerIterator InnerIterator;
+
+    inline Flagged(const ExpressionType& matrix) : m_matrix(matrix) {}
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+    inline Index outerStride() const { return m_matrix.outerStride(); }
+    inline Index innerStride() const { return m_matrix.innerStride(); }
+
+    inline CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_matrix.coeff(row, col);
+    }
+
+    inline CoeffReturnType coeff(Index index) const
+    {
+      return m_matrix.coeff(index);
+    }
+    
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_matrix.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_matrix.const_cast_derived().coeffRef(index);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_matrix.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_matrix.const_cast_derived().coeffRef(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return m_matrix.template packet<LoadMode>(row, col);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_matrix.const_cast_derived().template writePacket<LoadMode>(row, col, x);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return m_matrix.template packet<LoadMode>(index);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_matrix.const_cast_derived().template writePacket<LoadMode>(index, x);
+    }
+
+    const ExpressionType& _expression() const { return m_matrix; }
+
+    template<typename OtherDerived>
+    typename ExpressionType::PlainObject solveTriangular(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename OtherDerived>
+    void solveTriangularInPlace(const MatrixBase<OtherDerived>& other) const;
+
+  protected:
+    ExpressionTypeNested m_matrix;
+};
+
+/** \returns an expression of *this with added and removed flags
+  *
+  * This is mostly for internal use.
+  *
+  * \sa class Flagged
+  */
+template<typename Derived>
+template<unsigned int Added,unsigned int Removed>
+inline const Flagged<Derived, Added, Removed>
+DenseBase<Derived>::flagged() const
+{
+  return derived();
+}
+
+#endif // EIGEN_FLAGGED_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ForceAlignedAccess.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ForceAlignedAccess.h
new file mode 100755
index 0000000..11c1f8f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ForceAlignedAccess.h
@@ -0,0 +1,157 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FORCEALIGNEDACCESS_H
+#define EIGEN_FORCEALIGNEDACCESS_H
+
+/** \class ForceAlignedAccess
+  * \ingroup Core_Module
+  *
+  * \brief Enforce aligned packet loads and stores regardless of what is requested
+  *
+  * \param ExpressionType the type of the object of which we are forcing aligned packet access
+  *
+  * This class is the return type of MatrixBase::forceAlignedAccess()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::forceAlignedAccess()
+  */
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<ForceAlignedAccess<ExpressionType> > : public traits<ExpressionType>
+{};
+}
+
+template<typename ExpressionType> class ForceAlignedAccess
+  : public internal::dense_xpr_base< ForceAlignedAccess<ExpressionType> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<ForceAlignedAccess>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(ForceAlignedAccess)
+
+    inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {}
+
+    inline Index rows() const { return m_expression.rows(); }
+    inline Index cols() const { return m_expression.cols(); }
+    inline Index outerStride() const { return m_expression.outerStride(); }
+    inline Index innerStride() const { return m_expression.innerStride(); }
+
+    inline const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_expression.coeff(row, col);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_expression.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return m_expression.coeff(index);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return m_expression.template packet<Aligned>(row, col);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<Aligned>(row, col, x);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return m_expression.template packet<Aligned>(index);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<Aligned>(index, x);
+    }
+
+    operator const ExpressionType&() const { return m_expression; }
+
+  protected:
+    const ExpressionType& m_expression;
+
+  private:
+    ForceAlignedAccess& operator=(const ForceAlignedAccess&);
+};
+
+/** \returns an expression of *this with forced aligned access
+  * \sa forceAlignedAccessIf(),class ForceAlignedAccess
+  */
+template<typename Derived>
+inline const ForceAlignedAccess<Derived>
+MatrixBase<Derived>::forceAlignedAccess() const
+{
+  return ForceAlignedAccess<Derived>(derived());
+}
+
+/** \returns an expression of *this with forced aligned access
+  * \sa forceAlignedAccessIf(), class ForceAlignedAccess
+  */
+template<typename Derived>
+inline ForceAlignedAccess<Derived>
+MatrixBase<Derived>::forceAlignedAccess()
+{
+  return ForceAlignedAccess<Derived>(derived());
+}
+
+/** \returns an expression of *this with forced aligned access if \a Enable is true.
+  * \sa forceAlignedAccess(), class ForceAlignedAccess
+  */
+template<typename Derived>
+template<bool Enable>
+inline typename internal::add_const_on_value_type<typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type>::type
+MatrixBase<Derived>::forceAlignedAccessIf() const
+{
+  return derived();
+}
+
+/** \returns an expression of *this with forced aligned access if \a Enable is true.
+  * \sa forceAlignedAccess(), class ForceAlignedAccess
+  */
+template<typename Derived>
+template<bool Enable>
+inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type
+MatrixBase<Derived>::forceAlignedAccessIf()
+{
+  return derived();
+}
+
+#endif // EIGEN_FORCEALIGNEDACCESS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Functors.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Functors.h
new file mode 100755
index 0000000..ddfc67d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Functors.h
@@ -0,0 +1,940 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FUNCTORS_H
+#define EIGEN_FUNCTORS_H
+
+namespace internal {
+
+// associative functors:
+
+/** \internal
+  * \brief Template functor to compute the sum of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::operator+, class VectorwiseOp, MatrixBase::sum()
+  */
+template<typename Scalar> struct scalar_sum_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a + b; }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::padd(a,b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Scalar predux(const Packet& a) const
+  { return internal::predux(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sum_op<Scalar> > {
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasAdd
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the product of two scalars
+  *
+  * \sa class CwiseBinaryOp, Cwise::operator*(), class VectorwiseOp, MatrixBase::redux()
+  */
+template<typename LhsScalar,typename RhsScalar> struct scalar_product_op {
+  enum {
+    // TODO vectorize mixed product
+    Vectorizable = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasMul && packet_traits<RhsScalar>::HasMul
+  };
+  typedef typename scalar_product_traits<LhsScalar,RhsScalar>::ReturnType result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
+  EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a * b; }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmul(a,b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  { return internal::predux_mul(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_product_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::MulCost + NumTraits<RhsScalar>::MulCost)/2, // rough estimate!
+    PacketAccess = scalar_product_op<LhsScalar,RhsScalar>::Vectorizable
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the conjugate product of two scalars
+  *
+  * This is a short cut for conj(x) * y which is needed for optimization purpose; in Eigen2 support mode, this becomes x * conj(y)
+  */
+template<typename LhsScalar,typename RhsScalar> struct scalar_conj_product_op {
+
+  enum {
+    Conj = NumTraits<LhsScalar>::IsComplex
+  };
+  
+  typedef typename scalar_product_traits<LhsScalar,RhsScalar>::ReturnType result_type;
+  
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_conj_product_op)
+  EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const
+  { return conj_helper<LhsScalar,RhsScalar,Conj,false>().pmul(a,b); }
+  
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return conj_helper<Packet,Packet,Conj,false>().pmul(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_conj_product_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = NumTraits<LhsScalar>::MulCost,
+    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMul
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the min of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::cwiseMin, class VectorwiseOp, MatrixBase::minCoeff()
+  */
+template<typename Scalar> struct scalar_min_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_min_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return std::min(a, b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmin(a,b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Scalar predux(const Packet& a) const
+  { return internal::predux_min(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_min_op<Scalar> > {
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasMin
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the max of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::cwiseMax, class VectorwiseOp, MatrixBase::maxCoeff()
+  */
+template<typename Scalar> struct scalar_max_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_max_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return std::max(a, b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmax(a,b); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Scalar predux(const Packet& a) const
+  { return internal::predux_max(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_max_op<Scalar> > {
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasMax
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the hypot of two scalars
+  *
+  * \sa MatrixBase::stableNorm(), class Redux
+  */
+template<typename Scalar> struct scalar_hypot_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_hypot_op)
+//   typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& _x, const Scalar& _y) const
+  {
+    Scalar p = std::max(_x, _y);
+    Scalar q = std::min(_x, _y);
+    Scalar qp = q/p;
+    return p * sqrt(Scalar(1) + qp*qp);
+  }
+};
+template<typename Scalar>
+struct functor_traits<scalar_hypot_op<Scalar> > {
+  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess=0 };
+};
+
+// other binary functors:
+
+/** \internal
+  * \brief Template functor to compute the difference of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::operator-
+  */
+template<typename Scalar> struct scalar_difference_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a - b; }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::psub(a,b); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_difference_op<Scalar> > {
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasSub
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the quotient of two scalars
+  *
+  * \sa class CwiseBinaryOp, Cwise::operator/()
+  */
+template<typename Scalar> struct scalar_quotient_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a / b; }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pdiv(a,b); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_quotient_op<Scalar> > {
+  enum {
+    Cost = 2 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasDiv
+  };
+};
+
+// unary functors:
+
+/** \internal
+  * \brief Template functor to compute the opposite of a scalar
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::operator-
+  */
+template<typename Scalar> struct scalar_opposite_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_opposite_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return -a; }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pnegate(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_opposite_op<Scalar> >
+{ enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasNegate };
+};
+
+/** \internal
+  * \brief Template functor to compute the absolute value of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::abs
+  */
+template<typename Scalar> struct scalar_abs_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return abs(a); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pabs(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_abs_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasAbs
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the squared absolute value of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::abs2
+  */
+template<typename Scalar> struct scalar_abs2_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs2_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return abs2(a); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_abs2_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasAbs2 }; };
+
+/** \internal
+  * \brief Template functor to compute the conjugate of a complex value
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::conjugate()
+  */
+template<typename Scalar> struct scalar_conjugate_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_conjugate_op)
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return conj(a); }
+  template<typename Packet>
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const { return internal::pconj(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_conjugate_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::IsComplex ? NumTraits<Scalar>::AddCost : 0,
+    PacketAccess = packet_traits<Scalar>::HasConj
+  };
+};
+
+/** \internal
+  * \brief Template functor to cast a scalar to another type
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::cast()
+  */
+template<typename Scalar, typename NewType>
+struct scalar_cast_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef NewType result_type;
+  EIGEN_STRONG_INLINE const NewType operator() (const Scalar& a) const { return cast<Scalar, NewType>(a); }
+};
+template<typename Scalar, typename NewType>
+struct functor_traits<scalar_cast_op<Scalar,NewType> >
+{ enum { Cost = is_same<Scalar, NewType>::value ? 0 : NumTraits<NewType>::AddCost, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the real part of a complex
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::real()
+  */
+template<typename Scalar>
+struct scalar_real_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return real(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_real_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the imaginary part of a complex
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::imag()
+  */
+template<typename Scalar>
+struct scalar_imag_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return imag(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_imag_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the real part of a complex as a reference
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::real()
+  */
+template<typename Scalar>
+struct scalar_real_ref_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_ref_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return real_ref(*const_cast<Scalar*>(&a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_real_ref_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the imaginary part of a complex as a reference
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::imag()
+  */
+template<typename Scalar>
+struct scalar_imag_ref_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_ref_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return imag_ref(*const_cast<Scalar*>(&a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_imag_ref_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  *
+  * \brief Template functor to compute the exponential of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::exp()
+  */
+template<typename Scalar> struct scalar_exp_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_exp_op)
+  inline const Scalar operator() (const Scalar& a) const { return exp(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::pexp(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_exp_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasExp }; };
+
+/** \internal
+  *
+  * \brief Template functor to compute the logarithm of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::log()
+  */
+template<typename Scalar> struct scalar_log_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_log_op)
+  inline const Scalar operator() (const Scalar& a) const { return log(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::plog(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_log_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasLog }; };
+
+/** \internal
+  * \brief Template functor to multiply a scalar by a fixed other one
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::operator*, MatrixBase::operator/
+  */
+/* NOTE why doing the pset1() in packetOp *is* an optimization ?
+ * indeed it seems better to declare m_other as a Packet and do the pset1() once
+ * in the constructor. However, in practice:
+ *  - GCC does not like m_other as a Packet and generate a load every time it needs it
+ *  - on the other hand GCC is able to moves the pset1() away the loop :)
+ *  - simpler code ;)
+ * (ICC and gcc 4.4 seems to perform well in both cases, the issue is visible with y = a*x + b*y)
+ */
+template<typename Scalar>
+struct scalar_multiple_op {
+  typedef typename packet_traits<Scalar>::type Packet;
+  // FIXME default copy constructors seems bugged with std::complex<>
+  EIGEN_STRONG_INLINE scalar_multiple_op(const scalar_multiple_op& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_multiple_op(const Scalar& other) : m_other(other) { }
+  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a * m_other; }
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a, pset1<Packet>(m_other)); }
+  typename add_const_on_value_type<typename NumTraits<Scalar>::Nested>::type m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_multiple_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+template<typename Scalar1, typename Scalar2>
+struct scalar_multiple2_op {
+  typedef typename scalar_product_traits<Scalar1,Scalar2>::ReturnType result_type;
+  EIGEN_STRONG_INLINE scalar_multiple2_op(const scalar_multiple2_op& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_multiple2_op(const Scalar2& other) : m_other(other) { }
+  EIGEN_STRONG_INLINE result_type operator() (const Scalar1& a) const { return a * m_other; }
+  typename add_const_on_value_type<typename NumTraits<Scalar2>::Nested>::type m_other;
+};
+template<typename Scalar1,typename Scalar2>
+struct functor_traits<scalar_multiple2_op<Scalar1,Scalar2> >
+{ enum { Cost = NumTraits<Scalar1>::MulCost, PacketAccess = false }; };
+
+template<typename Scalar, bool IsInteger>
+struct scalar_quotient1_impl {
+  typedef typename packet_traits<Scalar>::type Packet;
+  // FIXME default copy constructors seems bugged with std::complex<>
+  EIGEN_STRONG_INLINE scalar_quotient1_impl(const scalar_quotient1_impl& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_quotient1_impl(const Scalar& other) : m_other(static_cast<Scalar>(1) / other) {}
+  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a * m_other; }
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a, pset1<Packet>(m_other)); }
+  const Scalar m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_quotient1_impl<Scalar,false> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+template<typename Scalar>
+struct scalar_quotient1_impl<Scalar,true> {
+  // FIXME default copy constructors seems bugged with std::complex<>
+  EIGEN_STRONG_INLINE scalar_quotient1_impl(const scalar_quotient1_impl& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_quotient1_impl(const Scalar& other) : m_other(other) {}
+  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a / m_other; }
+  typename add_const_on_value_type<typename NumTraits<Scalar>::Nested>::type m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_quotient1_impl<Scalar,true> >
+{ enum { Cost = 2 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to divide a scalar by a fixed other one
+  *
+  * This functor is used to implement the quotient of a matrix by
+  * a scalar where the scalar type is not necessarily a floating point type.
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::operator/
+  */
+template<typename Scalar>
+struct scalar_quotient1_op : scalar_quotient1_impl<Scalar, NumTraits<Scalar>::IsInteger > {
+  EIGEN_STRONG_INLINE scalar_quotient1_op(const Scalar& other)
+    : scalar_quotient1_impl<Scalar, NumTraits<Scalar>::IsInteger >(other) {}
+};
+template<typename Scalar>
+struct functor_traits<scalar_quotient1_op<Scalar> >
+: functor_traits<scalar_quotient1_impl<Scalar, NumTraits<Scalar>::IsInteger> >
+{};
+
+// nullary functors
+
+template<typename Scalar>
+struct scalar_constant_op {
+  typedef typename packet_traits<Scalar>::type Packet;
+  EIGEN_STRONG_INLINE scalar_constant_op(const scalar_constant_op& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_constant_op(const Scalar& other) : m_other(other) { }
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index, Index = 0) const { return m_other; }
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Packet packetOp(Index, Index = 0) const { return internal::pset1<Packet>(m_other); }
+  const Scalar m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_constant_op<Scalar> >
+// FIXME replace this packet test by a safe one
+{ enum { Cost = 1, PacketAccess = packet_traits<Scalar>::Vectorizable, IsRepeatable = true }; };
+
+template<typename Scalar> struct scalar_identity_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_identity_op)
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index row, Index col) const { return row==col ? Scalar(1) : Scalar(0); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_identity_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = false, IsRepeatable = true }; };
+
+template <typename Scalar, bool RandomAccess> struct linspaced_op_impl;
+
+// linear access for packet ops:
+// 1) initialization
+//   base = [low, ..., low] + ([step, ..., step] * [-size, ..., 0])
+// 2) each step
+//   base += [size*step, ..., size*step]
+template <typename Scalar>
+struct linspaced_op_impl<Scalar,false>
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+
+  linspaced_op_impl(Scalar low, Scalar step) :
+  m_low(low), m_step(step),
+  m_packetStep(pset1<Packet>(packet_traits<Scalar>::size*step)),
+  m_base(padd(pset1<Packet>(low),pmul(pset1<Packet>(step),plset<Scalar>(-packet_traits<Scalar>::size)))) {}
+
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index i) const { return m_low+i*m_step; }
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Packet packetOp(Index) const { return m_base = padd(m_base,m_packetStep); }
+
+  const Scalar m_low;
+  const Scalar m_step;
+  const Packet m_packetStep;
+  mutable Packet m_base;
+};
+
+// random access for packet ops:
+// 1) each step
+//   [low, ..., low] + ( [step, ..., step] * ( [i, ..., i] + [0, ..., size] ) )
+template <typename Scalar>
+struct linspaced_op_impl<Scalar,true>
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+
+  linspaced_op_impl(Scalar low, Scalar step) :
+  m_low(low), m_step(step),
+  m_lowPacket(pset1<Packet>(m_low)), m_stepPacket(pset1<Packet>(m_step)), m_interPacket(plset<Scalar>(0)) {}
+
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index i) const { return m_low+i*m_step; }
+
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Packet packetOp(Index i) const
+  { return internal::padd(m_lowPacket, pmul(m_stepPacket, padd(pset1<Packet>(i),m_interPacket))); }
+
+  const Scalar m_low;
+  const Scalar m_step;
+  const Packet m_lowPacket;
+  const Packet m_stepPacket;
+  const Packet m_interPacket;
+};
+
+// ----- Linspace functor ----------------------------------------------------------------
+
+// Forward declaration (we default to random access which does not really give
+// us a speed gain when using packet access but it allows to use the functor in
+// nested expressions).
+template <typename Scalar, bool RandomAccess = true> struct linspaced_op;
+template <typename Scalar, bool RandomAccess> struct functor_traits< linspaced_op<Scalar,RandomAccess> >
+{ enum { Cost = 1, PacketAccess = packet_traits<Scalar>::HasSetLinear, IsRepeatable = true }; };
+template <typename Scalar, bool RandomAccess> struct linspaced_op
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  linspaced_op(Scalar low, Scalar high, int num_steps) : impl(low, (high-low)/(num_steps-1)) {}
+
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index i) const { return impl(i); }
+
+  // We need this function when assigning e.g. a RowVectorXd to a MatrixXd since
+  // there row==0 and col is used for the actual iteration.
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Scalar operator() (Index row, Index col) const 
+  {
+    eigen_assert(col==0 || row==0);
+    return impl(col + row);
+  }
+
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Packet packetOp(Index i) const { return impl.packetOp(i); }
+
+  // We need this function when assigning e.g. a RowVectorXd to a MatrixXd since
+  // there row==0 and col is used for the actual iteration.
+  template<typename Index>
+  EIGEN_STRONG_INLINE const Packet packetOp(Index row, Index col) const
+  {
+    eigen_assert(col==0 || row==0);
+    return impl(col + row);
+  }
+
+  // This proxy object handles the actual required temporaries, the different
+  // implementations (random vs. sequential access) as well as the
+  // correct piping to size 2/4 packet operations.
+  const linspaced_op_impl<Scalar,RandomAccess> impl;
+};
+
+// all functors allow linear access, except scalar_identity_op. So we fix here a quick meta
+// to indicate whether a functor allows linear access, just always answering 'yes' except for
+// scalar_identity_op.
+// FIXME move this to functor_traits adding a functor_default
+template<typename Functor> struct functor_has_linear_access { enum { ret = 1 }; };
+template<typename Scalar> struct functor_has_linear_access<scalar_identity_op<Scalar> > { enum { ret = 0 }; };
+
+// in CwiseBinaryOp, we require the Lhs and Rhs to have the same scalar type, except for multiplication
+// where we only require them to have the same _real_ scalar type so one may multiply, say, float by complex<float>.
+// FIXME move this to functor_traits adding a functor_default
+template<typename Functor> struct functor_allows_mixing_real_and_complex { enum { ret = 0 }; };
+template<typename LhsScalar,typename RhsScalar> struct functor_allows_mixing_real_and_complex<scalar_product_op<LhsScalar,RhsScalar> > { enum { ret = 1 }; };
+template<typename LhsScalar,typename RhsScalar> struct functor_allows_mixing_real_and_complex<scalar_conj_product_op<LhsScalar,RhsScalar> > { enum { ret = 1 }; };
+
+
+/** \internal
+  * \brief Template functor to add a scalar to a fixed other one
+  * \sa class CwiseUnaryOp, Array::operator+
+  */
+/* If you wonder why doing the pset1() in packetOp() is an optimization check scalar_multiple_op */
+template<typename Scalar>
+struct scalar_add_op {
+  typedef typename packet_traits<Scalar>::type Packet;
+  // FIXME default copy constructors seems bugged with std::complex<>
+  inline scalar_add_op(const scalar_add_op& other) : m_other(other.m_other) { }
+  inline scalar_add_op(const Scalar& other) : m_other(other) { }
+  inline Scalar operator() (const Scalar& a) const { return a + m_other; }
+  inline const Packet packetOp(const Packet& a) const
+  { return internal::padd(a, pset1<Packet>(m_other)); }
+  const Scalar m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_add_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = packet_traits<Scalar>::HasAdd }; };
+
+/** \internal
+  * \brief Template functor to compute the square root of a scalar
+  * \sa class CwiseUnaryOp, Cwise::sqrt()
+  */
+template<typename Scalar> struct scalar_sqrt_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sqrt_op)
+  inline const Scalar operator() (const Scalar& a) const { return sqrt(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::psqrt(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sqrt_op<Scalar> >
+{ enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasSqrt
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the cosine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::cos()
+  */
+template<typename Scalar> struct scalar_cos_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cos_op)
+  inline Scalar operator() (const Scalar& a) const { return cos(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::pcos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cos_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasCos
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the sine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::sin()
+  */
+template<typename Scalar> struct scalar_sin_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sin_op)
+  inline const Scalar operator() (const Scalar& a) const { return sin(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::psin(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sin_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasSin
+  };
+};
+
+
+/** \internal
+  * \brief Template functor to compute the tan of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::tan()
+  */
+template<typename Scalar> struct scalar_tan_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_tan_op)
+  inline const Scalar operator() (const Scalar& a) const { return tan(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::ptan(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_tan_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasTan
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the arc cosine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::acos()
+  */
+template<typename Scalar> struct scalar_acos_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_acos_op)
+  inline const Scalar operator() (const Scalar& a) const { return acos(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::pacos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_acos_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasACos
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the arc sine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::asin()
+  */
+template<typename Scalar> struct scalar_asin_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_asin_op)
+  inline const Scalar operator() (const Scalar& a) const { return acos(a); }
+  typedef typename packet_traits<Scalar>::type Packet;
+  inline Packet packetOp(const Packet& a) const { return internal::pacos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_asin_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasASin
+  };
+};
+
+/** \internal
+  * \brief Template functor to raise a scalar to a power
+  * \sa class CwiseUnaryOp, Cwise::pow
+  */
+template<typename Scalar>
+struct scalar_pow_op {
+  // FIXME default copy constructors seems bugged with std::complex<>
+  inline scalar_pow_op(const scalar_pow_op& other) : m_exponent(other.m_exponent) { }
+  inline scalar_pow_op(const Scalar& exponent) : m_exponent(exponent) {}
+  inline Scalar operator() (const Scalar& a) const { return internal::pow(a, m_exponent); }
+  const Scalar m_exponent;
+};
+template<typename Scalar>
+struct functor_traits<scalar_pow_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to compute the inverse of a scalar
+  * \sa class CwiseUnaryOp, Cwise::inverse()
+  */
+template<typename Scalar>
+struct scalar_inverse_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_inverse_op)
+  inline Scalar operator() (const Scalar& a) const { return Scalar(1)/a; }
+  template<typename Packet>
+  inline const Packet packetOp(const Packet& a) const
+  { return internal::pdiv(pset1<Packet>(Scalar(1)),a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_inverse_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasDiv }; };
+
+/** \internal
+  * \brief Template functor to compute the square of a scalar
+  * \sa class CwiseUnaryOp, Cwise::square()
+  */
+template<typename Scalar>
+struct scalar_square_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_square_op)
+  inline Scalar operator() (const Scalar& a) const { return a*a; }
+  template<typename Packet>
+  inline const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_square_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+/** \internal
+  * \brief Template functor to compute the cube of a scalar
+  * \sa class CwiseUnaryOp, Cwise::cube()
+  */
+template<typename Scalar>
+struct scalar_cube_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cube_op)
+  inline Scalar operator() (const Scalar& a) const { return a*a*a; }
+  template<typename Packet>
+  inline const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,pmul(a,a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cube_op<Scalar> >
+{ enum { Cost = 2*NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+// default functor traits for STL functors:
+
+template<typename T>
+struct functor_traits<std::multiplies<T> >
+{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::divides<T> >
+{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::plus<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::minus<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::negate<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_or<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_and<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_not<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::greater<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::less<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::greater_equal<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::less_equal<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::equal_to<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::not_equal_to<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binder2nd<T> >
+{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binder1st<T> >
+{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::unary_negate<T> >
+{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binary_negate<T> >
+{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+
+#ifdef EIGEN_STDEXT_SUPPORT
+
+template<typename T0,typename T1>
+struct functor_traits<std::project1st<T0,T1> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::project2nd<T0,T1> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::select2nd<std::pair<T0,T1> > >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::select1st<std::pair<T0,T1> > >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::unary_compose<T0,T1> >
+{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost, PacketAccess = false }; };
+
+template<typename T0,typename T1,typename T2>
+struct functor_traits<std::binary_compose<T0,T1,T2> >
+{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost + functor_traits<T2>::Cost, PacketAccess = false }; };
+
+#endif // EIGEN_STDEXT_SUPPORT
+
+// allow to add new functors and specializations of functor_traits from outside Eigen.
+// this macro is really needed because functor_traits must be specialized after it is declared but before it is used...
+#ifdef EIGEN_FUNCTORS_PLUGIN
+#include EIGEN_FUNCTORS_PLUGIN
+#endif
+
+} // end namespace internal
+
+#endif // EIGEN_FUNCTORS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Fuzzy.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Fuzzy.h
new file mode 100755
index 0000000..3cd82d8
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Fuzzy.h
@@ -0,0 +1,160 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FUZZY_H
+#define EIGEN_FUZZY_H
+
+namespace internal
+{
+
+template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
+struct isApprox_selector
+{
+  static bool run(const Derived& x, const OtherDerived& y, typename Derived::RealScalar prec)
+  {
+    const typename internal::nested<Derived,2>::type nested(x);
+    const typename internal::nested<OtherDerived,2>::type otherNested(y);
+    return (nested - otherNested).cwiseAbs2().sum() <= prec * prec * std::min(nested.cwiseAbs2().sum(), otherNested.cwiseAbs2().sum());
+  }
+};
+
+template<typename Derived, typename OtherDerived>
+struct isApprox_selector<Derived, OtherDerived, true>
+{
+  static bool run(const Derived& x, const OtherDerived& y, typename Derived::RealScalar)
+  {
+    return x.matrix() == y.matrix();
+  }
+};
+
+template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
+struct isMuchSmallerThan_object_selector
+{
+  static bool run(const Derived& x, const OtherDerived& y, typename Derived::RealScalar prec)
+  {
+    return x.cwiseAbs2().sum() <= abs2(prec) * y.cwiseAbs2().sum();
+  }
+};
+
+template<typename Derived, typename OtherDerived>
+struct isMuchSmallerThan_object_selector<Derived, OtherDerived, true>
+{
+  static bool run(const Derived& x, const OtherDerived&, typename Derived::RealScalar)
+  {
+    return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
+  }
+};
+
+template<typename Derived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
+struct isMuchSmallerThan_scalar_selector
+{
+  static bool run(const Derived& x, const typename Derived::RealScalar& y, typename Derived::RealScalar prec)
+  {
+    return x.cwiseAbs2().sum() <= abs2(prec * y);
+  }
+};
+
+template<typename Derived>
+struct isMuchSmallerThan_scalar_selector<Derived, true>
+{
+  static bool run(const Derived& x, const typename Derived::RealScalar&, typename Derived::RealScalar)
+  {
+    return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
+  }
+};
+
+} // end namespace internal
+
+
+/** \returns \c true if \c *this is approximately equal to \a other, within the precision
+  * determined by \a prec.
+  *
+  * \note The fuzzy compares are done multiplicatively. Two vectors \f$ v \f$ and \f$ w \f$
+  * are considered to be approximately equal within precision \f$ p \f$ if
+  * \f[ \Vert v - w \Vert \leqslant p\,\min(\Vert v\Vert, \Vert w\Vert). \f]
+  * For matrices, the comparison is done using the Hilbert-Schmidt norm (aka Frobenius norm
+  * L2 norm).
+  *
+  * \note Because of the multiplicativeness of this comparison, one can't use this function
+  * to check whether \c *this is approximately equal to the zero matrix or vector.
+  * Indeed, \c isApprox(zero) returns false unless \c *this itself is exactly the zero matrix
+  * or vector. If you want to test whether \c *this is zero, use internal::isMuchSmallerThan(const
+  * RealScalar&, RealScalar) instead.
+  *
+  * \sa internal::isMuchSmallerThan(const RealScalar&, RealScalar) const
+  */
+template<typename Derived>
+template<typename OtherDerived>
+bool DenseBase<Derived>::isApprox(
+  const DenseBase<OtherDerived>& other,
+  RealScalar prec
+) const
+{
+  return internal::isApprox_selector<Derived, OtherDerived>::run(derived(), other.derived(), prec);
+}
+
+/** \returns \c true if the norm of \c *this is much smaller than \a other,
+  * within the precision determined by \a prec.
+  *
+  * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
+  * considered to be much smaller than \f$ x \f$ within precision \f$ p \f$ if
+  * \f[ \Vert v \Vert \leqslant p\,\vert x\vert. \f]
+  *
+  * For matrices, the comparison is done using the Hilbert-Schmidt norm. For this reason,
+  * the value of the reference scalar \a other should come from the Hilbert-Schmidt norm
+  * of a reference matrix of same dimensions.
+  *
+  * \sa isApprox(), isMuchSmallerThan(const DenseBase<OtherDerived>&, RealScalar) const
+  */
+template<typename Derived>
+bool DenseBase<Derived>::isMuchSmallerThan(
+  const typename NumTraits<Scalar>::Real& other,
+  RealScalar prec
+) const
+{
+  return internal::isMuchSmallerThan_scalar_selector<Derived>::run(derived(), other, prec);
+}
+
+/** \returns \c true if the norm of \c *this is much smaller than the norm of \a other,
+  * within the precision determined by \a prec.
+  *
+  * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
+  * considered to be much smaller than a vector \f$ w \f$ within precision \f$ p \f$ if
+  * \f[ \Vert v \Vert \leqslant p\,\Vert w\Vert. \f]
+  * For matrices, the comparison is done using the Hilbert-Schmidt norm.
+  *
+  * \sa isApprox(), isMuchSmallerThan(const RealScalar&, RealScalar) const
+  */
+template<typename Derived>
+template<typename OtherDerived>
+bool DenseBase<Derived>::isMuchSmallerThan(
+  const DenseBase<OtherDerived>& other,
+  RealScalar prec
+) const
+{
+  return internal::isMuchSmallerThan_object_selector<Derived, OtherDerived>::run(derived(), other.derived(), prec);
+}
+
+#endif // EIGEN_FUZZY_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/GenericPacketMath.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/GenericPacketMath.h
new file mode 100755
index 0000000..4ba322a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/GenericPacketMath.h
@@ -0,0 +1,339 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERIC_PACKET_MATH_H
+#define EIGEN_GENERIC_PACKET_MATH_H
+
+namespace internal {
+
+/** \internal
+  * \file GenericPacketMath.h
+  *
+  * Default implementation for types not supported by the vectorization.
+  * In practice these functions are provided to make easier the writing
+  * of generic vectorized code.
+  */
+
+#ifndef EIGEN_DEBUG_ALIGNED_LOAD
+#define EIGEN_DEBUG_ALIGNED_LOAD
+#endif
+
+#ifndef EIGEN_DEBUG_UNALIGNED_LOAD
+#define EIGEN_DEBUG_UNALIGNED_LOAD
+#endif
+
+#ifndef EIGEN_DEBUG_ALIGNED_STORE
+#define EIGEN_DEBUG_ALIGNED_STORE
+#endif
+
+#ifndef EIGEN_DEBUG_UNALIGNED_STORE
+#define EIGEN_DEBUG_UNALIGNED_STORE
+#endif
+
+struct default_packet_traits
+{
+  enum {
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasNegate = 1,
+    HasAbs    = 1,
+    HasAbs2   = 1,
+    HasMin    = 1,
+    HasMax    = 1,
+    HasConj   = 1,
+    HasSetLinear = 1,
+
+    HasDiv    = 0,
+    HasSqrt   = 0,
+    HasExp    = 0,
+    HasLog    = 0,
+    HasPow    = 0,
+
+    HasSin    = 0,
+    HasCos    = 0,
+    HasTan    = 0,
+    HasASin   = 0,
+    HasACos   = 0,
+    HasATan   = 0
+  };
+};
+
+template<typename T> struct packet_traits : default_packet_traits
+{
+  typedef T type;
+  enum {
+    Vectorizable = 0,
+    size = 1,
+    AlignedOnScalar = 0
+  };
+  enum {
+    HasAdd    = 0,
+    HasSub    = 0,
+    HasMul    = 0,
+    HasNegate = 0,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasConj   = 0,
+    HasSetLinear = 0
+  };
+};
+
+/** \internal \returns a + b (coeff-wise) */
+template<typename Packet> inline Packet
+padd(const Packet& a,
+        const Packet& b) { return a+b; }
+
+/** \internal \returns a - b (coeff-wise) */
+template<typename Packet> inline Packet
+psub(const Packet& a,
+        const Packet& b) { return a-b; }
+
+/** \internal \returns -a (coeff-wise) */
+template<typename Packet> inline Packet
+pnegate(const Packet& a) { return -a; }
+
+/** \internal \returns conj(a) (coeff-wise) */
+template<typename Packet> inline Packet
+pconj(const Packet& a) { return conj(a); }
+
+/** \internal \returns a * b (coeff-wise) */
+template<typename Packet> inline Packet
+pmul(const Packet& a,
+        const Packet& b) { return a*b; }
+
+/** \internal \returns a / b (coeff-wise) */
+template<typename Packet> inline Packet
+pdiv(const Packet& a,
+        const Packet& b) { return a/b; }
+
+/** \internal \returns the min of \a a and \a b  (coeff-wise) */
+template<typename Packet> inline Packet
+pmin(const Packet& a,
+        const Packet& b) { return std::min(a, b); }
+
+/** \internal \returns the max of \a a and \a b  (coeff-wise) */
+template<typename Packet> inline Packet
+pmax(const Packet& a,
+        const Packet& b) { return std::max(a, b); }
+
+/** \internal \returns the absolute value of \a a */
+template<typename Packet> inline Packet
+pabs(const Packet& a) { return abs(a); }
+
+/** \internal \returns the bitwise and of \a a and \a b */
+template<typename Packet> inline Packet
+pand(const Packet& a, const Packet& b) { return a & b; }
+
+/** \internal \returns the bitwise or of \a a and \a b */
+template<typename Packet> inline Packet
+por(const Packet& a, const Packet& b) { return a | b; }
+
+/** \internal \returns the bitwise xor of \a a and \a b */
+template<typename Packet> inline Packet
+pxor(const Packet& a, const Packet& b) { return a ^ b; }
+
+/** \internal \returns the bitwise andnot of \a a and \a b */
+template<typename Packet> inline Packet
+pandnot(const Packet& a, const Packet& b) { return a & (!b); }
+
+/** \internal \returns a packet version of \a *from, from must be 16 bytes aligned */
+template<typename Packet> inline Packet
+pload(const typename unpacket_traits<Packet>::type* from) { return *from; }
+
+/** \internal \returns a packet version of \a *from, (un-aligned load) */
+template<typename Packet> inline Packet
+ploadu(const typename unpacket_traits<Packet>::type* from) { return *from; }
+
+/** \internal \returns a packet with elements of \a *from duplicated, e.g.: (from[0],from[0],from[1],from[1]) */
+template<typename Packet> inline Packet
+ploaddup(const typename unpacket_traits<Packet>::type* from) { return *from; }
+
+/** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */
+template<typename Packet> inline Packet
+pset1(const typename unpacket_traits<Packet>::type& a) { return a; }
+
+/** \internal \brief Returns a packet with coefficients (a,a+1,...,a+packet_size-1). */
+template<typename Scalar> inline typename packet_traits<Scalar>::type
+plset(const Scalar& a) { return a; }
+
+/** \internal copy the packet \a from to \a *to, \a to must be 16 bytes aligned */
+template<typename Scalar, typename Packet> inline void pstore(Scalar* to, const Packet& from)
+{ (*to) = from; }
+
+/** \internal copy the packet \a from to \a *to, (un-aligned store) */
+template<typename Scalar, typename Packet> inline void pstoreu(Scalar* to, const Packet& from)
+{ (*to) = from; }
+
+/** \internal tries to do cache prefetching of \a addr */
+template<typename Scalar> inline void prefetch(const Scalar* addr)
+{
+#if !defined(_MSC_VER)
+__builtin_prefetch(addr);
+#endif
+}
+
+/** \internal \returns the first element of a packet */
+template<typename Packet> inline typename unpacket_traits<Packet>::type pfirst(const Packet& a)
+{ return a; }
+
+/** \internal \returns a packet where the element i contains the sum of the packet of \a vec[i] */
+template<typename Packet> inline Packet
+preduxp(const Packet* vecs) { return vecs[0]; }
+
+/** \internal \returns the sum of the elements of \a a*/
+template<typename Packet> inline typename unpacket_traits<Packet>::type predux(const Packet& a)
+{ return a; }
+
+/** \internal \returns the product of the elements of \a a*/
+template<typename Packet> inline typename unpacket_traits<Packet>::type predux_mul(const Packet& a)
+{ return a; }
+
+/** \internal \returns the min of the elements of \a a*/
+template<typename Packet> inline typename unpacket_traits<Packet>::type predux_min(const Packet& a)
+{ return a; }
+
+/** \internal \returns the max of the elements of \a a*/
+template<typename Packet> inline typename unpacket_traits<Packet>::type predux_max(const Packet& a)
+{ return a; }
+
+/** \internal \returns the reversed elements of \a a*/
+template<typename Packet> inline Packet preverse(const Packet& a)
+{ return a; }
+
+
+/** \internal \returns \a a with real and imaginary part flipped (for complex type only) */
+template<typename Packet> inline Packet pcplxflip(const Packet& a)
+{ return Packet(imag(a),real(a)); }
+
+/**************************
+* Special math functions
+***************************/
+
+/** \internal \returns the sine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet psin(const Packet& a) { return sin(a); }
+
+/** \internal \returns the cosine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pcos(const Packet& a) { return cos(a); }
+
+/** \internal \returns the tan of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet ptan(const Packet& a) { return tan(a); }
+
+/** \internal \returns the arc sine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pasin(const Packet& a) { return asin(a); }
+
+/** \internal \returns the arc cosine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pacos(const Packet& a) { return acos(a); }
+
+/** \internal \returns the exp of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pexp(const Packet& a) { return exp(a); }
+
+/** \internal \returns the log of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet plog(const Packet& a) { return log(a); }
+
+/** \internal \returns the square-root of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet psqrt(const Packet& a) { return sqrt(a); }
+
+/***************************************************************************
+* The following functions might not have to be overwritten for vectorized types
+***************************************************************************/
+
+/** \internal copy a packet with constant coeficient \a a (e.g., [a,a,a,a]) to \a *to. \a to must be 16 bytes aligned */
+// NOTE: this function must really be templated on the packet type (think about different packet types for the same scalar type)
+template<typename Packet>
+inline void pstore1(typename unpacket_traits<Packet>::type* to, const typename unpacket_traits<Packet>::type& a)
+{
+  pstore(to, pset1<Packet>(a));
+}
+
+/** \internal \returns a * b + c (coeff-wise) */
+template<typename Packet> inline Packet
+pmadd(const Packet&  a,
+         const Packet&  b,
+         const Packet&  c)
+{ return padd(pmul(a, b),c); }
+
+/** \internal \returns a packet version of \a *from.
+  * \If LoadMode equals Aligned, \a from must be 16 bytes aligned */
+template<typename Packet, int LoadMode>
+inline Packet ploadt(const typename unpacket_traits<Packet>::type* from)
+{
+  if(LoadMode == Aligned)
+    return pload<Packet>(from);
+  else
+    return ploadu<Packet>(from);
+}
+
+/** \internal copy the packet \a from to \a *to.
+  * If StoreMode equals Aligned, \a to must be 16 bytes aligned */
+template<typename Scalar, typename Packet, int LoadMode>
+inline void pstoret(Scalar* to, const Packet& from)
+{
+  if(LoadMode == Aligned)
+    pstore(to, from);
+  else
+    pstoreu(to, from);
+}
+
+/** \internal default implementation of palign() allowing partial specialization */
+template<int Offset,typename PacketType>
+struct palign_impl
+{
+  // by default data are aligned, so there is nothing to be done :)
+  inline static void run(PacketType&, const PacketType&) {}
+};
+
+/** \internal update \a first using the concatenation of the \a Offset last elements
+  * of \a first and packet_size minus \a Offset first elements of \a second */
+template<int Offset,typename PacketType>
+inline void palign(PacketType& first, const PacketType& second)
+{
+  palign_impl<Offset,PacketType>::run(first,second);
+}
+
+/***************************************************************************
+* Fast complex products (GCC generates a function call which is very slow)
+***************************************************************************/
+
+template<> inline std::complex<float> pmul(const std::complex<float>& a, const std::complex<float>& b)
+{ return std::complex<float>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
+
+template<> inline std::complex<double> pmul(const std::complex<double>& a, const std::complex<double>& b)
+{ return std::complex<double>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
+
+} // end namespace internal
+
+#endif // EIGEN_GENERIC_PACKET_MATH_H
+
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/GlobalFunctions.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/GlobalFunctions.h
new file mode 100755
index 0000000..144145a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/GlobalFunctions.h
@@ -0,0 +1,95 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GLOBAL_FUNCTIONS_H
+#define EIGEN_GLOBAL_FUNCTIONS_H
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(NAME,FUNCTOR) \
+  template<typename Derived> \
+  inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
+  NAME(const Eigen::ArrayBase<Derived>& x) { \
+    return x.derived(); \
+  }
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(NAME,FUNCTOR) \
+  \
+  template<typename Derived> \
+  struct NAME##_retval<ArrayBase<Derived> > \
+  { \
+    typedef const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> type; \
+  }; \
+  template<typename Derived> \
+  struct NAME##_impl<ArrayBase<Derived> > \
+  { \
+    static inline typename NAME##_retval<ArrayBase<Derived> >::type run(const Eigen::ArrayBase<Derived>& x) \
+    { \
+      return x.derived(); \
+    } \
+  };
+
+
+namespace std
+{
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(real,scalar_real_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(imag,scalar_imag_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(sin,scalar_sin_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(cos,scalar_cos_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(asin,scalar_asin_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(acos,scalar_acos_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(tan,scalar_tan_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(exp,scalar_exp_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(log,scalar_log_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(abs,scalar_abs_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_STD_UNARY(sqrt,scalar_sqrt_op)
+
+  template<typename Derived>
+  inline const Eigen::CwiseUnaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar>, const Derived>
+  pow(const Eigen::ArrayBase<Derived>& x, const typename Derived::Scalar& exponent) { \
+    return x.derived().pow(exponent); \
+  }
+}
+
+namespace Eigen
+{
+  namespace internal
+  {
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(real,scalar_real_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(imag,scalar_imag_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(sin,scalar_sin_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(cos,scalar_cos_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(asin,scalar_asin_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(acos,scalar_acos_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(tan,scalar_tan_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(exp,scalar_exp_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(log,scalar_log_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(abs,scalar_abs_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(abs2,scalar_abs2_op)
+    EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(sqrt,scalar_sqrt_op)
+  }
+}
+
+// TODO: cleanly disable those functions that are not supported on Array (internal::real_ref, internal::random, internal::isApprox...)
+
+#endif // EIGEN_GLOBAL_FUNCTIONS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/IO.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/IO.h
new file mode 100755
index 0000000..baaf046
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/IO.h
@@ -0,0 +1,259 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_IO_H
+#define EIGEN_IO_H
+
+enum { DontAlignCols = 1 };
+enum { StreamPrecision = -1,
+       FullPrecision = -2 };
+
+namespace internal {
+template<typename Derived>
+std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt);
+}
+
+/** \class IOFormat
+  * \ingroup Core_Module
+  *
+  * \brief Stores a set of parameters controlling the way matrices are printed
+  *
+  * List of available parameters:
+  *  - \b precision number of digits for floating point values, or one of the special constants \c StreamPrecision and \c FullPrecision.
+  *                 The default is the special value \c StreamPrecision which means to use the
+  *                 stream's own precision setting, as set for instance using \c cout.precision(3). The other special value
+  *                 \c FullPrecision means that the number of digits will be computed to match the full precision of each floating-point
+  *                 type.
+  *  - \b flags an OR-ed combination of flags, the default value is 0, the only currently available flag is \c DontAlignCols which
+  *             allows to disable the alignment of columns, resulting in faster code.
+  *  - \b coeffSeparator string printed between two coefficients of the same row
+  *  - \b rowSeparator string printed between two rows
+  *  - \b rowPrefix string printed at the beginning of each row
+  *  - \b rowSuffix string printed at the end of each row
+  *  - \b matPrefix string printed at the beginning of the matrix
+  *  - \b matSuffix string printed at the end of the matrix
+  *
+  * Example: \include IOFormat.cpp
+  * Output: \verbinclude IOFormat.out
+  *
+  * \sa DenseBase::format(), class WithFormat
+  */
+struct IOFormat
+{
+  /** Default contructor, see class IOFormat for the meaning of the parameters */
+  IOFormat(int _precision = StreamPrecision, int _flags = 0,
+    const std::string& _coeffSeparator = " ",
+    const std::string& _rowSeparator = "\n", const std::string& _rowPrefix="", const std::string& _rowSuffix="",
+    const std::string& _matPrefix="", const std::string& _matSuffix="")
+  : matPrefix(_matPrefix), matSuffix(_matSuffix), rowPrefix(_rowPrefix), rowSuffix(_rowSuffix), rowSeparator(_rowSeparator),
+    coeffSeparator(_coeffSeparator), precision(_precision), flags(_flags)
+  {
+    rowSpacer = "";
+    int i = int(matSuffix.length())-1;
+    while (i>=0 && matSuffix[i]!='\n')
+    {
+      rowSpacer += ' ';
+      i--;
+    }
+  }
+  std::string matPrefix, matSuffix;
+  std::string rowPrefix, rowSuffix, rowSeparator, rowSpacer;
+  std::string coeffSeparator;
+  int precision;
+  int flags;
+};
+
+/** \class WithFormat
+  * \ingroup Core_Module
+  *
+  * \brief Pseudo expression providing matrix output with given format
+  *
+  * \param ExpressionType the type of the object on which IO stream operations are performed
+  *
+  * This class represents an expression with stream operators controlled by a given IOFormat.
+  * It is the return type of DenseBase::format()
+  * and most of the time this is the only way it is used.
+  *
+  * See class IOFormat for some examples.
+  *
+  * \sa DenseBase::format(), class IOFormat
+  */
+template<typename ExpressionType>
+class WithFormat
+{
+  public:
+
+    WithFormat(const ExpressionType& matrix, const IOFormat& format)
+      : m_matrix(matrix), m_format(format)
+    {}
+
+    friend std::ostream & operator << (std::ostream & s, const WithFormat& wf)
+    {
+      return internal::print_matrix(s, wf.m_matrix.eval(), wf.m_format);
+    }
+
+  protected:
+    const typename ExpressionType::Nested m_matrix;
+    IOFormat m_format;
+};
+
+/** \returns a WithFormat proxy object allowing to print a matrix the with given
+  * format \a fmt.
+  *
+  * See class IOFormat for some examples.
+  *
+  * \sa class IOFormat, class WithFormat
+  */
+template<typename Derived>
+inline const WithFormat<Derived>
+DenseBase<Derived>::format(const IOFormat& fmt) const
+{
+  return WithFormat<Derived>(derived(), fmt);
+}
+
+namespace internal {
+
+template<typename Scalar, bool IsInteger>
+struct significant_decimals_default_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline int run()
+  {
+    return cast<RealScalar,int>(std::ceil(-log(NumTraits<RealScalar>::epsilon())/log(RealScalar(10))));
+  }
+};
+
+template<typename Scalar>
+struct significant_decimals_default_impl<Scalar, true>
+{
+  static inline int run()
+  {
+    return 0;
+  }
+};
+
+template<typename Scalar>
+struct significant_decimals_impl
+  : significant_decimals_default_impl<Scalar, NumTraits<Scalar>::IsInteger>
+{};
+
+/** \internal
+  * print the matrix \a _m to the output stream \a s using the output format \a fmt */
+template<typename Derived>
+std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt)
+{
+  if(_m.size() == 0)
+  {
+    s << fmt.matPrefix << fmt.matSuffix;
+    return s;
+  }
+  
+  const typename Derived::Nested m = _m;
+  typedef typename Derived::Scalar Scalar;
+  typedef typename Derived::Index Index;
+
+  Index width = 0;
+
+  std::streamsize explicit_precision;
+  if(fmt.precision == StreamPrecision)
+  {
+    explicit_precision = 0;
+  }
+  else if(fmt.precision == FullPrecision)
+  {
+    if (NumTraits<Scalar>::IsInteger)
+    {
+      explicit_precision = 0;
+    }
+    else
+    {
+      explicit_precision = significant_decimals_impl<Scalar>::run();
+    }
+  }
+  else
+  {
+    explicit_precision = fmt.precision;
+  }
+
+  bool align_cols = !(fmt.flags & DontAlignCols);
+  if(align_cols)
+  {
+    // compute the largest width
+    for(Index j = 1; j < m.cols(); ++j)
+      for(Index i = 0; i < m.rows(); ++i)
+      {
+        std::stringstream sstr;
+        if(explicit_precision) sstr.precision(explicit_precision);
+        sstr << m.coeff(i,j);
+        width = std::max<Index>(width, Index(sstr.str().length()));
+      }
+  }
+  std::streamsize old_precision = 0;
+  if(explicit_precision) old_precision = s.precision(explicit_precision);
+  s << fmt.matPrefix;
+  for(Index i = 0; i < m.rows(); ++i)
+  {
+    if (i)
+      s << fmt.rowSpacer;
+    s << fmt.rowPrefix;
+    if(width) s.width(width);
+    s << m.coeff(i, 0);
+    for(Index j = 1; j < m.cols(); ++j)
+    {
+      s << fmt.coeffSeparator;
+      if (width) s.width(width);
+      s << m.coeff(i, j);
+    }
+    s << fmt.rowSuffix;
+    if( i < m.rows() - 1)
+      s << fmt.rowSeparator;
+  }
+  s << fmt.matSuffix;
+  if(explicit_precision) s.precision(old_precision);
+  return s;
+}
+
+} // end namespace internal
+
+/** \relates DenseBase
+  *
+  * Outputs the matrix, to the given stream.
+  *
+  * If you wish to print the matrix with a format different than the default, use DenseBase::format().
+  *
+  * It is also possible to change the default format by defining EIGEN_DEFAULT_IO_FORMAT before including Eigen headers.
+  * If not defined, this will automatically be defined to Eigen::IOFormat(), that is the Eigen::IOFormat with default parameters.
+  *
+  * \sa DenseBase::format()
+  */
+template<typename Derived>
+std::ostream & operator <<
+(std::ostream & s,
+ const DenseBase<Derived> & m)
+{
+  return internal::print_matrix(s, m.eval(), EIGEN_DEFAULT_IO_FORMAT);
+}
+
+#endif // EIGEN_IO_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Map.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Map.h
new file mode 100755
index 0000000..692d0a1
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Map.h
@@ -0,0 +1,205 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MAP_H
+#define EIGEN_MAP_H
+
+/** \class Map
+  * \ingroup Core_Module
+  *
+  * \brief A matrix or vector expression mapping an existing array of data.
+  *
+  * \param PlainObjectType the equivalent matrix type of the mapped data
+  * \param MapOptions specifies whether the pointer is \c Aligned, or \c Unaligned.
+  *                The default is \c Unaligned.
+  * \param StrideType optionnally specifies strides. By default, Map assumes the memory layout
+  *                   of an ordinary, contiguous array. This can be overridden by specifying strides.
+  *                   The type passed here must be a specialization of the Stride template, see examples below.
+  *
+  * This class represents a matrix or vector expression mapping an existing array of data.
+  * It can be used to let Eigen interface without any overhead with non-Eigen data structures,
+  * such as plain C arrays or structures from other libraries. By default, it assumes that the
+  * data is laid out contiguously in memory. You can however override this by explicitly specifying
+  * inner and outer strides.
+  *
+  * Here's an example of simply mapping a contiguous array as a \ref TopicStorageOrders "column-major" matrix:
+  * \include Map_simple.cpp
+  * Output: \verbinclude Map_simple.out
+  *
+  * If you need to map non-contiguous arrays, you can do so by specifying strides:
+  *
+  * Here's an example of mapping an array as a vector, specifying an inner stride, that is, the pointer
+  * increment between two consecutive coefficients. Here, we're specifying the inner stride as a compile-time
+  * fixed value.
+  * \include Map_inner_stride.cpp
+  * Output: \verbinclude Map_inner_stride.out
+  *
+  * Here's an example of mapping an array while specifying an outer stride. Here, since we're mapping
+  * as a column-major matrix, 'outer stride' means the pointer increment between two consecutive columns.
+  * Here, we're specifying the outer stride as a runtime parameter. Note that here \c OuterStride<> is
+  * a short version of \c OuterStride<Dynamic> because the default template parameter of OuterStride
+  * is  \c Dynamic
+  * \include Map_outer_stride.cpp
+  * Output: \verbinclude Map_outer_stride.out
+  *
+  * For more details and for an example of specifying both an inner and an outer stride, see class Stride.
+  *
+  * \b Tip: to change the array of data mapped by a Map object, you can use the C++
+  * placement new syntax:
+  *
+  * Example: \include Map_placement_new.cpp
+  * Output: \verbinclude Map_placement_new.out
+  *
+  * This class is the return type of Matrix::Map() but can also be used directly.
+  *
+  * \sa Matrix::Map(), \ref TopicStorageOrders
+  */
+
+namespace internal {
+template<typename PlainObjectType, int MapOptions, typename StrideType>
+struct traits<Map<PlainObjectType, MapOptions, StrideType> >
+  : public traits<PlainObjectType>
+{
+  typedef traits<PlainObjectType> TraitsBase;
+  typedef typename PlainObjectType::Index Index;
+  typedef typename PlainObjectType::Scalar Scalar;
+  enum {
+    InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
+                             ? int(PlainObjectType::InnerStrideAtCompileTime)
+                             : int(StrideType::InnerStrideAtCompileTime),
+    OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
+                             ? int(PlainObjectType::OuterStrideAtCompileTime)
+                             : int(StrideType::OuterStrideAtCompileTime),
+    HasNoInnerStride = InnerStrideAtCompileTime == 1,
+    HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0,
+    HasNoStride = HasNoInnerStride && HasNoOuterStride,
+    IsAligned = bool(EIGEN_ALIGN) && ((int(MapOptions)&Aligned)==Aligned),
+    IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic,
+    KeepsPacketAccess = bool(HasNoInnerStride)
+                        && ( bool(IsDynamicSize)
+                           || HasNoOuterStride
+                           || ( OuterStrideAtCompileTime!=Dynamic
+                           && ((static_cast<int>(sizeof(Scalar))*OuterStrideAtCompileTime)%16)==0 ) ),
+    Flags0 = TraitsBase::Flags,
+    Flags1 = IsAligned ? (int(Flags0) | AlignedBit) : (int(Flags0) & ~AlignedBit),
+    Flags2 = (bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime))
+           ? int(Flags1) : int(Flags1 & ~LinearAccessBit),
+    Flags3 = is_lvalue<PlainObjectType>::value ? int(Flags2) : (int(Flags2) & ~LvalueBit),
+    Flags = KeepsPacketAccess ? int(Flags3) : (int(Flags3) & ~PacketAccessBit)
+  };
+private:
+  enum { Options }; // Expressions don't have Options
+};
+}
+
+template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
+  : public MapBase<Map<PlainObjectType, MapOptions, StrideType> >
+{
+  public:
+
+    typedef MapBase<Map> Base;
+
+    EIGEN_DENSE_PUBLIC_INTERFACE(Map)
+
+    typedef typename Base::PointerType PointerType;
+#if EIGEN2_SUPPORT_STAGE <= STAGE30_FULL_EIGEN3_API
+    typedef const Scalar* PointerArgType;
+    inline PointerType cast_to_pointer_type(PointerArgType ptr) { return const_cast<PointerType>(ptr); }
+#else
+    typedef PointerType PointerArgType;
+    inline PointerType cast_to_pointer_type(PointerArgType ptr) { return ptr; }
+#endif
+
+    inline Index innerStride() const
+    {
+      return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
+    }
+
+    inline Index outerStride() const
+    {
+      return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
+           : IsVectorAtCompileTime ? this->size()
+           : int(Flags)&RowMajorBit ? this->cols()
+           : this->rows();
+    }
+
+    /** Constructor in the fixed-size case.
+      *
+      * \param data pointer to the array to map
+      * \param stride optional Stride object, passing the strides.
+      */
+    inline Map(PointerArgType data, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(data)), m_stride(stride)
+    {
+      PlainObjectType::Base::_check_template_params();
+    }
+
+    /** Constructor in the dynamic-size vector case.
+      *
+      * \param data pointer to the array to map
+      * \param size the size of the vector expression
+      * \param stride optional Stride object, passing the strides.
+      */
+    inline Map(PointerArgType data, Index size, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(data), size), m_stride(stride)
+    {
+      PlainObjectType::Base::_check_template_params();
+    }
+
+    /** Constructor in the dynamic-size matrix case.
+      *
+      * \param data pointer to the array to map
+      * \param rows the number of rows of the matrix expression
+      * \param cols the number of columns of the matrix expression
+      * \param stride optional Stride object, passing the strides.
+      */
+    inline Map(PointerArgType data, Index rows, Index cols, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(data), rows, cols), m_stride(stride)
+    {
+      PlainObjectType::Base::_check_template_params();
+    }
+
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
+
+  protected:
+    StrideType m_stride;
+};
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+inline Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
+  ::Array(const Scalar *data)
+{
+  this->_set_noalias(Eigen::Map<const Array>(data));
+}
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+inline Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
+  ::Matrix(const Scalar *data)
+{
+  this->_set_noalias(Eigen::Map<const Matrix>(data));
+}
+
+#endif // EIGEN_MAP_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/MapBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/MapBase.h
new file mode 100755
index 0000000..a259e3a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/MapBase.h
@@ -0,0 +1,255 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MAPBASE_H
+#define EIGEN_MAPBASE_H
+
+#define EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) \
+      EIGEN_STATIC_ASSERT((int(internal::traits<Derived>::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \
+                          YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT)
+
+
+/** \class MapBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for Map and Block expression with direct access
+  *
+  * \sa class Map, class Block
+  */
+template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
+  : public internal::dense_xpr_base<Derived>::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Derived>::type Base;
+    enum {
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+      SizeAtCompileTime = Base::SizeAtCompileTime
+    };
+
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef typename internal::conditional<
+                         bool(internal::is_lvalue<Derived>::value),
+                         Scalar *,
+                         const Scalar *>::type
+                     PointerType;
+
+    using Base::derived;
+//    using Base::RowsAtCompileTime;
+//    using Base::ColsAtCompileTime;
+//    using Base::SizeAtCompileTime;
+    using Base::MaxRowsAtCompileTime;
+    using Base::MaxColsAtCompileTime;
+    using Base::MaxSizeAtCompileTime;
+    using Base::IsVectorAtCompileTime;
+    using Base::Flags;
+    using Base::IsRowMajor;
+
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::coeff;
+    using Base::coeffRef;
+    using Base::lazyAssign;
+    using Base::eval;
+
+    using Base::innerStride;
+    using Base::outerStride;
+    using Base::rowStride;
+    using Base::colStride;
+
+    // bug 217 - compile error on ICC 11.1
+    using Base::operator=;
+
+    typedef typename Base::CoeffReturnType CoeffReturnType;
+
+    inline Index rows() const { return m_rows.value(); }
+    inline Index cols() const { return m_cols.value(); }
+
+    /** Returns a pointer to the first coefficient of the matrix or vector.
+      *
+      * \note When addressing this data, make sure to honor the strides returned by innerStride() and outerStride().
+      *
+      * \sa innerStride(), outerStride()
+      */
+    inline const Scalar* data() const { return m_data; }
+
+    inline const Scalar& coeff(Index row, Index col) const
+    {
+      return m_data[col * colStride() + row * rowStride()];
+    }
+
+    inline const Scalar& coeff(Index index) const
+    {
+      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+      return m_data[index * innerStride()];
+    }
+
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return this->m_data[col * colStride() + row * rowStride()];
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+      return this->m_data[index * innerStride()];
+    }
+
+    template<int LoadMode>
+    inline PacketScalar packet(Index row, Index col) const
+    {
+      return internal::ploadt<PacketScalar, LoadMode>
+               (m_data + (col * colStride() + row * rowStride()));
+    }
+
+    template<int LoadMode>
+    inline PacketScalar packet(Index index) const
+    {
+      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+      return internal::ploadt<PacketScalar, LoadMode>(m_data + index * innerStride());
+    }
+
+    inline MapBase(PointerType data) : m_data(data), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime)
+    {
+      EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+      checkSanity();
+    }
+
+    inline MapBase(PointerType data, Index size)
+            : m_data(data),
+              m_rows(RowsAtCompileTime == Dynamic ? size : Index(RowsAtCompileTime)),
+              m_cols(ColsAtCompileTime == Dynamic ? size : Index(ColsAtCompileTime))
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+      eigen_assert(size >= 0);
+      eigen_assert(data == 0 || SizeAtCompileTime == Dynamic || SizeAtCompileTime == size);
+      checkSanity();
+    }
+
+    inline MapBase(PointerType data, Index rows, Index cols)
+            : m_data(data), m_rows(rows), m_cols(cols)
+    {
+      eigen_assert( (data == 0)
+              || (   rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+                  && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)));
+      checkSanity();
+    }
+
+  protected:
+
+    void checkSanity() const
+    {
+      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(internal::traits<Derived>::Flags&PacketAccessBit,
+                                        internal::inner_stride_at_compile_time<Derived>::ret==1),
+                          PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
+      eigen_assert(EIGEN_IMPLIES(internal::traits<Derived>::Flags&AlignedBit, (size_t(m_data) % (sizeof(Scalar)*internal::packet_traits<Scalar>::size)) == 0)
+        && "data is not aligned");
+    }
+
+    PointerType m_data;
+    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_rows;
+    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_cols;
+};
+
+template<typename Derived> class MapBase<Derived, WriteAccessors>
+  : public MapBase<Derived, ReadOnlyAccessors>
+{
+  public:
+
+    typedef MapBase<Derived, ReadOnlyAccessors> Base;
+
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::PacketScalar PacketScalar;
+    typedef typename Base::Index Index;
+    typedef typename Base::PointerType PointerType;
+
+    using Base::derived;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::coeff;
+    using Base::coeffRef;
+
+    using Base::innerStride;
+    using Base::outerStride;
+    using Base::rowStride;
+    using Base::colStride;
+
+    typedef typename internal::conditional<
+                    internal::is_lvalue<Derived>::value,
+                    Scalar,
+                    const Scalar
+                  >::type ScalarWithConstIfNotLvalue;
+
+    inline const Scalar* data() const { return this->m_data; }
+    inline ScalarWithConstIfNotLvalue* data() { return this->m_data; } // no const-cast here so non-const-correct code will give a compile error
+
+    inline ScalarWithConstIfNotLvalue& coeffRef(Index row, Index col)
+    {
+      return this->m_data[col * colStride() + row * rowStride()];
+    }
+
+    inline ScalarWithConstIfNotLvalue& coeffRef(Index index)
+    {
+      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+      return this->m_data[index * innerStride()];
+    }
+
+    template<int StoreMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      internal::pstoret<Scalar, PacketScalar, StoreMode>
+               (this->m_data + (col * colStride() + row * rowStride()), x);
+    }
+
+    template<int StoreMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+      internal::pstoret<Scalar, PacketScalar, StoreMode>
+                (this->m_data + index * innerStride(), x);
+    }
+
+    inline MapBase(PointerType data) : Base(data) {}
+    inline MapBase(PointerType data, Index size) : Base(data, size) {}
+    inline MapBase(PointerType data, Index rows, Index cols) : Base(data, rows, cols) {}
+
+    Derived& operator=(const MapBase& other)
+    {
+      Base::Base::operator=(other);
+      return derived();
+    }
+
+    using Base::Base::operator=;
+};
+
+
+#endif // EIGEN_MAPBASE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/MathFunctions.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/MathFunctions.h
new file mode 100755
index 0000000..2760e67
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/MathFunctions.h
@@ -0,0 +1,831 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MATHFUNCTIONS_H
+#define EIGEN_MATHFUNCTIONS_H
+
+namespace internal {
+
+/** \internal \struct global_math_functions_filtering_base
+  *
+  * What it does:
+  * Defines a typedef 'type' as follows:
+  * - if type T has a member typedef Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl, then
+  *   global_math_functions_filtering_base<T>::type is a typedef for it.
+  * - otherwise, global_math_functions_filtering_base<T>::type is a typedef for T.
+  *
+  * How it's used:
+  * To allow to defined the global math functions (like sin...) in certain cases, like the Array expressions.
+  * When you do sin(array1+array2), the object array1+array2 has a complicated expression type, all what you want to know
+  * is that it inherits ArrayBase. So we implement a partial specialization of sin_impl for ArrayBase<Derived>.
+  * So we must make sure to use sin_impl<ArrayBase<Derived> > and not sin_impl<Derived>, otherwise our partial specialization
+  * won't be used. How does sin know that? That's exactly what global_math_functions_filtering_base tells it.
+  *
+  * How it's implemented:
+  * SFINAE in the style of enable_if. Highly susceptible of breaking compilers. With GCC, it sure does work, but if you replace
+  * the typename dummy by an integer template parameter, it doesn't work anymore!
+  */
+
+template<typename T, typename dummy = void>
+struct global_math_functions_filtering_base
+{
+  typedef T type;
+};
+
+template<typename T> struct always_void { typedef void type; };
+
+template<typename T>
+struct global_math_functions_filtering_base
+  <T,
+   typename always_void<typename T::Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl>::type
+  >
+{
+  typedef typename T::Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl type;
+};
+
+#define EIGEN_MATHFUNC_IMPL(func, scalar) func##_impl<typename global_math_functions_filtering_base<scalar>::type>
+#define EIGEN_MATHFUNC_RETVAL(func, scalar) typename func##_retval<typename global_math_functions_filtering_base<scalar>::type>::type
+
+
+/****************************************************************************
+* Implementation of real                                                 *
+****************************************************************************/
+
+template<typename Scalar>
+struct real_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar& x)
+  {
+    return x;
+  }
+};
+
+template<typename RealScalar>
+struct real_impl<std::complex<RealScalar> >
+{
+  static inline RealScalar run(const std::complex<RealScalar>& x)
+  {
+    return std::real(x);
+  }
+};
+
+template<typename Scalar>
+struct real_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(real, Scalar) real(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(real, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of imag                                                 *
+****************************************************************************/
+
+template<typename Scalar>
+struct imag_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar&)
+  {
+    return RealScalar(0);
+  }
+};
+
+template<typename RealScalar>
+struct imag_impl<std::complex<RealScalar> >
+{
+  static inline RealScalar run(const std::complex<RealScalar>& x)
+  {
+    return std::imag(x);
+  }
+};
+
+template<typename Scalar>
+struct imag_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(imag, Scalar) imag(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(imag, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of real_ref                                             *
+****************************************************************************/
+
+template<typename Scalar>
+struct real_ref_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar& run(Scalar& x)
+  {
+    return reinterpret_cast<RealScalar*>(&x)[0];
+  }
+  static inline const RealScalar& run(const Scalar& x)
+  {
+    return reinterpret_cast<const RealScalar*>(&x)[0];
+  }
+};
+
+template<typename Scalar>
+struct real_ref_retval
+{
+  typedef typename NumTraits<Scalar>::Real & type;
+};
+
+template<typename Scalar>
+inline typename add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) >::type real_ref(const Scalar& x)
+{
+  return real_ref_impl<Scalar>::run(x);
+}
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) real_ref(Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(real_ref, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of imag_ref                                             *
+****************************************************************************/
+
+template<typename Scalar, bool IsComplex>
+struct imag_ref_default_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar& run(Scalar& x)
+  {
+    return reinterpret_cast<RealScalar*>(&x)[1];
+  }
+  static inline const RealScalar& run(const Scalar& x)
+  {
+    return reinterpret_cast<RealScalar*>(&x)[1];
+  }
+};
+
+template<typename Scalar>
+struct imag_ref_default_impl<Scalar, false>
+{
+  static inline Scalar run(Scalar&)
+  {
+    return Scalar(0);
+  }
+  static inline const Scalar run(const Scalar&)
+  {
+    return Scalar(0);
+  }
+};
+
+template<typename Scalar>
+struct imag_ref_impl : imag_ref_default_impl<Scalar, NumTraits<Scalar>::IsComplex> {};
+
+template<typename Scalar>
+struct imag_ref_retval
+{
+  typedef typename NumTraits<Scalar>::Real & type;
+};
+
+template<typename Scalar>
+inline typename add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) >::type imag_ref(const Scalar& x)
+{
+  return imag_ref_impl<Scalar>::run(x);
+}
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) imag_ref(Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(imag_ref, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of conj                                                 *
+****************************************************************************/
+
+template<typename Scalar>
+struct conj_impl
+{
+  static inline Scalar run(const Scalar& x)
+  {
+    return x;
+  }
+};
+
+template<typename RealScalar>
+struct conj_impl<std::complex<RealScalar> >
+{
+  static inline std::complex<RealScalar> run(const std::complex<RealScalar>& x)
+  {
+    return std::conj(x);
+  }
+};
+
+template<typename Scalar>
+struct conj_retval
+{
+  typedef Scalar type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(conj, Scalar) conj(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(conj, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of abs                                                  *
+****************************************************************************/
+
+template<typename Scalar>
+struct abs_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar& x)
+  {
+    return std::abs(x);
+  }
+};
+
+template<typename Scalar>
+struct abs_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(abs, Scalar) abs(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(abs, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of abs2                                                 *
+****************************************************************************/
+
+template<typename Scalar>
+struct abs2_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar& x)
+  {
+    return x*x;
+  }
+};
+
+template<typename RealScalar>
+struct abs2_impl<std::complex<RealScalar> >
+{
+  static inline RealScalar run(const std::complex<RealScalar>& x)
+  {
+    return std::norm(x);
+  }
+};
+
+template<typename Scalar>
+struct abs2_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(abs2, Scalar) abs2(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(abs2, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of norm1                                                *
+****************************************************************************/
+
+template<typename Scalar, bool IsComplex>
+struct norm1_default_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar& x)
+  {
+    return abs(real(x)) + abs(imag(x));
+  }
+};
+
+template<typename Scalar>
+struct norm1_default_impl<Scalar, false>
+{
+  static inline Scalar run(const Scalar& x)
+  {
+    return abs(x);
+  }
+};
+
+template<typename Scalar>
+struct norm1_impl : norm1_default_impl<Scalar, NumTraits<Scalar>::IsComplex> {};
+
+template<typename Scalar>
+struct norm1_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(norm1, Scalar) norm1(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(norm1, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of hypot                                                *
+****************************************************************************/
+
+template<typename Scalar>
+struct hypot_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static inline RealScalar run(const Scalar& x, const Scalar& y)
+  {
+    RealScalar _x = abs(x);
+    RealScalar _y = abs(y);
+    RealScalar p = std::max(_x, _y);
+    RealScalar q = std::min(_x, _y);
+    RealScalar qp = q/p;
+    return p * sqrt(RealScalar(1) + qp*qp);
+  }
+};
+
+template<typename Scalar>
+struct hypot_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(hypot, Scalar) hypot(const Scalar& x, const Scalar& y)
+{
+  return EIGEN_MATHFUNC_IMPL(hypot, Scalar)::run(x, y);
+}
+
+/****************************************************************************
+* Implementation of cast                                                 *
+****************************************************************************/
+
+template<typename OldType, typename NewType>
+struct cast_impl
+{
+  static inline NewType run(const OldType& x)
+  {
+    return static_cast<NewType>(x);
+  }
+};
+
+// here, for once, we're plainly returning NewType: we don't want cast to do weird things.
+
+template<typename OldType, typename NewType>
+inline NewType cast(const OldType& x)
+{
+  return cast_impl<OldType, NewType>::run(x);
+}
+
+/****************************************************************************
+* Implementation of sqrt                                                 *
+****************************************************************************/
+
+template<typename Scalar, bool IsInteger>
+struct sqrt_default_impl
+{
+  static inline Scalar run(const Scalar& x)
+  {
+    return std::sqrt(x);
+  }
+};
+
+template<typename Scalar>
+struct sqrt_default_impl<Scalar, true>
+{
+  static inline Scalar run(const Scalar&)
+  {
+#ifdef EIGEN2_SUPPORT
+    eigen_assert(!NumTraits<Scalar>::IsInteger);
+#else
+    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
+#endif
+    return Scalar(0);
+  }
+};
+
+template<typename Scalar>
+struct sqrt_impl : sqrt_default_impl<Scalar, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar>
+struct sqrt_retval
+{
+  typedef Scalar type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(sqrt, Scalar) sqrt(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(sqrt, Scalar)::run(x);
+}
+
+/****************************************************************************
+* Implementation of standard unary real functions (exp, log, sin, cos, ...  *
+****************************************************************************/
+
+// This macro instanciate all the necessary template mechanism which is common to all unary real functions.
+#define EIGEN_MATHFUNC_STANDARD_REAL_UNARY(NAME) \
+  template<typename Scalar, bool IsInteger> struct NAME##_default_impl {            \
+    static inline Scalar run(const Scalar& x) { return std::NAME(x); }              \
+  };                                                                                \
+  template<typename Scalar> struct NAME##_default_impl<Scalar, true> {              \
+    static inline Scalar run(const Scalar&) {                                       \
+      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)                                       \
+      return Scalar(0);                                                             \
+    }                                                                               \
+  };                                                                                \
+  template<typename Scalar> struct NAME##_impl                                      \
+    : NAME##_default_impl<Scalar, NumTraits<Scalar>::IsInteger>                     \
+  {};                                                                               \
+  template<typename Scalar> struct NAME##_retval { typedef Scalar type; };          \
+  template<typename Scalar>                                                         \
+  inline EIGEN_MATHFUNC_RETVAL(NAME, Scalar) NAME(const Scalar& x) {                \
+    return EIGEN_MATHFUNC_IMPL(NAME, Scalar)::run(x);                               \
+  }
+
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(exp)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(log)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(sin)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(cos)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(tan)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(asin)
+EIGEN_MATHFUNC_STANDARD_REAL_UNARY(acos)
+
+/****************************************************************************
+* Implementation of atan2                                                *
+****************************************************************************/
+
+template<typename Scalar, bool IsInteger>
+struct atan2_default_impl
+{
+  typedef Scalar retval;
+  static inline Scalar run(const Scalar& x, const Scalar& y)
+  {
+    return std::atan2(x, y);
+  }
+};
+
+template<typename Scalar>
+struct atan2_default_impl<Scalar, true>
+{
+  static inline Scalar run(const Scalar&, const Scalar&)
+  {
+    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
+    return Scalar(0);
+  }
+};
+
+template<typename Scalar>
+struct atan2_impl : atan2_default_impl<Scalar, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar>
+struct atan2_retval
+{
+  typedef Scalar type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(atan2, Scalar) atan2(const Scalar& x, const Scalar& y)
+{
+  return EIGEN_MATHFUNC_IMPL(atan2, Scalar)::run(x, y);
+}
+
+/****************************************************************************
+* Implementation of pow                                                  *
+****************************************************************************/
+
+template<typename Scalar, bool IsInteger>
+struct pow_default_impl
+{
+  typedef Scalar retval;
+  static inline Scalar run(const Scalar& x, const Scalar& y)
+  {
+    return std::pow(x, y);
+  }
+};
+
+template<typename Scalar>
+struct pow_default_impl<Scalar, true>
+{
+  static inline Scalar run(Scalar x, Scalar y)
+  {
+    Scalar res = 1;
+    eigen_assert(!NumTraits<Scalar>::IsSigned || y >= 0);
+    if(y & 1) res *= x;
+    y >>= 1;
+    while(y)
+    {
+      x *= x;
+      if(y&1) res *= x;
+      y >>= 1;
+    }
+    return res;
+  }
+};
+
+template<typename Scalar>
+struct pow_impl : pow_default_impl<Scalar, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar>
+struct pow_retval
+{
+  typedef Scalar type;
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(pow, Scalar) pow(const Scalar& x, const Scalar& y)
+{
+  return EIGEN_MATHFUNC_IMPL(pow, Scalar)::run(x, y);
+}
+
+/****************************************************************************
+* Implementation of random                                               *
+****************************************************************************/
+
+template<typename Scalar,
+         bool IsComplex,
+         bool IsInteger>
+struct random_default_impl {};
+
+template<typename Scalar>
+struct random_impl : random_default_impl<Scalar, NumTraits<Scalar>::IsComplex, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar>
+struct random_retval
+{
+  typedef Scalar type;
+};
+
+template<typename Scalar> inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y);
+template<typename Scalar> inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random();
+
+template<typename Scalar>
+struct random_default_impl<Scalar, false, false>
+{
+  static inline Scalar run(const Scalar& x, const Scalar& y)
+  {
+    return x + (y-x) * Scalar(std::rand()) / Scalar(RAND_MAX);
+  }
+  static inline Scalar run()
+  {
+    return run(Scalar(NumTraits<Scalar>::IsSigned ? -1 : 0), Scalar(1));
+  }
+};
+
+enum {
+  floor_log2_terminate,
+  floor_log2_move_up,
+  floor_log2_move_down,
+  floor_log2_bogus
+};
+
+template<unsigned int n, int lower, int upper> struct floor_log2_selector
+{
+  enum { middle = (lower + upper) / 2,
+         value = (upper <= lower + 1) ? int(floor_log2_terminate)
+               : (n < (1 << middle)) ? int(floor_log2_move_down)
+               : (n==0) ? int(floor_log2_bogus)
+               : int(floor_log2_move_up)
+  };
+};
+
+template<unsigned int n,
+         int lower = 0,
+         int upper = sizeof(unsigned int) * CHAR_BIT - 1,
+         int selector = floor_log2_selector<n, lower, upper>::value>
+struct floor_log2 {};
+
+template<unsigned int n, int lower, int upper>
+struct floor_log2<n, lower, upper, floor_log2_move_down>
+{
+  enum { value = floor_log2<n, lower, floor_log2_selector<n, lower, upper>::middle>::value };
+};
+
+template<unsigned int n, int lower, int upper>
+struct floor_log2<n, lower, upper, floor_log2_move_up>
+{
+  enum { value = floor_log2<n, floor_log2_selector<n, lower, upper>::middle, upper>::value };
+};
+
+template<unsigned int n, int lower, int upper>
+struct floor_log2<n, lower, upper, floor_log2_terminate>
+{
+  enum { value = (n >= ((unsigned int)(1) << (lower+1))) ? lower+1 : lower };
+};
+
+template<unsigned int n, int lower, int upper>
+struct floor_log2<n, lower, upper, floor_log2_bogus>
+{
+  // no value, error at compile time
+};
+
+template<typename Scalar>
+struct random_default_impl<Scalar, false, true>
+{
+  typedef typename NumTraits<Scalar>::NonInteger NonInteger;
+
+  static inline Scalar run(const Scalar& x, const Scalar& y)
+  {
+    return x + Scalar((NonInteger(y)-x+1) * std::rand() / (RAND_MAX + NonInteger(1)));
+  }
+
+  static inline Scalar run()
+  {
+#ifdef EIGEN_MAKING_DOCS
+    return run(Scalar(NumTraits<Scalar>::IsSigned ? -10 : 0), Scalar(10));
+#else
+    enum { rand_bits = floor_log2<(unsigned int)(RAND_MAX)+1>::value,
+           scalar_bits = sizeof(Scalar) * CHAR_BIT,
+           shift = EIGEN_PLAIN_ENUM_MAX(0, int(rand_bits) - int(scalar_bits))
+    };
+    Scalar x = Scalar(std::rand() >> shift);
+    Scalar offset = NumTraits<Scalar>::IsSigned ? Scalar(1 << (rand_bits-1)) : Scalar(0);
+    return x - offset;
+#endif
+  }
+};
+
+template<typename Scalar>
+struct random_default_impl<Scalar, true, false>
+{
+  static inline Scalar run(const Scalar& x, const Scalar& y)
+  {
+    return Scalar(random(real(x), real(y)),
+                  random(imag(x), imag(y)));
+  }
+  static inline Scalar run()
+  {
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    return Scalar(random<RealScalar>(), random<RealScalar>());
+  }
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y)
+{
+  return EIGEN_MATHFUNC_IMPL(random, Scalar)::run(x, y);
+}
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random()
+{
+  return EIGEN_MATHFUNC_IMPL(random, Scalar)::run();
+}
+
+/****************************************************************************
+* Implementation of fuzzy comparisons                                       *
+****************************************************************************/
+
+template<typename Scalar,
+         bool IsComplex,
+         bool IsInteger>
+struct scalar_fuzzy_default_impl {};
+
+template<typename Scalar>
+struct scalar_fuzzy_default_impl<Scalar, false, false>
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  template<typename OtherScalar>
+  static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
+  {
+    return abs(x) <= abs(y) * prec;
+  }
+  static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
+  {
+    return abs(x - y) <= std::min(abs(x), abs(y)) * prec;
+  }
+  static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar& prec)
+  {
+    return x <= y || isApprox(x, y, prec);
+  }
+};
+
+template<typename Scalar>
+struct scalar_fuzzy_default_impl<Scalar, false, true>
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  template<typename OtherScalar>
+  static inline bool isMuchSmallerThan(const Scalar& x, const Scalar&, const RealScalar&)
+  {
+    return x == Scalar(0);
+  }
+  static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar&)
+  {
+    return x == y;
+  }
+  static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar&)
+  {
+    return x <= y;
+  }
+};
+
+template<typename Scalar>
+struct scalar_fuzzy_default_impl<Scalar, true, false>
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  template<typename OtherScalar>
+  static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
+  {
+    return abs2(x) <= abs2(y) * prec * prec;
+  }
+  static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
+  {
+    return abs2(x - y) <= std::min(abs2(x), abs2(y)) * prec * prec;
+  }
+};
+
+template<typename Scalar>
+struct scalar_fuzzy_impl : scalar_fuzzy_default_impl<Scalar, NumTraits<Scalar>::IsComplex, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar, typename OtherScalar>
+inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y,
+                                   typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return scalar_fuzzy_impl<Scalar>::template isMuchSmallerThan<OtherScalar>(x, y, precision);
+}
+
+template<typename Scalar>
+inline bool isApprox(const Scalar& x, const Scalar& y,
+                          typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return scalar_fuzzy_impl<Scalar>::isApprox(x, y, precision);
+}
+
+template<typename Scalar>
+inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y,
+                                    typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return scalar_fuzzy_impl<Scalar>::isApproxOrLessThan(x, y, precision);
+}
+
+/******************************************
+***  The special case of the  bool type ***
+******************************************/
+
+template<> struct random_impl<bool>
+{
+  static inline bool run()
+  {
+    return random<int>(0,1)==0 ? false : true;
+  }
+};
+
+template<> struct scalar_fuzzy_impl<bool>
+{
+  typedef bool RealScalar;
+  
+  template<typename OtherScalar>
+  static inline bool isMuchSmallerThan(const bool& x, const bool&, const bool&)
+  {
+    return !x;
+  }
+  
+  static inline bool isApprox(bool x, bool y, bool)
+  {
+    return x == y;
+  }
+
+  static inline bool isApproxOrLessThan(const bool& x, const bool& y, const bool&)
+  {
+    return (!x) || y;
+  }
+  
+};
+
+} // end namespace internal
+
+#endif // EIGEN_MATHFUNCTIONS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Matrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Matrix.h
new file mode 100755
index 0000000..8ae55da
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Matrix.h
@@ -0,0 +1,439 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MATRIX_H
+#define EIGEN_MATRIX_H
+
+/** \class Matrix
+  * \ingroup Core_Module
+  *
+  * \brief The matrix class, also used for vectors and row-vectors
+  *
+  * The %Matrix class is the work-horse for all \em dense (\ref dense "note") matrices and vectors within Eigen.
+  * Vectors are matrices with one column, and row-vectors are matrices with one row.
+  *
+  * The %Matrix class encompasses \em both fixed-size and dynamic-size objects (\ref fixedsize "note").
+  *
+  * The first three template parameters are required:
+  * \tparam _Scalar \anchor matrix_tparam_scalar Numeric type, e.g. float, double, int or std::complex<float>.
+  *                 User defined sclar types are supported as well (see \ref user_defined_scalars "here").
+  * \tparam _Rows Number of rows, or \b Dynamic
+  * \tparam _Cols Number of columns, or \b Dynamic
+  *
+  * The remaining template parameters are optional -- in most cases you don't have to worry about them.
+  * \tparam _Options \anchor matrix_tparam_options A combination of either \b RowMajor or \b ColMajor, and of either
+  *                 \b AutoAlign or \b DontAlign.
+  *                 The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required
+  *                 for vectorization. It defaults to aligning matrices except for fixed sizes that aren't a multiple of the packet size.
+  * \tparam _MaxRows Maximum number of rows. Defaults to \a _Rows (\ref maxrows "note").
+  * \tparam _MaxCols Maximum number of columns. Defaults to \a _Cols (\ref maxrows "note").
+  *
+  * Eigen provides a number of typedefs covering the usual cases. Here are some examples:
+  *
+  * \li \c Matrix2d is a 2x2 square matrix of doubles (\c Matrix<double, 2, 2>)
+  * \li \c Vector4f is a vector of 4 floats (\c Matrix<float, 4, 1>)
+  * \li \c RowVector3i is a row-vector of 3 ints (\c Matrix<int, 1, 3>)
+  *
+  * \li \c MatrixXf is a dynamic-size matrix of floats (\c Matrix<float, Dynamic, Dynamic>)
+  * \li \c VectorXf is a dynamic-size vector of floats (\c Matrix<float, Dynamic, 1>)
+  *
+  * \li \c Matrix2Xf is a partially fixed-size (dynamic-size) matrix of floats (\c Matrix<float, 2, Dynamic>)
+  * \li \c MatrixX3d is a partially dynamic-size (fixed-size) matrix of double (\c Matrix<double, Dynamic, 3>)
+  *
+  * See \link matrixtypedefs this page \endlink for a complete list of predefined \em %Matrix and \em Vector typedefs.
+  *
+  * You can access elements of vectors and matrices using normal subscripting:
+  *
+  * \code
+  * Eigen::VectorXd v(10);
+  * v[0] = 0.1;
+  * v[1] = 0.2;
+  * v(0) = 0.3;
+  * v(1) = 0.4;
+  *
+  * Eigen::MatrixXi m(10, 10);
+  * m(0, 1) = 1;
+  * m(0, 2) = 2;
+  * m(0, 3) = 3;
+  * \endcode
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_MATRIX_PLUGIN.
+  *
+  * <i><b>Some notes:</b></i>
+  *
+  * <dl>
+  * <dt><b>\anchor dense Dense versus sparse:</b></dt>
+  * <dd>This %Matrix class handles dense, not sparse matrices and vectors. For sparse matrices and vectors, see the Sparse module.
+  *
+  * Dense matrices and vectors are plain usual arrays of coefficients. All the coefficients are stored, in an ordinary contiguous array.
+  * This is unlike Sparse matrices and vectors where the coefficients are stored as a list of nonzero coefficients.</dd>
+  *
+  * <dt><b>\anchor fixedsize Fixed-size versus dynamic-size:</b></dt>
+  * <dd>Fixed-size means that the numbers of rows and columns are known are compile-time. In this case, Eigen allocates the array
+  * of coefficients as a fixed-size array, as a class member. This makes sense for very small matrices, typically up to 4x4, sometimes up
+  * to 16x16. Larger matrices should be declared as dynamic-size even if one happens to know their size at compile-time.
+  *
+  * Dynamic-size means that the numbers of rows or columns are not necessarily known at compile-time. In this case they are runtime
+  * variables, and the array of coefficients is allocated dynamically on the heap.
+  *
+  * Note that \em dense matrices, be they Fixed-size or Dynamic-size, <em>do not</em> expand dynamically in the sense of a std::map.
+  * If you want this behavior, see the Sparse module.</dd>
+  *
+  * <dt><b>\anchor maxrows _MaxRows and _MaxCols:</b></dt>
+  * <dd>In most cases, one just leaves these parameters to the default values.
+  * These parameters mean the maximum size of rows and columns that the matrix may have. They are useful in cases
+  * when the exact numbers of rows and columns are not known are compile-time, but it is known at compile-time that they cannot
+  * exceed a certain value. This happens when taking dynamic-size blocks inside fixed-size matrices: in this case _MaxRows and _MaxCols
+  * are the dimensions of the original matrix, while _Rows and _Cols are Dynamic.</dd>
+  * </dl>
+  *
+  * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy, 
+  * \ref TopicStorageOrders 
+  */
+
+namespace internal {
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+  typedef _Scalar Scalar;
+  typedef Dense StorageKind;
+  typedef DenseIndex Index;
+  typedef MatrixXpr XprKind;
+  enum {
+    RowsAtCompileTime = _Rows,
+    ColsAtCompileTime = _Cols,
+    MaxRowsAtCompileTime = _MaxRows,
+    MaxColsAtCompileTime = _MaxCols,
+    Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret,
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    Options = _Options,
+    InnerStrideAtCompileTime = 1,
+    OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime
+  };
+};
+}
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+class Matrix
+  : public PlainObjectBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+  public:
+
+    /** \brief Base class typedef.
+      * \sa PlainObjectBase
+      */
+    typedef PlainObjectBase<Matrix> Base;
+
+    enum { Options = _Options };
+
+    EIGEN_DENSE_PUBLIC_INTERFACE(Matrix)
+
+    typedef typename Base::PlainObject PlainObject;
+
+    enum { NeedsToAlign = (!(Options&DontAlign))
+                          && SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+
+    using Base::base;
+    using Base::coeffRef;
+
+    /**
+      * \brief Assigns matrices to each other.
+      *
+      * \note This is a special case of the templated operator=. Its purpose is
+      * to prevent a default operator= from hiding the templated operator=.
+      *
+      * \callgraph
+      */
+    EIGEN_STRONG_INLINE Matrix& operator=(const Matrix& other)
+    {
+      return Base::_set(other);
+    }
+
+    /** \internal
+      * \brief Copies the value of the expression \a other into \c *this with automatic resizing.
+      *
+      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
+      * it will be initialized.
+      *
+      * Note that copying a row-vector into a vector (and conversely) is allowed.
+      * The resizing, if any, is then done in the appropriate way so that row-vectors
+      * remain row-vectors and vectors remain vectors.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix& operator=(const MatrixBase<OtherDerived>& other)
+    {
+      return Base::_set(other);
+    }
+
+    /* Here, doxygen failed to copy the brief information when using \copydoc */
+
+    /**
+      * \brief Copies the generic expression \a other into *this.
+      * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix& operator=(const EigenBase<OtherDerived> &other)
+    {
+      return Base::operator=(other);
+    }
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix& operator=(const ReturnByValue<OtherDerived>& func)
+    {
+      return Base::operator=(func);
+    }
+
+    /** \brief Default constructor.
+      *
+      * For fixed-size matrices, does nothing.
+      *
+      * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix
+      * is called a null matrix. This constructor is the unique way to create null matrices: resizing
+      * a matrix to 0 is not supported.
+      *
+      * \sa resize(Index,Index)
+      */
+    EIGEN_STRONG_INLINE explicit Matrix() : Base()
+    {
+      Base::_check_template_params();
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+    // FIXME is it still needed
+    Matrix(internal::constructor_without_unaligned_array_assert)
+      : Base(internal::constructor_without_unaligned_array_assert())
+    { Base::_check_template_params(); EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED }
+
+    /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors
+      *
+      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
+      * it is redundant to pass the dimension here, so it makes more sense to use the default
+      * constructor Matrix() instead.
+      */
+    EIGEN_STRONG_INLINE explicit Matrix(Index dim)
+      : Base(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Matrix)
+      eigen_assert(dim >= 0);
+      eigen_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == dim);
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename T0, typename T1>
+    EIGEN_STRONG_INLINE Matrix(const T0& x, const T1& y)
+    {
+      Base::_check_template_params();
+      Base::template _init2<T0,T1>(x, y);
+    }
+    #else
+    /** \brief Constructs an uninitialized matrix with \a rows rows and \a cols columns.
+      *
+      * This is useful for dynamic-size matrices. For fixed-size matrices,
+      * it is redundant to pass these parameters, so one should use the default constructor
+      * Matrix() instead. */
+    Matrix(Index rows, Index cols);
+    /** \brief Constructs an initialized 2D vector with given coefficients */
+    Matrix(const Scalar& x, const Scalar& y);
+    #endif
+
+    /** \brief Constructs an initialized 3D vector with given coefficients */
+    EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 3)
+      m_storage.data()[0] = x;
+      m_storage.data()[1] = y;
+      m_storage.data()[2] = z;
+    }
+    /** \brief Constructs an initialized 4D vector with given coefficients */
+    EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
+    {
+      Base::_check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 4)
+      m_storage.data()[0] = x;
+      m_storage.data()[1] = y;
+      m_storage.data()[2] = z;
+      m_storage.data()[3] = w;
+    }
+
+    explicit Matrix(const Scalar *data);
+
+    /** \brief Constructor copying the value of the expression \a other */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix(const MatrixBase<OtherDerived>& other)
+             : Base(other.rows() * other.cols(), other.rows(), other.cols())
+    {
+      // This test resides here, to bring the error messages closer to the user. Normally, these checks
+      // are performed deeply within the library, thus causing long and scary error traces.
+      EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+      Base::_check_template_params();
+      Base::_set_noalias(other);
+    }
+    /** \brief Copy constructor */
+    EIGEN_STRONG_INLINE Matrix(const Matrix& other)
+            : Base(other.rows() * other.cols(), other.rows(), other.cols())
+    {
+      Base::_check_template_params();
+      Base::_set_noalias(other);
+    }
+    /** \brief Copy constructor with in-place evaluation */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix(const ReturnByValue<OtherDerived>& other)
+    {
+      Base::_check_template_params();
+      Base::resize(other.rows(), other.cols());
+      other.evalTo(*this);
+    }
+
+    /** \brief Copy constructor for generic expressions.
+      * \sa MatrixBase::operator=(const EigenBase<OtherDerived>&)
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Matrix(const EigenBase<OtherDerived> &other)
+      : Base(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
+    {
+      Base::_check_template_params();
+      Base::resize(other.rows(), other.cols());
+      // FIXME/CHECK: isn't *this = other.derived() more efficient. it allows to
+      //              go for pure _set() implementations, right?
+      *this = other;
+    }
+
+    /** \internal
+      * \brief Override MatrixBase::swap() since for dynamic-sized matrices
+      * of same type it is enough to swap the data pointers.
+      */
+    template<typename OtherDerived>
+    void swap(MatrixBase<OtherDerived> const & other)
+    { this->_swap(other.derived()); }
+
+    inline Index innerStride() const { return 1; }
+    inline Index outerStride() const { return this->innerSize(); }
+
+    /////////// Geometry module ///////////
+
+    template<typename OtherDerived>
+    explicit Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
+    template<typename OtherDerived>
+    Matrix& operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
+
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived>
+    explicit Matrix(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r);
+    template<typename OtherDerived>
+    Matrix& operator=(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r);
+    #endif
+
+    // allow to extend Matrix outside Eigen
+    #ifdef EIGEN_MATRIX_PLUGIN
+    #include EIGEN_MATRIX_PLUGIN
+    #endif
+
+  protected:
+    template <typename Derived, typename OtherDerived, bool IsVector>
+    friend struct internal::conservative_resize_like_impl;
+
+    using Base::m_storage;
+};
+
+/** \defgroup matrixtypedefs Global matrix typedefs
+  *
+  * \ingroup Core_Module
+  *
+  * Eigen defines several typedef shortcuts for most common matrix and vector types.
+  *
+  * The general patterns are the following:
+  *
+  * \c MatrixSizeType where \c Size can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size,
+  * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd
+  * for complex double.
+  *
+  * For example, \c Matrix3d is a fixed-size 3x3 matrix type of doubles, and \c MatrixXf is a dynamic-size matrix of floats.
+  *
+  * There are also \c VectorSizeType and \c RowVectorSizeType which are self-explanatory. For example, \c Vector4cf is
+  * a fixed-size vector of 4 complex floats.
+  *
+  * \sa class Matrix
+  */
+
+#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)   \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix;  \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, Size, 1>    Vector##SizeSuffix##TypeSuffix;  \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, 1, Size>    RowVector##SizeSuffix##TypeSuffix;
+
+#define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size)         \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, Size, Dynamic> Matrix##Size##X##TypeSuffix;  \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, Dynamic, Size> Matrix##X##Size##TypeSuffix;
+
+#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
+
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int,                  i)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float,                f)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double,               d)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<float>,  cf)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
+
+#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
+#undef EIGEN_MAKE_TYPEDEFS
+
+#undef EIGEN_MAKE_TYPEDEFS_LARGE
+
+#define EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \
+using Eigen::Matrix##SizeSuffix##TypeSuffix; \
+using Eigen::Vector##SizeSuffix##TypeSuffix; \
+using Eigen::RowVector##SizeSuffix##TypeSuffix;
+
+#define EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(TypeSuffix) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \
+
+#define EIGEN_USING_MATRIX_TYPEDEFS \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(i) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(f) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(d) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(cf) \
+EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(cd)
+
+#endif // EIGEN_MATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/MatrixBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/MatrixBase.h
new file mode 100755
index 0000000..f0c7fc7
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/MatrixBase.h
@@ -0,0 +1,520 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MATRIXBASE_H
+#define EIGEN_MATRIXBASE_H
+
+/** \class MatrixBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for all dense matrices, vectors, and expressions
+  *
+  * This class is the base that is inherited by all matrix, vector, and related expression
+  * types. Most of the Eigen API is contained in this class, and its base classes. Other important
+  * classes for the Eigen API are Matrix, and VectorwiseOp.
+  *
+  * Note that some methods are defined in other modules such as the \ref LU_Module LU module
+  * for all functions related to matrix inversions.
+  *
+  * \tparam Derived is the derived type, e.g. a matrix type, or an expression, etc.
+  *
+  * When writing a function taking Eigen objects as argument, if you want your function
+  * to take as argument any matrix, vector, or expression, just let it take a
+  * MatrixBase argument. As an example, here is a function printFirstRow which, given
+  * a matrix, vector, or expression \a x, prints the first row of \a x.
+  *
+  * \code
+    template<typename Derived>
+    void printFirstRow(const Eigen::MatrixBase<Derived>& x)
+    {
+      cout << x.row(0) << endl;
+    }
+  * \endcode
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_MATRIXBASE_PLUGIN.
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived> class MatrixBase
+  : public DenseBase<Derived>
+{
+  public:
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef MatrixBase StorageBaseType;
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    typedef DenseBase<Derived> Base;
+    using Base::RowsAtCompileTime;
+    using Base::ColsAtCompileTime;
+    using Base::SizeAtCompileTime;
+    using Base::MaxRowsAtCompileTime;
+    using Base::MaxColsAtCompileTime;
+    using Base::MaxSizeAtCompileTime;
+    using Base::IsVectorAtCompileTime;
+    using Base::Flags;
+    using Base::CoeffReadCost;
+
+    using Base::derived;
+    using Base::const_cast_derived;
+    using Base::rows;
+    using Base::cols;
+    using Base::size;
+    using Base::coeff;
+    using Base::coeffRef;
+    using Base::lazyAssign;
+    using Base::eval;
+    using Base::operator+=;
+    using Base::operator-=;
+    using Base::operator*=;
+    using Base::operator/=;
+
+    typedef typename Base::CoeffReturnType CoeffReturnType;
+    typedef typename Base::ConstTransposeReturnType ConstTransposeReturnType;
+    typedef typename Base::RowXpr RowXpr;
+    typedef typename Base::ColXpr ColXpr;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** type of the equivalent square matrix */
+    typedef Matrix<Scalar,EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime),
+                          EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    /** \returns the size of the main diagonal, which is min(rows(),cols()).
+      * \sa rows(), cols(), SizeAtCompileTime. */
+    inline Index diagonalSize() const { return std::min(rows(),cols()); }
+
+    /** \brief The plain matrix type corresponding to this expression.
+      *
+      * This is not necessarily exactly the return type of eval(). In the case of plain matrices,
+      * the return type of eval() is a const reference to a matrix, not a matrix! It is however guaranteed
+      * that the return type of eval() is either PlainObject or const PlainObject&.
+      */
+    typedef Matrix<typename internal::traits<Derived>::Scalar,
+                internal::traits<Derived>::RowsAtCompileTime,
+                internal::traits<Derived>::ColsAtCompileTime,
+                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                internal::traits<Derived>::MaxRowsAtCompileTime,
+                internal::traits<Derived>::MaxColsAtCompileTime
+          > PlainObject;
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** \internal Represents a matrix with all coefficients equal to one another*/
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
+    /** \internal the return type of MatrixBase::adjoint() */
+    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                        CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, ConstTransposeReturnType>,
+                        ConstTransposeReturnType
+                     >::type AdjointReturnType;
+    /** \internal Return type of eigenvalues() */
+    typedef Matrix<std::complex<RealScalar>, internal::traits<Derived>::ColsAtCompileTime, 1, ColMajor> EigenvaluesReturnType;
+    /** \internal the return type of identity */
+    typedef CwiseNullaryOp<internal::scalar_identity_op<Scalar>,Derived> IdentityReturnType;
+    /** \internal the return type of unit vectors */
+    typedef Block<const CwiseNullaryOp<internal::scalar_identity_op<Scalar>, SquareMatrixType>,
+                  internal::traits<Derived>::RowsAtCompileTime,
+                  internal::traits<Derived>::ColsAtCompileTime> BasisReturnType;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::MatrixBase
+#   include "../plugins/CommonCwiseUnaryOps.h"
+#   include "../plugins/CommonCwiseBinaryOps.h"
+#   include "../plugins/MatrixCwiseUnaryOps.h"
+#   include "../plugins/MatrixCwiseBinaryOps.h"
+#   ifdef EIGEN_MATRIXBASE_PLUGIN
+#     include EIGEN_MATRIXBASE_PLUGIN
+#   endif
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+
+    /** Special case of the template operator=, in order to prevent the compiler
+      * from generating a default operator= (issue hit with g++ 4.1)
+      */
+    Derived& operator=(const MatrixBase& other);
+
+    // We cannot inherit here via Base::operator= since it is causing
+    // trouble with MSVC.
+
+    template <typename OtherDerived>
+    Derived& operator=(const DenseBase<OtherDerived>& other);
+
+    template <typename OtherDerived>
+    Derived& operator=(const EigenBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    Derived& operator=(const ReturnByValue<OtherDerived>& other);
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    Derived& lazyAssign(const ProductBase<ProductDerived, Lhs,Rhs>& other);
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    template<typename OtherDerived>
+    Derived& operator+=(const MatrixBase<OtherDerived>& other);
+    template<typename OtherDerived>
+    Derived& operator-=(const MatrixBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    const typename ProductReturnType<Derived,OtherDerived>::Type
+    operator*(const MatrixBase<OtherDerived> &other) const;
+
+    template<typename OtherDerived>
+    const typename LazyProductReturnType<Derived,OtherDerived>::Type
+    lazyProduct(const MatrixBase<OtherDerived> &other) const;
+
+    template<typename OtherDerived>
+    Derived& operator*=(const EigenBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    void applyOnTheLeft(const EigenBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    void applyOnTheRight(const EigenBase<OtherDerived>& other);
+
+    template<typename DiagonalDerived>
+    const DiagonalProduct<Derived, DiagonalDerived, OnTheRight>
+    operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
+
+    template<typename OtherDerived>
+    typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
+    dot(const MatrixBase<OtherDerived>& other) const;
+
+    #ifdef EIGEN2_SUPPORT
+      template<typename OtherDerived>
+      Scalar eigen2_dot(const MatrixBase<OtherDerived>& other) const;
+    #endif
+
+    RealScalar squaredNorm() const;
+    RealScalar norm() const;
+    RealScalar stableNorm() const;
+    RealScalar blueNorm() const;
+    RealScalar hypotNorm() const;
+    const PlainObject normalized() const;
+    void normalize();
+
+    const AdjointReturnType adjoint() const;
+    void adjointInPlace();
+
+    typedef Diagonal<Derived> DiagonalReturnType;
+    DiagonalReturnType diagonal();
+    typedef const Diagonal<const Derived> ConstDiagonalReturnType;
+    const ConstDiagonalReturnType diagonal() const;
+
+    template<int Index> struct DiagonalIndexReturnType { typedef Diagonal<Derived,Index> Type; };
+    template<int Index> struct ConstDiagonalIndexReturnType { typedef const Diagonal<const Derived,Index> Type; };
+
+    template<int Index> typename DiagonalIndexReturnType<Index>::Type diagonal();
+    template<int Index> typename ConstDiagonalIndexReturnType<Index>::Type diagonal() const;
+
+    // Note: The "MatrixBase::" prefixes are added to help MSVC9 to match these declarations with the later implementations.
+    // On the other hand they confuse MSVC8...
+    #if (defined _MSC_VER) && (_MSC_VER >= 1500) // 2008 or later
+    typename MatrixBase::template DiagonalIndexReturnType<Dynamic>::Type diagonal(Index index);
+    typename MatrixBase::template ConstDiagonalIndexReturnType<Dynamic>::Type diagonal(Index index) const;
+    #else
+    typename DiagonalIndexReturnType<Dynamic>::Type diagonal(Index index);
+    typename ConstDiagonalIndexReturnType<Dynamic>::Type diagonal(Index index) const;
+    #endif
+
+    #ifdef EIGEN2_SUPPORT
+    template<unsigned int Mode> typename internal::eigen2_part_return_type<Derived, Mode>::type part();
+    template<unsigned int Mode> const typename internal::eigen2_part_return_type<Derived, Mode>::type part() const;
+    
+    // huuuge hack. make Eigen2's matrix.part<Diagonal>() work in eigen3. Problem: Diagonal is now a class template instead
+    // of an integer constant. Solution: overload the part() method template wrt template parameters list.
+    template<template<typename T, int n> class U>
+    const DiagonalWrapper<ConstDiagonalReturnType> part() const
+    { return diagonal().asDiagonal(); }
+    #endif // EIGEN2_SUPPORT
+
+    template<unsigned int Mode> struct TriangularViewReturnType { typedef TriangularView<Derived, Mode> Type; };
+    template<unsigned int Mode> struct ConstTriangularViewReturnType { typedef const TriangularView<const Derived, Mode> Type; };
+
+    template<unsigned int Mode> typename TriangularViewReturnType<Mode>::Type triangularView();
+    template<unsigned int Mode> typename ConstTriangularViewReturnType<Mode>::Type triangularView() const;
+
+    template<unsigned int UpLo> struct SelfAdjointViewReturnType { typedef SelfAdjointView<Derived, UpLo> Type; };
+    template<unsigned int UpLo> struct ConstSelfAdjointViewReturnType { typedef const SelfAdjointView<const Derived, UpLo> Type; };
+
+    template<unsigned int UpLo> typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
+    template<unsigned int UpLo> typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
+
+    const SparseView<Derived> sparseView(const Scalar& m_reference = Scalar(0),
+                                         typename NumTraits<Scalar>::Real m_epsilon = NumTraits<Scalar>::dummy_precision()) const;
+    static const IdentityReturnType Identity();
+    static const IdentityReturnType Identity(Index rows, Index cols);
+    static const BasisReturnType Unit(Index size, Index i);
+    static const BasisReturnType Unit(Index i);
+    static const BasisReturnType UnitX();
+    static const BasisReturnType UnitY();
+    static const BasisReturnType UnitZ();
+    static const BasisReturnType UnitW();
+
+    const DiagonalWrapper<const Derived> asDiagonal() const;
+    const PermutationWrapper<const Derived> asPermutation() const;
+
+    Derived& setIdentity();
+    Derived& setIdentity(Index rows, Index cols);
+
+    bool isIdentity(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isDiagonal(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+    bool isUpperTriangular(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isLowerTriangular(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+    template<typename OtherDerived>
+    bool isOrthogonal(const MatrixBase<OtherDerived>& other,
+                      RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+    bool isUnitary(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+    /** \returns true if each coefficients of \c *this and \a other are all exactly equal.
+      * \warning When using floating point scalar values you probably should rather use a
+      *          fuzzy comparison such as isApprox()
+      * \sa isApprox(), operator!= */
+    template<typename OtherDerived>
+    inline bool operator==(const MatrixBase<OtherDerived>& other) const
+    { return cwiseEqual(other).all(); }
+
+    /** \returns true if at least one pair of coefficients of \c *this and \a other are not exactly equal to each other.
+      * \warning When using floating point scalar values you probably should rather use a
+      *          fuzzy comparison such as isApprox()
+      * \sa isApprox(), operator== */
+    template<typename OtherDerived>
+    inline bool operator!=(const MatrixBase<OtherDerived>& other) const
+    { return cwiseNotEqual(other).any(); }
+
+    NoAlias<Derived,Eigen::MatrixBase > noalias();
+
+    inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
+    inline ForceAlignedAccess<Derived> forceAlignedAccess();
+    template<bool Enable> inline typename internal::add_const_on_value_type<typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type>::type forceAlignedAccessIf() const;
+    template<bool Enable> inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
+
+    Scalar trace() const;
+
+/////////// Array module ///////////
+
+    template<int p> RealScalar lpNorm() const;
+
+    MatrixBase<Derived>& matrix() { return *this; }
+    const MatrixBase<Derived>& matrix() const { return *this; }
+
+    /** \returns an \link ArrayBase Array \endlink expression of this matrix
+      * \sa ArrayBase::matrix() */
+    ArrayWrapper<Derived> array() { return derived(); }
+    const ArrayWrapper<Derived> array() const { return derived(); }
+
+/////////// LU module ///////////
+
+    const FullPivLU<PlainObject> fullPivLu() const;
+    const PartialPivLU<PlainObject> partialPivLu() const;
+
+    #if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
+    const LU<PlainObject> lu() const;
+    #endif
+
+    #ifdef EIGEN2_SUPPORT
+    const LU<PlainObject> eigen2_lu() const;
+    #endif
+
+    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+    const PartialPivLU<PlainObject> lu() const;
+    #endif
+    
+    #ifdef EIGEN2_SUPPORT
+    template<typename ResultType>
+    void computeInverse(MatrixBase<ResultType> *result) const {
+      *result = this->inverse();
+    }
+    #endif
+
+    const internal::inverse_impl<Derived> inverse() const;
+    template<typename ResultType>
+    void computeInverseAndDetWithCheck(
+      ResultType& inverse,
+      typename ResultType::Scalar& determinant,
+      bool& invertible,
+      const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
+    ) const;
+    template<typename ResultType>
+    void computeInverseWithCheck(
+      ResultType& inverse,
+      bool& invertible,
+      const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
+    ) const;
+    Scalar determinant() const;
+
+/////////// Cholesky module ///////////
+
+    const LLT<PlainObject>  llt() const;
+    const LDLT<PlainObject> ldlt() const;
+
+/////////// QR module ///////////
+
+    const HouseholderQR<PlainObject> householderQr() const;
+    const ColPivHouseholderQR<PlainObject> colPivHouseholderQr() const;
+    const FullPivHouseholderQR<PlainObject> fullPivHouseholderQr() const;
+    
+    #ifdef EIGEN2_SUPPORT
+    const QR<PlainObject> qr() const;
+    #endif
+
+    EigenvaluesReturnType eigenvalues() const;
+    RealScalar operatorNorm() const;
+
+/////////// SVD module ///////////
+
+    JacobiSVD<PlainObject> jacobiSvd(unsigned int computationOptions = 0) const;
+
+    #ifdef EIGEN2_SUPPORT
+    SVD<PlainObject> svd() const;
+    #endif
+
+/////////// Geometry module ///////////
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /// \internal helper struct to form the return type of the cross product
+    template<typename OtherDerived> struct cross_product_return_type {
+      typedef typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType Scalar;
+      typedef Matrix<Scalar,MatrixBase::RowsAtCompileTime,MatrixBase::ColsAtCompileTime> type;
+    };
+    #endif // EIGEN_PARSED_BY_DOXYGEN
+    template<typename OtherDerived>
+    typename cross_product_return_type<OtherDerived>::type
+    cross(const MatrixBase<OtherDerived>& other) const;
+    template<typename OtherDerived>
+    PlainObject cross3(const MatrixBase<OtherDerived>& other) const;
+    PlainObject unitOrthogonal(void) const;
+    Matrix<Scalar,3,1> eulerAngles(Index a0, Index a1, Index a2) const;
+    
+    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+    ScalarMultipleReturnType operator*(const UniformScaling<Scalar>& s) const;
+    // put this as separate enum value to work around possible GCC 4.3 bug (?)
+    enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1?Vertical:Horizontal };
+    typedef Homogeneous<Derived, HomogeneousReturnTypeDirection> HomogeneousReturnType;
+    HomogeneousReturnType homogeneous() const;
+    #endif
+    
+    enum {
+      SizeMinusOne = SizeAtCompileTime==Dynamic ? Dynamic : SizeAtCompileTime-1
+    };
+    typedef Block<const Derived,
+                  internal::traits<Derived>::ColsAtCompileTime==1 ? SizeMinusOne : 1,
+                  internal::traits<Derived>::ColsAtCompileTime==1 ? 1 : SizeMinusOne> ConstStartMinusOne;
+    typedef CwiseUnaryOp<internal::scalar_quotient1_op<typename internal::traits<Derived>::Scalar>,
+                const ConstStartMinusOne > HNormalizedReturnType;
+
+    const HNormalizedReturnType hnormalized() const;
+
+////////// Householder module ///////////
+
+    void makeHouseholderInPlace(Scalar& tau, RealScalar& beta);
+    template<typename EssentialPart>
+    void makeHouseholder(EssentialPart& essential,
+                         Scalar& tau, RealScalar& beta) const;
+    template<typename EssentialPart>
+    void applyHouseholderOnTheLeft(const EssentialPart& essential,
+                                   const Scalar& tau,
+                                   Scalar* workspace);
+    template<typename EssentialPart>
+    void applyHouseholderOnTheRight(const EssentialPart& essential,
+                                    const Scalar& tau,
+                                    Scalar* workspace);
+
+///////// Jacobi module /////////
+
+    template<typename OtherScalar>
+    void applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j);
+    template<typename OtherScalar>
+    void applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j);
+
+///////// MatrixFunctions module /////////
+
+    typedef typename internal::stem_function<Scalar>::type StemFunction;
+    const MatrixExponentialReturnValue<Derived> exp() const;
+    const MatrixFunctionReturnValue<Derived> matrixFunction(StemFunction f) const;
+    const MatrixFunctionReturnValue<Derived> cosh() const;
+    const MatrixFunctionReturnValue<Derived> sinh() const;
+    const MatrixFunctionReturnValue<Derived> cos() const;
+    const MatrixFunctionReturnValue<Derived> sin() const;
+
+#ifdef EIGEN2_SUPPORT
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    Derived& operator+=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
+                                      EvalBeforeAssigningBit>& other);
+
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    Derived& operator-=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
+                                      EvalBeforeAssigningBit>& other);
+
+    /** \deprecated because .lazy() is deprecated
+      * Overloaded for cache friendly product evaluation */
+    template<typename OtherDerived>
+    Derived& lazyAssign(const Flagged<OtherDerived, 0, EvalBeforeAssigningBit>& other)
+    { return lazyAssign(other._expression()); }
+
+    template<unsigned int Added>
+    const Flagged<Derived, Added, 0> marked() const;
+    const Flagged<Derived, 0, EvalBeforeAssigningBit> lazy() const;
+
+    inline const Cwise<Derived> cwise() const;
+    inline Cwise<Derived> cwise();
+
+    VectorBlock<Derived> start(Index size);
+    const VectorBlock<const Derived> start(Index size) const;
+    VectorBlock<Derived> end(Index size);
+    const VectorBlock<const Derived> end(Index size) const;
+    template<int Size> VectorBlock<Derived,Size> start();
+    template<int Size> const VectorBlock<const Derived,Size> start() const;
+    template<int Size> VectorBlock<Derived,Size> end();
+    template<int Size> const VectorBlock<const Derived,Size> end() const;
+
+    Minor<Derived> minor(Index row, Index col);
+    const Minor<Derived> minor(Index row, Index col) const;
+#endif
+
+  protected:
+    MatrixBase() : Base() {}
+
+  private:
+    explicit MatrixBase(int);
+    MatrixBase(int,int);
+    template<typename OtherDerived> explicit MatrixBase(const MatrixBase<OtherDerived>&);
+  protected:
+    // mixing arrays and matrices is not legal
+    template<typename OtherDerived> Derived& operator+=(const ArrayBase<OtherDerived>& )
+    {EIGEN_STATIC_ASSERT(sizeof(typename OtherDerived::Scalar)==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES);}
+    // mixing arrays and matrices is not legal
+    template<typename OtherDerived> Derived& operator-=(const ArrayBase<OtherDerived>& )
+    {EIGEN_STATIC_ASSERT(sizeof(typename OtherDerived::Scalar)==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES);}
+};
+
+#endif // EIGEN_MATRIXBASE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/NestByValue.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/NestByValue.h
new file mode 100755
index 0000000..a6104d2
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/NestByValue.h
@@ -0,0 +1,122 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_NESTBYVALUE_H
+#define EIGEN_NESTBYVALUE_H
+
+/** \class NestByValue
+  * \ingroup Core_Module
+  *
+  * \brief Expression which must be nested by value
+  *
+  * \param ExpressionType the type of the object of which we are requiring nesting-by-value
+  *
+  * This class is the return type of MatrixBase::nestByValue()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::nestByValue()
+  */
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<NestByValue<ExpressionType> > : public traits<ExpressionType>
+{};
+}
+
+template<typename ExpressionType> class NestByValue
+  : public internal::dense_xpr_base< NestByValue<ExpressionType> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<NestByValue>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(NestByValue)
+
+    inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {}
+
+    inline Index rows() const { return m_expression.rows(); }
+    inline Index cols() const { return m_expression.cols(); }
+    inline Index outerStride() const { return m_expression.outerStride(); }
+    inline Index innerStride() const { return m_expression.innerStride(); }
+
+    inline const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_expression.coeff(row, col);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_expression.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return m_expression.coeff(index);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return m_expression.template packet<LoadMode>(row, col);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<LoadMode>(row, col, x);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return m_expression.template packet<LoadMode>(index);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
+    }
+
+    operator const ExpressionType&() const { return m_expression; }
+
+  protected:
+    const ExpressionType m_expression;
+};
+
+/** \returns an expression of the temporary version of *this.
+  */
+template<typename Derived>
+inline const NestByValue<Derived>
+DenseBase<Derived>::nestByValue() const
+{
+  return NestByValue<Derived>(derived());
+}
+
+#endif // EIGEN_NESTBYVALUE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/NoAlias.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/NoAlias.h
new file mode 100755
index 0000000..da64aff
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/NoAlias.h
@@ -0,0 +1,136 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_NOALIAS_H
+#define EIGEN_NOALIAS_H
+
+/** \class NoAlias
+  * \ingroup Core_Module
+  *
+  * \brief Pseudo expression providing an operator = assuming no aliasing
+  *
+  * \param ExpressionType the type of the object on which to do the lazy assignment
+  *
+  * This class represents an expression with special assignment operators
+  * assuming no aliasing between the target expression and the source expression.
+  * More precisely it alloas to bypass the EvalBeforeAssignBit flag of the source expression.
+  * It is the return type of MatrixBase::noalias()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::noalias()
+  */
+template<typename ExpressionType, template <typename> class StorageBase>
+class NoAlias
+{
+    typedef typename ExpressionType::Scalar Scalar;
+  public:
+    NoAlias(ExpressionType& expression) : m_expression(expression) {}
+
+    /** Behaves like MatrixBase::lazyAssign(other)
+      * \sa MatrixBase::lazyAssign() */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE ExpressionType& operator=(const StorageBase<OtherDerived>& other)
+    { return internal::assign_selector<ExpressionType,OtherDerived,false>::run(m_expression,other.derived()); }
+
+    /** \sa MatrixBase::operator+= */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE ExpressionType& operator+=(const StorageBase<OtherDerived>& other)
+    {
+      typedef SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, ExpressionType, OtherDerived> SelfAdder;
+      SelfAdder tmp(m_expression);
+      typedef typename internal::nested<OtherDerived>::type OtherDerivedNested;
+      typedef typename internal::remove_all<OtherDerivedNested>::type _OtherDerivedNested;
+      internal::assign_selector<SelfAdder,_OtherDerivedNested,false>::run(tmp,OtherDerivedNested(other.derived()));
+      return m_expression;
+    }
+
+    /** \sa MatrixBase::operator-= */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE ExpressionType& operator-=(const StorageBase<OtherDerived>& other)
+    {
+      typedef SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, ExpressionType, OtherDerived> SelfAdder;
+      SelfAdder tmp(m_expression);
+      typedef typename internal::nested<OtherDerived>::type OtherDerivedNested;
+      typedef typename internal::remove_all<OtherDerivedNested>::type _OtherDerivedNested;
+      internal::assign_selector<SelfAdder,_OtherDerivedNested,false>::run(tmp,OtherDerivedNested(other.derived()));
+      return m_expression;
+    }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE ExpressionType& operator+=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+    { other.derived().addTo(m_expression); return m_expression; }
+
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE ExpressionType& operator-=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+    { other.derived().subTo(m_expression); return m_expression; }
+
+    template<typename Lhs, typename Rhs, int NestingFlags>
+    EIGEN_STRONG_INLINE ExpressionType& operator+=(const CoeffBasedProduct<Lhs,Rhs,NestingFlags>& other)
+    { return m_expression.derived() += CoeffBasedProduct<Lhs,Rhs,NestByRefBit>(other.lhs(), other.rhs()); }
+
+    template<typename Lhs, typename Rhs, int NestingFlags>
+    EIGEN_STRONG_INLINE ExpressionType& operator-=(const CoeffBasedProduct<Lhs,Rhs,NestingFlags>& other)
+    { return m_expression.derived() -= CoeffBasedProduct<Lhs,Rhs,NestByRefBit>(other.lhs(), other.rhs()); }
+#endif
+
+  protected:
+    ExpressionType& m_expression;
+};
+
+/** \returns a pseudo expression of \c *this with an operator= assuming
+  * no aliasing between \c *this and the source expression.
+  *
+  * More precisely, noalias() allows to bypass the EvalBeforeAssignBit flag.
+  * Currently, even though several expressions may alias, only product
+  * expressions have this flag. Therefore, noalias() is only usefull when
+  * the source expression contains a matrix product.
+  *
+  * Here are some examples where noalias is usefull:
+  * \code
+  * D.noalias()  = A * B;
+  * D.noalias() += A.transpose() * B;
+  * D.noalias() -= 2 * A * B.adjoint();
+  * \endcode
+  *
+  * On the other hand the following example will lead to a \b wrong result:
+  * \code
+  * A.noalias() = A * B;
+  * \endcode
+  * because the result matrix A is also an operand of the matrix product. Therefore,
+  * there is no alternative than evaluating A * B in a temporary, that is the default
+  * behavior when you write:
+  * \code
+  * A = A * B;
+  * \endcode
+  *
+  * \sa class NoAlias
+  */
+template<typename Derived>
+NoAlias<Derived,MatrixBase> MatrixBase<Derived>::noalias()
+{
+  return derived();
+}
+
+#endif // EIGEN_NOALIAS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/NumTraits.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/NumTraits.h
new file mode 100755
index 0000000..5c7762d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/NumTraits.h
@@ -0,0 +1,160 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_NUMTRAITS_H
+#define EIGEN_NUMTRAITS_H
+
+/** \class NumTraits
+  * \ingroup Core_Module
+  *
+  * \brief Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
+  *
+  * \param T the numeric type at hand
+  *
+  * This class stores enums, typedefs and static methods giving information about a numeric type.
+  *
+  * The provided data consists of:
+  * \li A typedef \a Real, giving the "real part" type of \a T. If \a T is already real,
+  *     then \a Real is just a typedef to \a T. If \a T is \c std::complex<U> then \a Real
+  *     is a typedef to \a U.
+  * \li A typedef \a NonInteger, giving the type that should be used for operations producing non-integral values,
+  *     such as quotients, square roots, etc. If \a T is a floating-point type, then this typedef just gives
+  *     \a T again. Note however that many Eigen functions such as internal::sqrt simply refuse to
+  *     take integers. Outside of a few cases, Eigen doesn't do automatic type promotion. Thus, this typedef is
+  *     only intended as a helper for code that needs to explicitly promote types.
+  * \li A typedef \a Nested giving the type to use to nest a value inside of the expression tree. If you don't know what
+  *     this means, just use \a T here.
+  * \li An enum value \a IsComplex. It is equal to 1 if \a T is a \c std::complex
+  *     type, and to 0 otherwise.
+  * \li An enum value \a IsInteger. It is equal to \c 1 if \a T is an integer type such as \c int,
+  *     and to \c 0 otherwise.
+  * \li Enum values ReadCost, AddCost and MulCost representing a rough estimate of the number of CPU cycles needed
+  *     to by move / add / mul instructions respectively, assuming the data is already stored in CPU registers.
+  *     Stay vague here. No need to do architecture-specific stuff.
+  * \li An enum value \a IsSigned. It is equal to \c 1 if \a T is a signed type and to 0 if \a T is unsigned.
+  * \li An enum value \a RequireInitialization. It is equal to \c 1 if the constructor of the numeric type \a T must
+  *     be called, and to 0 if it is safe not to call it. Default is 0 if \a T is an arithmetic type, and 1 otherwise.
+  * \li An epsilon() function which, unlike std::numeric_limits::epsilon(), returns a \a Real instead of a \a T.
+  * \li A dummy_precision() function returning a weak epsilon value. It is mainly used as a default
+  *     value by the fuzzy comparison operators.
+  * \li highest() and lowest() functions returning the highest and lowest possible values respectively.
+  */
+
+template<typename T> struct GenericNumTraits
+{
+  enum {
+    IsInteger = std::numeric_limits<T>::is_integer,
+    IsSigned = std::numeric_limits<T>::is_signed,
+    IsComplex = 0,
+    RequireInitialization = internal::is_arithmetic<T>::value ? 0 : 1,
+    ReadCost = 1,
+    AddCost = 1,
+    MulCost = 1
+  };
+
+  typedef T Real;
+  typedef typename internal::conditional<
+                     IsInteger,
+                     typename internal::conditional<sizeof(T)<=2, float, double>::type,
+                     T
+                   >::type NonInteger;
+  typedef T Nested;
+
+  inline static Real epsilon() { return std::numeric_limits<T>::epsilon(); }
+  inline static Real dummy_precision()
+  {
+    // make sure to override this for floating-point types
+    return Real(0);
+  }
+  inline static T highest() { return std::numeric_limits<T>::max(); }
+  inline static T lowest()  { return IsInteger ? std::numeric_limits<T>::min() : (-std::numeric_limits<T>::max()); }
+  
+#ifdef EIGEN2_SUPPORT
+  enum {
+    HasFloatingPoint = !IsInteger
+  };
+  typedef NonInteger FloatingPoint;
+#endif
+};
+
+template<typename T> struct NumTraits : GenericNumTraits<T>
+{};
+
+template<> struct NumTraits<float>
+  : GenericNumTraits<float>
+{
+  inline static float dummy_precision() { return 1e-5f; }
+};
+
+template<> struct NumTraits<double> : GenericNumTraits<double>
+{
+  inline static double dummy_precision() { return 1e-12; }
+};
+
+template<> struct NumTraits<long double>
+  : GenericNumTraits<long double>
+{
+  static inline long double dummy_precision() { return 1e-15l; }
+};
+
+template<typename _Real> struct NumTraits<std::complex<_Real> >
+  : GenericNumTraits<std::complex<_Real> >
+{
+  typedef _Real Real;
+  enum {
+    IsComplex = 1,
+    RequireInitialization = NumTraits<_Real>::RequireInitialization,
+    ReadCost = 2 * NumTraits<_Real>::ReadCost,
+    AddCost = 2 * NumTraits<Real>::AddCost,
+    MulCost = 4 * NumTraits<Real>::MulCost + 2 * NumTraits<Real>::AddCost
+  };
+
+  inline static Real epsilon() { return NumTraits<Real>::epsilon(); }
+  inline static Real dummy_precision() { return NumTraits<Real>::dummy_precision(); }
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+struct NumTraits<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
+{
+  typedef Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> ArrayType;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef Array<RealScalar, Rows, Cols, Options, MaxRows, MaxCols> Real;
+  typedef typename NumTraits<Scalar>::NonInteger NonIntegerScalar;
+  typedef Array<NonIntegerScalar, Rows, Cols, Options, MaxRows, MaxCols> NonInteger;
+  typedef ArrayType & Nested;
+  
+  enum {
+    IsComplex = NumTraits<Scalar>::IsComplex,
+    IsInteger = NumTraits<Scalar>::IsInteger,
+    IsSigned  = NumTraits<Scalar>::IsSigned,
+    RequireInitialization = 1,
+    ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::ReadCost,
+    AddCost  = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::AddCost,
+    MulCost  = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::MulCost
+  };
+};
+
+
+
+#endif // EIGEN_NUMTRAITS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/PermutationMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/PermutationMatrix.h
new file mode 100755
index 0000000..a064e05
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/PermutationMatrix.h
@@ -0,0 +1,696 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PERMUTATIONMATRIX_H
+#define EIGEN_PERMUTATIONMATRIX_H
+
+template<int RowCol,typename IndicesType,typename MatrixType, typename StorageKind> class PermutedImpl;
+
+/** \class PermutationBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for permutations
+  *
+  * \param Derived the derived class
+  *
+  * This class is the base class for all expressions representing a permutation matrix,
+  * internally stored as a vector of integers.
+  * The convention followed here is that if \f$ \sigma \f$ is a permutation, the corresponding permutation matrix
+  * \f$ P_\sigma \f$ is such that if \f$ (e_1,\ldots,e_p) \f$ is the canonical basis, we have:
+  *  \f[ P_\sigma(e_i) = e_{\sigma(i)}. \f]
+  * This convention ensures that for any two permutations \f$ \sigma, \tau \f$, we have:
+  *  \f[ P_{\sigma\circ\tau} = P_\sigma P_\tau. \f]
+  *
+  * Permutation matrices are square and invertible.
+  *
+  * Notice that in addition to the member functions and operators listed here, there also are non-member
+  * operator* to multiply any kind of permutation object with any kind of matrix expression (MatrixBase)
+  * on either side.
+  *
+  * \sa class PermutationMatrix, class PermutationWrapper
+  */
+
+namespace internal {
+
+template<typename PermutationType, typename MatrixType, int Side, bool Transposed=false>
+struct permut_matrix_product_retval;
+enum PermPermProduct_t {PermPermProduct};
+
+} // end namespace internal
+
+template<typename Derived>
+class PermutationBase : public EigenBase<Derived>
+{
+    typedef internal::traits<Derived> Traits;
+    typedef EigenBase<Derived> Base;
+  public:
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef typename Traits::IndicesType IndicesType;
+    enum {
+      Flags = Traits::Flags,
+      CoeffReadCost = Traits::CoeffReadCost,
+      RowsAtCompileTime = Traits::RowsAtCompileTime,
+      ColsAtCompileTime = Traits::ColsAtCompileTime,
+      MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = Traits::MaxColsAtCompileTime
+    };
+    typedef typename Traits::Scalar Scalar;
+    typedef typename Traits::Index Index;
+    typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime,0,MaxRowsAtCompileTime,MaxColsAtCompileTime>
+            DenseMatrixType;
+    typedef PermutationMatrix<IndicesType::SizeAtCompileTime,IndicesType::MaxSizeAtCompileTime,Index>
+            PlainPermutationType;
+    using Base::derived;
+    #endif
+
+    /** Copies the other permutation into *this */
+    template<typename OtherDerived>
+    Derived& operator=(const PermutationBase<OtherDerived>& other)
+    {
+      indices() = other.indices();
+      return derived();
+    }
+
+    /** Assignment from the Transpositions \a tr */
+    template<typename OtherDerived>
+    Derived& operator=(const TranspositionsBase<OtherDerived>& tr)
+    {
+      setIdentity(tr.size());
+      for(Index k=size()-1; k>=0; --k)
+        applyTranspositionOnTheRight(k,tr.coeff(k));
+      return derived();
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    Derived& operator=(const PermutationBase& other)
+    {
+      indices() = other.indices();
+      return derived();
+    }
+    #endif
+
+    /** \returns the number of rows */
+    inline Index rows() const { return indices().size(); }
+
+    /** \returns the number of columns */
+    inline Index cols() const { return indices().size(); }
+
+    /** \returns the size of a side of the respective square matrix, i.e., the number of indices */
+    inline Index size() const { return indices().size(); }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename DenseDerived>
+    void evalTo(MatrixBase<DenseDerived>& other) const
+    {
+      other.setZero();
+      for (int i=0; i<rows();++i)
+        other.coeffRef(indices().coeff(i),i) = typename DenseDerived::Scalar(1);
+    }
+    #endif
+
+    /** \returns a Matrix object initialized from this permutation matrix. Notice that it
+      * is inefficient to return this Matrix object by value. For efficiency, favor using
+      * the Matrix constructor taking EigenBase objects.
+      */
+    DenseMatrixType toDenseMatrix() const
+    {
+      return derived();
+    }
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return derived().indices(); }
+    /** \returns a reference to the stored array representing the permutation. */
+    IndicesType& indices() { return derived().indices(); }
+
+    /** Resizes to given size.
+      */
+    inline void resize(Index size)
+    {
+      indices().resize(size);
+    }
+
+    /** Sets *this to be the identity permutation matrix */
+    void setIdentity()
+    {
+      for(Index i = 0; i < size(); ++i)
+        indices().coeffRef(i) = i;
+    }
+
+    /** Sets *this to be the identity permutation matrix of given size.
+      */
+    void setIdentity(Index size)
+    {
+      resize(size);
+      setIdentity();
+    }
+
+    /** Multiplies *this by the transposition \f$(ij)\f$ on the left.
+      *
+      * \returns a reference to *this.
+      *
+      * \warning This is much slower than applyTranspositionOnTheRight(int,int):
+      * this has linear complexity and requires a lot of branching.
+      *
+      * \sa applyTranspositionOnTheRight(int,int)
+      */
+    Derived& applyTranspositionOnTheLeft(Index i, Index j)
+    {
+      eigen_assert(i>=0 && j>=0 && i<size() && j<size());
+      for(Index k = 0; k < size(); ++k)
+      {
+        if(indices().coeff(k) == i) indices().coeffRef(k) = j;
+        else if(indices().coeff(k) == j) indices().coeffRef(k) = i;
+      }
+      return derived();
+    }
+
+    /** Multiplies *this by the transposition \f$(ij)\f$ on the right.
+      *
+      * \returns a reference to *this.
+      *
+      * This is a fast operation, it only consists in swapping two indices.
+      *
+      * \sa applyTranspositionOnTheLeft(int,int)
+      */
+    Derived& applyTranspositionOnTheRight(Index i, Index j)
+    {
+      eigen_assert(i>=0 && j>=0 && i<size() && j<size());
+      std::swap(indices().coeffRef(i), indices().coeffRef(j));
+      return derived();
+    }
+
+    /** \returns the inverse permutation matrix.
+      *
+      * \note \note_try_to_help_rvo
+      */
+    inline Transpose<PermutationBase> inverse() const
+    { return derived(); }
+    /** \returns the tranpose permutation matrix.
+      *
+      * \note \note_try_to_help_rvo
+      */
+    inline Transpose<PermutationBase> transpose() const
+    { return derived(); }
+
+    /**** multiplication helpers to hopefully get RVO ****/
+
+  
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  protected:
+    template<typename OtherDerived>
+    void assignTranspose(const PermutationBase<OtherDerived>& other)
+    {
+      for (int i=0; i<rows();++i) indices().coeffRef(other.indices().coeff(i)) = i;
+    }
+    template<typename Lhs,typename Rhs>
+    void assignProduct(const Lhs& lhs, const Rhs& rhs)
+    {
+      eigen_assert(lhs.cols() == rhs.rows());
+      for (int i=0; i<rows();++i) indices().coeffRef(i) = lhs.indices().coeff(rhs.indices().coeff(i));
+    }
+#endif
+
+  public:
+
+    /** \returns the product permutation matrix.
+      *
+      * \note \note_try_to_help_rvo
+      */
+    template<typename Other>
+    inline PlainPermutationType operator*(const PermutationBase<Other>& other) const
+    { return PlainPermutationType(internal::PermPermProduct, derived(), other.derived()); }
+
+    /** \returns the product of a permutation with another inverse permutation.
+      *
+      * \note \note_try_to_help_rvo
+      */
+    template<typename Other>
+    inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other) const
+    { return PlainPermutationType(internal::PermPermProduct, *this, other.eval()); }
+
+    /** \returns the product of an inverse permutation with another permutation.
+      *
+      * \note \note_try_to_help_rvo
+      */
+    template<typename Other> friend
+    inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
+    { return PlainPermutationType(internal::PermPermProduct, other.eval(), perm); }
+
+  protected:
+
+};
+
+/** \class PermutationMatrix
+  * \ingroup Core_Module
+  *
+  * \brief Permutation matrix
+  *
+  * \param SizeAtCompileTime the number of rows/cols, or Dynamic
+  * \param MaxSizeAtCompileTime the maximum number of rows/cols, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
+  * \param IndexType the interger type of the indices
+  *
+  * This class represents a permutation matrix, internally stored as a vector of integers.
+  *
+  * \sa class PermutationBase, class PermutationWrapper, class DiagonalMatrix
+  */
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
+struct traits<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType> >
+ : traits<Matrix<IndexType,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+  typedef IndexType Index;
+  typedef Matrix<IndexType, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+};
+}
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
+class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType> >
+{
+    typedef PermutationBase<PermutationMatrix> Base;
+    typedef internal::traits<PermutationMatrix> Traits;
+  public:
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef typename Traits::IndicesType IndicesType;
+    #endif
+
+    inline PermutationMatrix()
+    {}
+
+    /** Constructs an uninitialized permutation matrix of given size.
+      */
+    inline PermutationMatrix(int size) : m_indices(size)
+    {}
+
+    /** Copy constructor. */
+    template<typename OtherDerived>
+    inline PermutationMatrix(const PermutationBase<OtherDerived>& other)
+      : m_indices(other.indices()) {}
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** Standard copy constructor. Defined only to prevent a default copy constructor
+      * from hiding the other templated constructor */
+    inline PermutationMatrix(const PermutationMatrix& other) : m_indices(other.indices()) {}
+    #endif
+
+    /** Generic constructor from expression of the indices. The indices
+      * array has the meaning that the permutations sends each integer i to indices[i].
+      *
+      * \warning It is your responsibility to check that the indices array that you passes actually
+      * describes a permutation, i.e., each value between 0 and n-1 occurs exactly once, where n is the
+      * array's size.
+      */
+    template<typename Other>
+    explicit inline PermutationMatrix(const MatrixBase<Other>& indices) : m_indices(indices)
+    {}
+
+    /** Convert the Transpositions \a tr to a permutation matrix */
+    template<typename Other>
+    explicit PermutationMatrix(const TranspositionsBase<Other>& tr)
+      : m_indices(tr.size())
+    {
+      *this = tr;
+    }
+
+    /** Copies the other permutation into *this */
+    template<typename Other>
+    PermutationMatrix& operator=(const PermutationBase<Other>& other)
+    {
+      m_indices = other.indices();
+      return *this;
+    }
+
+    /** Assignment from the Transpositions \a tr */
+    template<typename Other>
+    PermutationMatrix& operator=(const TranspositionsBase<Other>& tr)
+    {
+      return Base::operator=(tr.derived());
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    PermutationMatrix& operator=(const PermutationMatrix& other)
+    {
+      m_indices = other.m_indices;
+      return *this;
+    }
+    #endif
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return m_indices; }
+    /** \returns a reference to the stored array representing the permutation. */
+    IndicesType& indices() { return m_indices; }
+
+
+    /**** multiplication helpers to hopefully get RVO ****/
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename Other>
+    PermutationMatrix(const Transpose<PermutationBase<Other> >& other)
+      : m_indices(other.nestedPermutation().size())
+    {
+      for (int i=0; i<m_indices.size();++i) m_indices.coeffRef(other.nestedPermutation().indices().coeff(i)) = i;
+    }
+    template<typename Lhs,typename Rhs>
+    PermutationMatrix(internal::PermPermProduct_t, const Lhs& lhs, const Rhs& rhs)
+      : m_indices(lhs.indices().size())
+    {
+      Base::assignProduct(lhs,rhs);
+    }
+#endif
+
+  protected:
+
+    IndicesType m_indices;
+};
+
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
+struct traits<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess> >
+ : traits<Matrix<IndexType,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+  typedef IndexType Index;
+  typedef Map<const Matrix<IndexType, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1>, _PacketAccess> IndicesType;
+};
+}
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
+class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess>
+  : public PermutationBase<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess> >
+{
+    typedef PermutationBase<Map> Base;
+    typedef internal::traits<Map> Traits;
+  public:
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef typename Traits::IndicesType IndicesType;
+    typedef typename IndicesType::Scalar Index;
+    #endif
+
+    inline Map(const Index* indices)
+      : m_indices(indices)
+    {}
+
+    inline Map(const Index* indices, Index size)
+      : m_indices(indices,size)
+    {}
+
+    /** Copies the other permutation into *this */
+    template<typename Other>
+    Map& operator=(const PermutationBase<Other>& other)
+    { return Base::operator=(other.derived()); }
+
+    /** Assignment from the Transpositions \a tr */
+    template<typename Other>
+    Map& operator=(const TranspositionsBase<Other>& tr)
+    { return Base::operator=(tr.derived()); }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    Map& operator=(const Map& other)
+    {
+      m_indices = other.m_indices;
+      return *this;
+    }
+    #endif
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return m_indices; }
+    /** \returns a reference to the stored array representing the permutation. */
+    IndicesType& indices() { return m_indices; }
+
+  protected:
+
+    IndicesType m_indices;
+};
+
+/** \class PermutationWrapper
+  * \ingroup Core_Module
+  *
+  * \brief Class to view a vector of integers as a permutation matrix
+  *
+  * \param _IndicesType the type of the vector of integer (can be any compatible expression)
+  *
+  * This class allows to view any vector expression of integers as a permutation matrix.
+  *
+  * \sa class PermutationBase, class PermutationMatrix
+  */
+
+struct PermutationStorage {};
+
+template<typename _IndicesType> class TranspositionsWrapper;
+namespace internal {
+template<typename _IndicesType>
+struct traits<PermutationWrapper<_IndicesType> >
+{
+  typedef PermutationStorage StorageKind;
+  typedef typename _IndicesType::Scalar Scalar;
+  typedef typename _IndicesType::Scalar Index;
+  typedef _IndicesType IndicesType;
+  enum {
+    RowsAtCompileTime = _IndicesType::SizeAtCompileTime,
+    ColsAtCompileTime = _IndicesType::SizeAtCompileTime,
+    MaxRowsAtCompileTime = IndicesType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = IndicesType::MaxColsAtCompileTime,
+    Flags = 0,
+    CoeffReadCost = _IndicesType::CoeffReadCost
+  };
+};
+}
+
+template<typename _IndicesType>
+class PermutationWrapper : public PermutationBase<PermutationWrapper<_IndicesType> >
+{
+    typedef PermutationBase<PermutationWrapper> Base;
+    typedef internal::traits<PermutationWrapper> Traits;
+  public:
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef typename Traits::IndicesType IndicesType;
+    #endif
+
+    inline PermutationWrapper(const IndicesType& indices)
+      : m_indices(indices)
+    {}
+
+    /** const version of indices(). */
+    const typename internal::remove_all<typename IndicesType::Nested>::type&
+    indices() const { return m_indices; }
+
+  protected:
+
+    const typename IndicesType::Nested m_indices;
+};
+
+/** \returns the matrix with the permutation applied to the columns.
+  */
+template<typename Derived, typename PermutationDerived>
+inline const internal::permut_matrix_product_retval<PermutationDerived, Derived, OnTheRight>
+operator*(const MatrixBase<Derived>& matrix,
+          const PermutationBase<PermutationDerived> &permutation)
+{
+  return internal::permut_matrix_product_retval
+           <PermutationDerived, Derived, OnTheRight>
+           (permutation.derived(), matrix.derived());
+}
+
+/** \returns the matrix with the permutation applied to the rows.
+  */
+template<typename Derived, typename PermutationDerived>
+inline const internal::permut_matrix_product_retval
+               <PermutationDerived, Derived, OnTheLeft>
+operator*(const PermutationBase<PermutationDerived> &permutation,
+          const MatrixBase<Derived>& matrix)
+{
+  return internal::permut_matrix_product_retval
+           <PermutationDerived, Derived, OnTheLeft>
+           (permutation.derived(), matrix.derived());
+}
+
+namespace internal {
+
+template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
+struct traits<permut_matrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
+{
+  typedef typename MatrixType::PlainObject ReturnType;
+};
+
+template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
+struct permut_matrix_product_retval
+ : public ReturnByValue<permut_matrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
+{
+    typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
+
+    permut_matrix_product_retval(const PermutationType& perm, const MatrixType& matrix)
+      : m_permutation(perm), m_matrix(matrix)
+    {}
+
+    inline int rows() const { return m_matrix.rows(); }
+    inline int cols() const { return m_matrix.cols(); }
+
+    template<typename Dest> inline void evalTo(Dest& dst) const
+    {
+      const int n = Side==OnTheLeft ? rows() : cols();
+
+      if(is_same<MatrixTypeNestedCleaned,Dest>::value && extract_data(dst) == extract_data(m_matrix))
+      {
+        // apply the permutation inplace
+        Matrix<bool,PermutationType::RowsAtCompileTime,1,0,PermutationType::MaxRowsAtCompileTime> mask(m_permutation.size());
+        mask.fill(false);
+        int r = 0;
+        while(r < m_permutation.size())
+        {
+          // search for the next seed
+          while(r<m_permutation.size() && mask[r]) r++;
+          if(r>=m_permutation.size())
+            break;
+          // we got one, let's follow it until we are back to the seed
+          int k0 = r++;
+          int kPrev = k0;
+          mask.coeffRef(k0) = true;
+          for(int k=m_permutation.indices().coeff(k0); k!=k0; k=m_permutation.indices().coeff(k))
+          {
+                  Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>(dst, k)
+            .swap(Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
+                       (dst,((Side==OnTheLeft) ^ Transposed) ? k0 : kPrev));
+
+            mask.coeffRef(k) = true;
+            kPrev = k;
+          }
+        }
+      }
+      else
+      {
+        for(int i = 0; i < n; ++i)
+        {
+          Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
+               (dst, ((Side==OnTheLeft) ^ Transposed) ? m_permutation.indices().coeff(i) : i)
+
+          =
+
+          Block<const MatrixTypeNestedCleaned,Side==OnTheLeft ? 1 : MatrixType::RowsAtCompileTime,Side==OnTheRight ? 1 : MatrixType::ColsAtCompileTime>
+               (m_matrix, ((Side==OnTheRight) ^ Transposed) ? m_permutation.indices().coeff(i) : i);
+        }
+      }
+    }
+
+  protected:
+    const PermutationType& m_permutation;
+    const typename MatrixType::Nested m_matrix;
+};
+
+/* Template partial specialization for transposed/inverse permutations */
+
+template<typename Derived>
+struct traits<Transpose<PermutationBase<Derived> > >
+ : traits<Derived>
+{};
+
+} // end namespace internal
+
+template<typename Derived>
+class Transpose<PermutationBase<Derived> >
+  : public EigenBase<Transpose<PermutationBase<Derived> > >
+{
+    typedef Derived PermutationType;
+    typedef typename PermutationType::IndicesType IndicesType;
+    typedef typename PermutationType::PlainPermutationType PlainPermutationType;
+  public:
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    typedef internal::traits<PermutationType> Traits;
+    typedef typename Derived::DenseMatrixType DenseMatrixType;
+    enum {
+      Flags = Traits::Flags,
+      CoeffReadCost = Traits::CoeffReadCost,
+      RowsAtCompileTime = Traits::RowsAtCompileTime,
+      ColsAtCompileTime = Traits::ColsAtCompileTime,
+      MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = Traits::MaxColsAtCompileTime
+    };
+    typedef typename Traits::Scalar Scalar;
+    #endif
+
+    Transpose(const PermutationType& p) : m_permutation(p) {}
+
+    inline int rows() const { return m_permutation.rows(); }
+    inline int cols() const { return m_permutation.cols(); }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename DenseDerived>
+    void evalTo(MatrixBase<DenseDerived>& other) const
+    {
+      other.setZero();
+      for (int i=0; i<rows();++i)
+        other.coeffRef(i, m_permutation.indices().coeff(i)) = typename DenseDerived::Scalar(1);
+    }
+    #endif
+
+    /** \return the equivalent permutation matrix */
+    PlainPermutationType eval() const { return *this; }
+
+    DenseMatrixType toDenseMatrix() const { return *this; }
+
+    /** \returns the matrix with the inverse permutation applied to the columns.
+      */
+    template<typename OtherDerived> friend
+    inline const internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheRight, true>
+    operator*(const MatrixBase<OtherDerived>& matrix, const Transpose& trPerm)
+    {
+      return internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheRight, true>(trPerm.m_permutation, matrix.derived());
+    }
+
+    /** \returns the matrix with the inverse permutation applied to the rows.
+      */
+    template<typename OtherDerived>
+    inline const internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheLeft, true>
+    operator*(const MatrixBase<OtherDerived>& matrix) const
+    {
+      return internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheLeft, true>(m_permutation, matrix.derived());
+    }
+
+    const PermutationType& nestedPermutation() const { return m_permutation; }
+
+  protected:
+    const PermutationType& m_permutation;
+};
+
+template<typename Derived>
+const PermutationWrapper<const Derived> MatrixBase<Derived>::asPermutation() const
+{
+  return derived();
+}
+
+#endif // EIGEN_PERMUTATIONMATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/PlainObjectBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/PlainObjectBase.h
new file mode 100755
index 0000000..5358cb5
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/PlainObjectBase.h
@@ -0,0 +1,740 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DENSESTORAGEBASE_H
+#define EIGEN_DENSESTORAGEBASE_H
+
+#ifdef EIGEN_INITIALIZE_MATRICES_BY_ZERO
+# define EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED for(int i=0;i<base().size();++i) coeffRef(i)=Scalar(0);
+#else
+# define EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+#endif
+
+namespace internal {
+
+template <typename Derived, typename OtherDerived = Derived, bool IsVector = static_cast<bool>(Derived::IsVectorAtCompileTime)> struct conservative_resize_like_impl;
+
+template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers> struct matrix_swap_impl;
+
+} // end namespace internal
+
+/**
+  * \brief %Dense storage base class for matrices and arrays.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_PLAINOBJECTBASE_PLUGIN.
+  *
+  * \sa \ref TopicClassHierarchy
+  */
+template<typename Derived>
+class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
+{
+  public:
+    enum { Options = internal::traits<Derived>::Options };
+    typedef typename internal::dense_xpr_base<Derived>::type Base;
+
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef Derived DenseType;
+
+    using Base::RowsAtCompileTime;
+    using Base::ColsAtCompileTime;
+    using Base::SizeAtCompileTime;
+    using Base::MaxRowsAtCompileTime;
+    using Base::MaxColsAtCompileTime;
+    using Base::MaxSizeAtCompileTime;
+    using Base::IsVectorAtCompileTime;
+    using Base::Flags;
+
+    template<typename PlainObjectType, int MapOptions, typename StrideType> friend class Eigen::Map;
+    friend  class Eigen::Map<Derived, Unaligned>;
+    typedef Eigen::Map<Derived, Unaligned>  MapType;
+    friend  class Eigen::Map<const Derived, Unaligned>;
+    typedef const Eigen::Map<const Derived, Unaligned> ConstMapType;
+    friend  class Eigen::Map<Derived, Aligned>;
+    typedef Eigen::Map<Derived, Aligned> AlignedMapType;
+    friend  class Eigen::Map<const Derived, Aligned>;
+    typedef const Eigen::Map<const Derived, Aligned> ConstAlignedMapType;
+    template<typename StrideType> struct StridedMapType { typedef Eigen::Map<Derived, Unaligned, StrideType> type; };
+    template<typename StrideType> struct StridedConstMapType { typedef Eigen::Map<const Derived, Unaligned, StrideType> type; };
+    template<typename StrideType> struct StridedAlignedMapType { typedef Eigen::Map<Derived, Aligned, StrideType> type; };
+    template<typename StrideType> struct StridedConstAlignedMapType { typedef Eigen::Map<const Derived, Aligned, StrideType> type; };
+    
+
+  protected:
+    DenseStorage<Scalar, Base::MaxSizeAtCompileTime, Base::RowsAtCompileTime, Base::ColsAtCompileTime, Options> m_storage;
+
+  public:
+    enum { NeedsToAlign = (!(Options&DontAlign))
+                          && SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+
+    Base& base() { return *static_cast<Base*>(this); }
+    const Base& base() const { return *static_cast<const Base*>(this); }
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_storage.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_storage.cols(); }
+
+    EIGEN_STRONG_INLINE const Scalar& coeff(Index row, Index col) const
+    {
+      if(Flags & RowMajorBit)
+        return m_storage.data()[col + row * m_storage.cols()];
+      else // column-major
+        return m_storage.data()[row + col * m_storage.rows()];
+    }
+
+    EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const
+    {
+      return m_storage.data()[index];
+    }
+
+    EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
+    {
+      if(Flags & RowMajorBit)
+        return m_storage.data()[col + row * m_storage.cols()];
+      else // column-major
+        return m_storage.data()[row + col * m_storage.rows()];
+    }
+
+    EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
+    {
+      return m_storage.data()[index];
+    }
+
+    EIGEN_STRONG_INLINE const Scalar& coeffRef(Index row, Index col) const
+    {
+      if(Flags & RowMajorBit)
+        return m_storage.data()[col + row * m_storage.cols()];
+      else // column-major
+        return m_storage.data()[row + col * m_storage.rows()];
+    }
+
+    EIGEN_STRONG_INLINE const Scalar& coeffRef(Index index) const
+    {
+      return m_storage.data()[index];
+    }
+
+    /** \internal */
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
+    {
+      return internal::ploadt<PacketScalar, LoadMode>
+               (m_storage.data() + (Flags & RowMajorBit
+                                   ? col + row * m_storage.cols()
+                                   : row + col * m_storage.rows()));
+    }
+
+    /** \internal */
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
+    {
+      return internal::ploadt<PacketScalar, LoadMode>(m_storage.data() + index);
+    }
+
+    /** \internal */
+    template<int StoreMode>
+    EIGEN_STRONG_INLINE void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      internal::pstoret<Scalar, PacketScalar, StoreMode>
+              (m_storage.data() + (Flags & RowMajorBit
+                                   ? col + row * m_storage.cols()
+                                   : row + col * m_storage.rows()), x);
+    }
+
+    /** \internal */
+    template<int StoreMode>
+    EIGEN_STRONG_INLINE void writePacket(Index index, const PacketScalar& x)
+    {
+      internal::pstoret<Scalar, PacketScalar, StoreMode>(m_storage.data() + index, x);
+    }
+
+    /** \returns a const pointer to the data array of this matrix */
+    EIGEN_STRONG_INLINE const Scalar *data() const
+    { return m_storage.data(); }
+
+    /** \returns a pointer to the data array of this matrix */
+    EIGEN_STRONG_INLINE Scalar *data()
+    { return m_storage.data(); }
+
+    /** Resizes \c *this to a \a rows x \a cols matrix.
+      *
+      * This method is intended for dynamic-size matrices, although it is legal to call it on any
+      * matrix as long as fixed dimensions are left unchanged. If you only want to change the number
+      * of rows and/or of columns, you can use resize(NoChange_t, Index), resize(Index, NoChange_t).
+      *
+      * If the current number of coefficients of \c *this exactly matches the
+      * product \a rows * \a cols, then no memory allocation is performed and
+      * the current values are left unchanged. In all other cases, including
+      * shrinking, the data is reallocated and all previous values are lost.
+      *
+      * Example: \include Matrix_resize_int_int.cpp
+      * Output: \verbinclude Matrix_resize_int_int.out
+      *
+      * \sa resize(Index) for vectors, resize(NoChange_t, Index), resize(Index, NoChange_t)
+      */
+    EIGEN_STRONG_INLINE void resize(Index rows, Index cols)
+    {
+      #ifdef EIGEN_INITIALIZE_MATRICES_BY_ZERO
+        Index size = rows*cols;
+        bool size_changed = size != this->size();
+        m_storage.resize(size, rows, cols);
+        if(size_changed) EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+      #else
+        m_storage.resize(rows*cols, rows, cols);
+      #endif
+    }
+
+    /** Resizes \c *this to a vector of length \a size
+      *
+      * \only_for_vectors. This method does not work for
+      * partially dynamic matrices when the static dimension is anything other
+      * than 1. For example it will not work with Matrix<double, 2, Dynamic>.
+      *
+      * Example: \include Matrix_resize_int.cpp
+      * Output: \verbinclude Matrix_resize_int.out
+      *
+      * \sa resize(Index,Index), resize(NoChange_t, Index), resize(Index, NoChange_t)
+      */
+    inline void resize(Index size)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(PlainObjectBase)
+      eigen_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == size);
+      #ifdef EIGEN_INITIALIZE_MATRICES_BY_ZERO
+        bool size_changed = size != this->size();
+      #endif
+      if(RowsAtCompileTime == 1)
+        m_storage.resize(size, 1, size);
+      else
+        m_storage.resize(size, size, 1);
+      #ifdef EIGEN_INITIALIZE_MATRICES_BY_ZERO
+        if(size_changed) EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+      #endif
+    }
+
+    /** Resizes the matrix, changing only the number of columns. For the parameter of type NoChange_t, just pass the special value \c NoChange
+      * as in the example below.
+      *
+      * Example: \include Matrix_resize_NoChange_int.cpp
+      * Output: \verbinclude Matrix_resize_NoChange_int.out
+      *
+      * \sa resize(Index,Index)
+      */
+    inline void resize(NoChange_t, Index cols)
+    {
+      resize(rows(), cols);
+    }
+
+    /** Resizes the matrix, changing only the number of rows. For the parameter of type NoChange_t, just pass the special value \c NoChange
+      * as in the example below.
+      *
+      * Example: \include Matrix_resize_int_NoChange.cpp
+      * Output: \verbinclude Matrix_resize_int_NoChange.out
+      *
+      * \sa resize(Index,Index)
+      */
+    inline void resize(Index rows, NoChange_t)
+    {
+      resize(rows, cols());
+    }
+
+    /** Resizes \c *this to have the same dimensions as \a other.
+      * Takes care of doing all the checking that's needed.
+      *
+      * Note that copying a row-vector into a vector (and conversely) is allowed.
+      * The resizing, if any, is then done in the appropriate way so that row-vectors
+      * remain row-vectors and vectors remain vectors.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void resizeLike(const EigenBase<OtherDerived>& _other)
+    {
+      const OtherDerived& other = _other.derived();
+      const Index othersize = other.rows()*other.cols();
+      if(RowsAtCompileTime == 1)
+      {
+        eigen_assert(other.rows() == 1 || other.cols() == 1);
+        resize(1, othersize);
+      }
+      else if(ColsAtCompileTime == 1)
+      {
+        eigen_assert(other.rows() == 1 || other.cols() == 1);
+        resize(othersize, 1);
+      }
+      else resize(other.rows(), other.cols());
+    }
+
+    /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
+      *
+      * The method is intended for matrices of dynamic size. If you only want to change the number
+      * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or
+      * conservativeResize(Index, NoChange_t).
+      *
+      * Matrices are resized relative to the top-left element. In case values need to be 
+      * appended to the matrix they will be uninitialized.
+      */
+    EIGEN_STRONG_INLINE void conservativeResize(Index rows, Index cols)
+    {
+      internal::conservative_resize_like_impl<Derived>::run(*this, rows, cols);
+    }
+
+    /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
+      *
+      * As opposed to conservativeResize(Index rows, Index cols), this version leaves
+      * the number of columns unchanged.
+      *
+      * In case the matrix is growing, new rows will be uninitialized.
+      */
+    EIGEN_STRONG_INLINE void conservativeResize(Index rows, NoChange_t)
+    {
+      // Note: see the comment in conservativeResize(Index,Index)
+      conservativeResize(rows, cols());
+    }
+
+    /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
+      *
+      * As opposed to conservativeResize(Index rows, Index cols), this version leaves
+      * the number of rows unchanged.
+      *
+      * In case the matrix is growing, new columns will be uninitialized.
+      */
+    EIGEN_STRONG_INLINE void conservativeResize(NoChange_t, Index cols)
+    {
+      // Note: see the comment in conservativeResize(Index,Index)
+      conservativeResize(rows(), cols);
+    }
+
+    /** Resizes the vector to \a size while retaining old values.
+      *
+      * \only_for_vectors. This method does not work for
+      * partially dynamic matrices when the static dimension is anything other
+      * than 1. For example it will not work with Matrix<double, 2, Dynamic>.
+      *
+      * When values are appended, they will be uninitialized.
+      */
+    EIGEN_STRONG_INLINE void conservativeResize(Index size)
+    {
+      internal::conservative_resize_like_impl<Derived>::run(*this, size);
+    }
+
+    /** Resizes the matrix to \a rows x \a cols of \c other, while leaving old values untouched.
+      *
+      * The method is intended for matrices of dynamic size. If you only want to change the number
+      * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or
+      * conservativeResize(Index, NoChange_t).
+      *
+      * Matrices are resized relative to the top-left element. In case values need to be 
+      * appended to the matrix they will copied from \c other.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void conservativeResizeLike(const DenseBase<OtherDerived>& other)
+    {
+      internal::conservative_resize_like_impl<Derived,OtherDerived>::run(*this, other);
+    }
+
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    EIGEN_STRONG_INLINE Derived& operator=(const PlainObjectBase& other)
+    {
+      return _set(other);
+    }
+
+    /** \sa MatrixBase::lazyAssign() */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Derived& lazyAssign(const DenseBase<OtherDerived>& other)
+    {
+      _resize_to_match(other);
+      return Base::lazyAssign(other.derived());
+    }
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Derived& operator=(const ReturnByValue<OtherDerived>& func)
+    {
+      resize(func.rows(), func.cols());
+      return Base::operator=(func);
+    }
+
+    EIGEN_STRONG_INLINE explicit PlainObjectBase() : m_storage()
+    {
+//       _check_template_params();
+//       EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    // FIXME is it still needed ?
+    /** \internal */
+    PlainObjectBase(internal::constructor_without_unaligned_array_assert)
+      : m_storage(internal::constructor_without_unaligned_array_assert())
+    {
+//       _check_template_params(); EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+#endif
+
+    EIGEN_STRONG_INLINE PlainObjectBase(Index size, Index rows, Index cols)
+      : m_storage(size, rows, cols)
+    {
+//       _check_template_params();
+//       EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+
+    /** \copydoc MatrixBase::operator=(const EigenBase<OtherDerived>&)
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Derived& operator=(const EigenBase<OtherDerived> &other)
+    {
+      _resize_to_match(other);
+      Base::operator=(other.derived());
+      return this->derived();
+    }
+
+    /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE PlainObjectBase(const EigenBase<OtherDerived> &other)
+      : m_storage(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
+    {
+      _check_template_params();
+      Base::operator=(other.derived());
+    }
+
+    /** \name Map
+      * These are convenience functions returning Map objects. The Map() static functions return unaligned Map objects,
+      * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned
+      * \a data pointers.
+      *
+      * These methods do not allow to specify strides. If you need to specify strides, you have to
+      * use the Map class directly.
+      *
+      * \see class Map
+      */
+    //@{
+    inline static ConstMapType Map(const Scalar* data)
+    { return ConstMapType(data); }
+    inline static MapType Map(Scalar* data)
+    { return MapType(data); }
+    inline static ConstMapType Map(const Scalar* data, Index size)
+    { return ConstMapType(data, size); }
+    inline static MapType Map(Scalar* data, Index size)
+    { return MapType(data, size); }
+    inline static ConstMapType Map(const Scalar* data, Index rows, Index cols)
+    { return ConstMapType(data, rows, cols); }
+    inline static MapType Map(Scalar* data, Index rows, Index cols)
+    { return MapType(data, rows, cols); }
+
+    inline static ConstAlignedMapType MapAligned(const Scalar* data)
+    { return ConstAlignedMapType(data); }
+    inline static AlignedMapType MapAligned(Scalar* data)
+    { return AlignedMapType(data); }
+    inline static ConstAlignedMapType MapAligned(const Scalar* data, Index size)
+    { return ConstAlignedMapType(data, size); }
+    inline static AlignedMapType MapAligned(Scalar* data, Index size)
+    { return AlignedMapType(data, size); }
+    inline static ConstAlignedMapType MapAligned(const Scalar* data, Index rows, Index cols)
+    { return ConstAlignedMapType(data, rows, cols); }
+    inline static AlignedMapType MapAligned(Scalar* data, Index rows, Index cols)
+    { return AlignedMapType(data, rows, cols); }
+
+    template<int Outer, int Inner>
+    inline static typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, const Stride<Outer, Inner>& stride)
+    { return typename StridedMapType<Stride<Outer, Inner> >::type(data, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+    { return typename StridedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+    { return typename StridedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+
+    template<int Outer, int Inner>
+    inline static typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, const Stride<Outer, Inner>& stride)
+    { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+    { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+    { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+    template<int Outer, int Inner>
+    inline static typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+    { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+    //@}
+
+    using Base::setConstant;
+    Derived& setConstant(Index size, const Scalar& value);
+    Derived& setConstant(Index rows, Index cols, const Scalar& value);
+
+    using Base::setZero;
+    Derived& setZero(Index size);
+    Derived& setZero(Index rows, Index cols);
+
+    using Base::setOnes;
+    Derived& setOnes(Index size);
+    Derived& setOnes(Index rows, Index cols);
+
+    using Base::setRandom;
+    Derived& setRandom(Index size);
+    Derived& setRandom(Index rows, Index cols);
+
+    #ifdef EIGEN_PLAINOBJECTBASE_PLUGIN
+    #include EIGEN_PLAINOBJECTBASE_PLUGIN
+    #endif
+
+  protected:
+    /** \internal Resizes *this in preparation for assigning \a other to it.
+      * Takes care of doing all the checking that's needed.
+      *
+      * Note that copying a row-vector into a vector (and conversely) is allowed.
+      * The resizing, if any, is then done in the appropriate way so that row-vectors
+      * remain row-vectors and vectors remain vectors.
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void _resize_to_match(const EigenBase<OtherDerived>& other)
+    {
+      #ifdef EIGEN_NO_AUTOMATIC_RESIZING
+      eigen_assert((this->size()==0 || (IsVectorAtCompileTime ? (this->size() == other.size())
+                 : (rows() == other.rows() && cols() == other.cols())))
+        && "Size mismatch. Automatic resizing is disabled because EIGEN_NO_AUTOMATIC_RESIZING is defined");
+      #else
+      resizeLike(other);
+      #endif
+    }
+
+    /**
+      * \brief Copies the value of the expression \a other into \c *this with automatic resizing.
+      *
+      * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
+      * it will be initialized.
+      *
+      * Note that copying a row-vector into a vector (and conversely) is allowed.
+      * The resizing, if any, is then done in the appropriate way so that row-vectors
+      * remain row-vectors and vectors remain vectors.
+      *
+      * \sa operator=(const MatrixBase<OtherDerived>&), _set_noalias()
+      *
+      * \internal
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Derived& _set(const DenseBase<OtherDerived>& other)
+    {
+      _set_selector(other.derived(), typename internal::conditional<static_cast<bool>(int(OtherDerived::Flags) & EvalBeforeAssigningBit), internal::true_type, internal::false_type>::type());
+      return this->derived();
+    }
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void _set_selector(const OtherDerived& other, const internal::true_type&) { _set_noalias(other.eval()); }
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE void _set_selector(const OtherDerived& other, const internal::false_type&) { _set_noalias(other); }
+
+    /** \internal Like _set() but additionally makes the assumption that no aliasing effect can happen (which
+      * is the case when creating a new matrix) so one can enforce lazy evaluation.
+      *
+      * \sa operator=(const MatrixBase<OtherDerived>&), _set()
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE Derived& _set_noalias(const DenseBase<OtherDerived>& other)
+    {
+      // I don't think we need this resize call since the lazyAssign will anyways resize
+      // and lazyAssign will be called by the assign selector.
+      //_resize_to_match(other);
+      // the 'false' below means to enforce lazy evaluation. We don't use lazyAssign() because
+      // it wouldn't allow to copy a row-vector into a column-vector.
+      return internal::assign_selector<Derived,OtherDerived,false>::run(this->derived(), other.derived());
+    }
+
+    template<typename T0, typename T1>
+    EIGEN_STRONG_INLINE void _init2(Index rows, Index cols, typename internal::enable_if<Base::SizeAtCompileTime!=2,T0>::type* = 0)
+    {
+      eigen_assert(rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+             && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
+      m_storage.resize(rows*cols,rows,cols);
+      EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
+    }
+    template<typename T0, typename T1>
+    EIGEN_STRONG_INLINE void _init2(const Scalar& x, const Scalar& y, typename internal::enable_if<Base::SizeAtCompileTime==2,T0>::type* = 0)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
+      m_storage.data()[0] = x;
+      m_storage.data()[1] = y;
+    }
+
+    template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
+    friend struct internal::matrix_swap_impl;
+
+    /** \internal generic implementation of swap for dense storage since for dynamic-sized matrices of same type it is enough to swap the
+      * data pointers.
+      */
+    template<typename OtherDerived>
+    void _swap(DenseBase<OtherDerived> const & other)
+    {
+      enum { SwapPointers = internal::is_same<Derived, OtherDerived>::value && Base::SizeAtCompileTime==Dynamic };
+      internal::matrix_swap_impl<Derived, OtherDerived, bool(SwapPointers)>::run(this->derived(), other.const_cast_derived());
+    }
+
+  public:
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    EIGEN_STRONG_INLINE static void _check_template_params()
+    {
+      EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, (Options&RowMajor)==RowMajor)
+                        && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, (Options&RowMajor)==0)
+                        && ((RowsAtCompileTime == Dynamic) || (RowsAtCompileTime >= 0))
+                        && ((ColsAtCompileTime == Dynamic) || (ColsAtCompileTime >= 0))
+                        && ((MaxRowsAtCompileTime == Dynamic) || (MaxRowsAtCompileTime >= 0))
+                        && ((MaxColsAtCompileTime == Dynamic) || (MaxColsAtCompileTime >= 0))
+                        && (MaxRowsAtCompileTime == RowsAtCompileTime || RowsAtCompileTime==Dynamic)
+                        && (MaxColsAtCompileTime == ColsAtCompileTime || ColsAtCompileTime==Dynamic)
+                        && (Options & (DontAlign|RowMajor)) == Options),
+        INVALID_MATRIX_TEMPLATE_PARAMETERS)
+    }
+#endif
+
+private:
+    enum { ThisConstantIsPrivateInPlainObjectBase };
+};
+
+template <typename Derived, typename OtherDerived, bool IsVector>
+struct internal::conservative_resize_like_impl
+{
+  typedef typename Derived::Index Index;
+  static void run(DenseBase<Derived>& _this, Index rows, Index cols)
+  {
+    if (_this.rows() == rows && _this.cols() == cols) return;
+    EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived)
+
+    if ( ( Derived::IsRowMajor && _this.cols() == cols) || // row-major and we change only the number of rows
+         (!Derived::IsRowMajor && _this.rows() == rows) )  // column-major and we change only the number of columns
+    {
+      _this.derived().m_storage.conservativeResize(rows*cols,rows,cols);
+    }
+    else
+    {
+      // The storage order does not allow us to use reallocation.
+      typename Derived::PlainObject tmp(rows,cols);
+      const Index common_rows = std::min(rows, _this.rows());
+      const Index common_cols = std::min(cols, _this.cols());
+      tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
+      _this.derived().swap(tmp);
+    }
+  }
+
+  static void run(DenseBase<Derived>& _this, const DenseBase<OtherDerived>& other)
+  {
+    if (_this.rows() == other.rows() && _this.cols() == other.cols()) return;
+
+    // Note: Here is space for improvement. Basically, for conservativeResize(Index,Index),
+    // neither RowsAtCompileTime or ColsAtCompileTime must be Dynamic. If only one of the
+    // dimensions is dynamic, one could use either conservativeResize(Index rows, NoChange_t) or
+    // conservativeResize(NoChange_t, Index cols). For these methods new static asserts like
+    // EIGEN_STATIC_ASSERT_DYNAMIC_ROWS and EIGEN_STATIC_ASSERT_DYNAMIC_COLS would be good.
+    EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived)
+    EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(OtherDerived)
+
+    if ( ( Derived::IsRowMajor && _this.cols() == other.cols()) || // row-major and we change only the number of rows
+         (!Derived::IsRowMajor && _this.rows() == other.rows()) )  // column-major and we change only the number of columns
+    {
+      const Index new_rows = other.rows() - _this.rows();
+      const Index new_cols = other.cols() - _this.cols();
+      _this.derived().m_storage.conservativeResize(other.size(),other.rows(),other.cols());
+      if (new_rows>0)
+        _this.bottomRightCorner(new_rows, other.cols()) = other.bottomRows(new_rows);
+      else if (new_cols>0)
+        _this.bottomRightCorner(other.rows(), new_cols) = other.rightCols(new_cols);
+    }
+    else
+    {
+      // The storage order does not allow us to use reallocation.
+      typename Derived::PlainObject tmp(other);
+      const Index common_rows = std::min(tmp.rows(), _this.rows());
+      const Index common_cols = std::min(tmp.cols(), _this.cols());
+      tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
+      _this.derived().swap(tmp);
+    }
+  }
+};
+
+namespace internal {
+
+template <typename Derived, typename OtherDerived>
+struct conservative_resize_like_impl<Derived,OtherDerived,true>
+{
+  typedef typename Derived::Index Index;
+  static void run(DenseBase<Derived>& _this, Index size)
+  {
+    const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : size;
+    const Index new_cols = Derived::RowsAtCompileTime==1 ? size : 1;
+    _this.derived().m_storage.conservativeResize(size,new_rows,new_cols);
+  }
+
+  static void run(DenseBase<Derived>& _this, const DenseBase<OtherDerived>& other)
+  {
+    if (_this.rows() == other.rows() && _this.cols() == other.cols()) return;
+
+    const Index num_new_elements = other.size() - _this.size();
+
+    const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : other.rows();
+    const Index new_cols = Derived::RowsAtCompileTime==1 ? other.cols() : 1;
+    _this.derived().m_storage.conservativeResize(other.size(),new_rows,new_cols);
+
+    if (num_new_elements > 0)
+      _this.tail(num_new_elements) = other.tail(num_new_elements);
+  }
+};
+
+template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
+struct matrix_swap_impl
+{
+  static inline void run(MatrixTypeA& a, MatrixTypeB& b)
+  {
+    a.base().swap(b);
+  }
+};
+
+template<typename MatrixTypeA, typename MatrixTypeB>
+struct matrix_swap_impl<MatrixTypeA, MatrixTypeB, true>
+{
+  static inline void run(MatrixTypeA& a, MatrixTypeB& b)
+  {
+    static_cast<typename MatrixTypeA::Base&>(a).m_storage.swap(static_cast<typename MatrixTypeB::Base&>(b).m_storage);
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_DENSESTORAGEBASE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Product.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Product.h
new file mode 100755
index 0000000..1363e83
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Product.h
@@ -0,0 +1,628 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PRODUCT_H
+#define EIGEN_PRODUCT_H
+
+/** \class GeneralProduct
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the product of two general matrices or vectors
+  *
+  * \param LhsNested the type used to store the left-hand side
+  * \param RhsNested the type used to store the right-hand side
+  * \param ProductMode the type of the product
+  *
+  * This class represents an expression of the product of two general matrices.
+  * We call a general matrix, a dense matrix with full storage. For instance,
+  * This excludes triangular, selfadjoint, and sparse matrices.
+  * It is the return type of the operator* between general matrices. Its template
+  * arguments are determined automatically by ProductReturnType. Therefore,
+  * GeneralProduct should never be used direclty. To determine the result type of a
+  * function which involves a matrix product, use ProductReturnType::Type.
+  *
+  * \sa ProductReturnType, MatrixBase::operator*(const MatrixBase<OtherDerived>&)
+  */
+template<typename Lhs, typename Rhs, int ProductType = internal::product_type<Lhs,Rhs>::value>
+class GeneralProduct;
+
+enum {
+  Large = 2,
+  Small = 3
+};
+
+namespace internal {
+
+template<int Rows, int Cols, int Depth> struct product_type_selector;
+
+template<int Size, int MaxSize> struct product_size_category
+{
+  enum { is_large = MaxSize == Dynamic ||
+                    Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD,
+         value = is_large  ? Large
+               : Size == 1 ? 1
+                           : Small
+  };
+};
+
+template<typename Lhs, typename Rhs> struct product_type
+{
+  typedef typename remove_all<Lhs>::type _Lhs;
+  typedef typename remove_all<Rhs>::type _Rhs;
+  enum {
+    MaxRows  = _Lhs::MaxRowsAtCompileTime,
+    Rows  = _Lhs::RowsAtCompileTime,
+    MaxCols  = _Rhs::MaxColsAtCompileTime,
+    Cols  = _Rhs::ColsAtCompileTime,
+    MaxDepth = EIGEN_SIZE_MIN_PREFER_FIXED(_Lhs::MaxColsAtCompileTime,
+                                           _Rhs::MaxRowsAtCompileTime),
+    Depth = EIGEN_SIZE_MIN_PREFER_FIXED(_Lhs::ColsAtCompileTime,
+                                        _Rhs::RowsAtCompileTime),
+    LargeThreshold = EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+  };
+
+  // the splitting into different lines of code here, introducing the _select enums and the typedef below,
+  // is to work around an internal compiler error with gcc 4.1 and 4.2.
+private:
+  enum {
+    rows_select = product_size_category<Rows,MaxRows>::value,
+    cols_select = product_size_category<Cols,MaxCols>::value,
+    depth_select = product_size_category<Depth,MaxDepth>::value
+  };
+  typedef product_type_selector<rows_select, cols_select, depth_select> selector;
+
+public:
+  enum {
+    value = selector::ret
+  };
+#ifdef EIGEN_DEBUG_PRODUCT
+  static void debug()
+  {
+      EIGEN_DEBUG_VAR(Rows);
+      EIGEN_DEBUG_VAR(Cols);
+      EIGEN_DEBUG_VAR(Depth);
+      EIGEN_DEBUG_VAR(rows_select);
+      EIGEN_DEBUG_VAR(cols_select);
+      EIGEN_DEBUG_VAR(depth_select);
+      EIGEN_DEBUG_VAR(value);
+  }
+#endif
+};
+
+
+/* The following allows to select the kind of product at compile time
+ * based on the three dimensions of the product.
+ * This is a compile time mapping from {1,Small,Large}^3 -> {product types} */
+// FIXME I'm not sure the current mapping is the ideal one.
+template<int M, int N>  struct product_type_selector<M,N,1>              { enum { ret = OuterProduct }; };
+template<int Depth>     struct product_type_selector<1,    1,    Depth>  { enum { ret = InnerProduct }; };
+template<>              struct product_type_selector<1,    1,    1>      { enum { ret = InnerProduct }; };
+template<>              struct product_type_selector<Small,1,    Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<1,    Small,Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Small,Small,Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Small, Small, 1>    { enum { ret = LazyCoeffBasedProductMode }; };
+template<>              struct product_type_selector<Small, Large, 1>    { enum { ret = LazyCoeffBasedProductMode }; };
+template<>              struct product_type_selector<Large, Small, 1>    { enum { ret = LazyCoeffBasedProductMode }; };
+template<>              struct product_type_selector<1,    Large,Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<1,    Large,Large>  { enum { ret = GemvProduct }; };
+template<>              struct product_type_selector<1,    Small,Large>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Large,1,    Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Large,1,    Large>  { enum { ret = GemvProduct }; };
+template<>              struct product_type_selector<Small,1,    Large>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Small,Small,Large>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Large,Small,Large>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Small,Large,Large>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Large,Large,Large>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Large,Small,Small>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Small,Large,Small>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Large,Large,Small>  { enum { ret = GemmProduct }; };
+
+} // end namespace internal
+
+/** \class ProductReturnType
+  * \ingroup Core_Module
+  *
+  * \brief Helper class to get the correct and optimized returned type of operator*
+  *
+  * \param Lhs the type of the left-hand side
+  * \param Rhs the type of the right-hand side
+  * \param ProductMode the type of the product (determined automatically by internal::product_mode)
+  *
+  * This class defines the typename Type representing the optimized product expression
+  * between two matrix expressions. In practice, using ProductReturnType<Lhs,Rhs>::Type
+  * is the recommended way to define the result type of a function returning an expression
+  * which involve a matrix product. The class Product should never be
+  * used directly.
+  *
+  * \sa class Product, MatrixBase::operator*(const MatrixBase<OtherDerived>&)
+  */
+template<typename Lhs, typename Rhs, int ProductType>
+struct ProductReturnType
+{
+  // TODO use the nested type to reduce instanciations ????
+//   typedef typename internal::nested<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
+//   typedef typename internal::nested<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
+
+  typedef GeneralProduct<Lhs/*Nested*/, Rhs/*Nested*/, ProductType> Type;
+};
+
+template<typename Lhs, typename Rhs>
+struct ProductReturnType<Lhs,Rhs,CoeffBasedProductMode>
+{
+  typedef typename internal::nested<Lhs, Rhs::ColsAtCompileTime, typename internal::plain_matrix_type<Lhs>::type >::type LhsNested;
+  typedef typename internal::nested<Rhs, Lhs::RowsAtCompileTime, typename internal::plain_matrix_type<Rhs>::type >::type RhsNested;
+  typedef CoeffBasedProduct<LhsNested, RhsNested, EvalBeforeAssigningBit | EvalBeforeNestingBit> Type;
+};
+
+template<typename Lhs, typename Rhs>
+struct ProductReturnType<Lhs,Rhs,LazyCoeffBasedProductMode>
+{
+  typedef typename internal::nested<Lhs, Rhs::ColsAtCompileTime, typename internal::plain_matrix_type<Lhs>::type >::type LhsNested;
+  typedef typename internal::nested<Rhs, Lhs::RowsAtCompileTime, typename internal::plain_matrix_type<Rhs>::type >::type RhsNested;
+  typedef CoeffBasedProduct<LhsNested, RhsNested, NestByRefBit> Type;
+};
+
+// this is a workaround for sun CC
+template<typename Lhs, typename Rhs>
+struct LazyProductReturnType : public ProductReturnType<Lhs,Rhs,LazyCoeffBasedProductMode>
+{};
+
+/***********************************************************************
+*  Implementation of Inner Vector Vector Product
+***********************************************************************/
+
+// FIXME : maybe the "inner product" could return a Scalar
+// instead of a 1x1 matrix ??
+// Pro: more natural for the user
+// Cons: this could be a problem if in a meta unrolled algorithm a matrix-matrix
+// product ends up to a row-vector times col-vector product... To tackle this use
+// case, we could have a specialization for Block<MatrixType,1,1> with: operator=(Scalar x);
+
+namespace internal {
+
+template<typename Lhs, typename Rhs>
+struct traits<GeneralProduct<Lhs,Rhs,InnerProduct> >
+ : traits<Matrix<typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1> >
+{};
+
+}
+
+template<typename Lhs, typename Rhs>
+class GeneralProduct<Lhs, Rhs, InnerProduct>
+  : internal::no_assignment_operator,
+    public Matrix<typename internal::scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1>
+{
+    typedef Matrix<typename internal::scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1> Base;
+  public:
+    GeneralProduct(const Lhs& lhs, const Rhs& rhs)
+    {
+      EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::RealScalar, typename Rhs::RealScalar>::value),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+      Base::coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum();
+    }
+
+    /** Convertion to scalar */
+    operator const typename Base::Scalar() const {
+      return Base::coeff(0,0);
+    }
+};
+
+/***********************************************************************
+*  Implementation of Outer Vector Vector Product
+***********************************************************************/
+
+namespace internal {
+template<int StorageOrder> struct outer_product_selector;
+
+template<typename Lhs, typename Rhs>
+struct traits<GeneralProduct<Lhs,Rhs,OuterProduct> >
+ : traits<ProductBase<GeneralProduct<Lhs,Rhs,OuterProduct>, Lhs, Rhs> >
+{};
+
+}
+
+template<typename Lhs, typename Rhs>
+class GeneralProduct<Lhs, Rhs, OuterProduct>
+  : public ProductBase<GeneralProduct<Lhs,Rhs,OuterProduct>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
+
+    GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {
+      EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::RealScalar, typename Rhs::RealScalar>::value),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+    }
+
+    template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+    {
+      internal::outer_product_selector<(int(Dest::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(*this, dest, alpha);
+    }
+};
+
+namespace internal {
+
+template<> struct outer_product_selector<ColMajor> {
+  template<typename ProductType, typename Dest>
+  static EIGEN_DONT_INLINE void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha) {
+    typedef typename Dest::Index Index;
+    // FIXME make sure lhs is sequentially stored
+    // FIXME not very good if rhs is real and lhs complex while alpha is real too
+    const Index cols = dest.cols();
+    for (Index j=0; j<cols; ++j)
+      dest.col(j) += (alpha * prod.rhs().coeff(j)) * prod.lhs();
+  }
+};
+
+template<> struct outer_product_selector<RowMajor> {
+  template<typename ProductType, typename Dest>
+  static EIGEN_DONT_INLINE void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha) {
+    typedef typename Dest::Index Index;
+    // FIXME make sure rhs is sequentially stored
+    // FIXME not very good if lhs is real and rhs complex while alpha is real too
+    const Index rows = dest.rows();
+    for (Index i=0; i<rows; ++i)
+      dest.row(i) += (alpha * prod.lhs().coeff(i)) * prod.rhs();
+  }
+};
+
+} // end namespace internal
+
+/***********************************************************************
+*  Implementation of General Matrix Vector Product
+***********************************************************************/
+
+/*  According to the shape/flags of the matrix we have to distinghish 3 different cases:
+ *   1 - the matrix is col-major, BLAS compatible and M is large => call fast BLAS-like colmajor routine
+ *   2 - the matrix is row-major, BLAS compatible and N is large => call fast BLAS-like rowmajor routine
+ *   3 - all other cases are handled using a simple loop along the outer-storage direction.
+ *  Therefore we need a lower level meta selector.
+ *  Furthermore, if the matrix is the rhs, then the product has to be transposed.
+ */
+namespace internal {
+
+template<typename Lhs, typename Rhs>
+struct traits<GeneralProduct<Lhs,Rhs,GemvProduct> >
+ : traits<ProductBase<GeneralProduct<Lhs,Rhs,GemvProduct>, Lhs, Rhs> >
+{};
+
+template<int Side, int StorageOrder, bool BlasCompatible>
+struct gemv_selector;
+
+} // end namespace internal
+
+template<typename Lhs, typename Rhs>
+class GeneralProduct<Lhs, Rhs, GemvProduct>
+  : public ProductBase<GeneralProduct<Lhs,Rhs,GemvProduct>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
+
+    typedef typename Lhs::Scalar LhsScalar;
+    typedef typename Rhs::Scalar RhsScalar;
+
+    GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {
+//       EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::Scalar, typename Rhs::Scalar>::value),
+//         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+    }
+
+    enum { Side = Lhs::IsVectorAtCompileTime ? OnTheLeft : OnTheRight };
+    typedef typename internal::conditional<int(Side)==OnTheRight,_LhsNested,_RhsNested>::type MatrixType;
+
+    template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+    {
+      eigen_assert(m_lhs.rows() == dst.rows() && m_rhs.cols() == dst.cols());
+      internal::gemv_selector<Side,(int(MatrixType::Flags)&RowMajorBit) ? RowMajor : ColMajor,
+                       bool(internal::blas_traits<MatrixType>::HasUsableDirectAccess)>::run(*this, dst, alpha);
+    }
+};
+
+namespace internal {
+
+// The vector is on the left => transposition
+template<int StorageOrder, bool BlasCompatible>
+struct gemv_selector<OnTheLeft,StorageOrder,BlasCompatible>
+{
+  template<typename ProductType, typename Dest>
+  static void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha)
+  {
+    Transpose<Dest> destT(dest);
+    enum { OtherStorageOrder = StorageOrder == RowMajor ? ColMajor : RowMajor };
+    gemv_selector<OnTheRight,OtherStorageOrder,BlasCompatible>
+      ::run(GeneralProduct<Transpose<const typename ProductType::_RhsNested>,Transpose<const typename ProductType::_LhsNested>, GemvProduct>
+        (prod.rhs().transpose(), prod.lhs().transpose()), destT, alpha);
+  }
+};
+
+template<typename Scalar,int Size,int MaxSize,bool Cond> struct gemv_static_vector_if;
+
+template<typename Scalar,int Size,int MaxSize>
+struct gemv_static_vector_if<Scalar,Size,MaxSize,false>
+{
+  EIGEN_STRONG_INLINE  Scalar* data() { eigen_internal_assert(false && "should never be called"); return 0; }
+};
+
+template<typename Scalar,int Size>
+struct gemv_static_vector_if<Scalar,Size,Dynamic,true>
+{
+  EIGEN_STRONG_INLINE Scalar* data() { return 0; }
+};
+
+template<typename Scalar,int Size,int MaxSize>
+struct gemv_static_vector_if<Scalar,Size,MaxSize,true>
+{
+  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize),0> m_data;
+  EIGEN_STRONG_INLINE Scalar* data() { return m_data.array; }
+};
+
+template<> struct gemv_selector<OnTheRight,ColMajor,true>
+{
+  template<typename ProductType, typename Dest>
+  static inline void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha)
+  {
+    typedef typename ProductType::Index Index;
+    typedef typename ProductType::LhsScalar   LhsScalar;
+    typedef typename ProductType::RhsScalar   RhsScalar;
+    typedef typename ProductType::Scalar      ResScalar;
+    typedef typename ProductType::RealScalar  RealScalar;
+    typedef typename ProductType::ActualLhsType ActualLhsType;
+    typedef typename ProductType::ActualRhsType ActualRhsType;
+    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
+    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
+    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+
+    const ActualLhsType actualLhs = LhsBlasTraits::extract(prod.lhs());
+    const ActualRhsType actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
+                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+
+    enum {
+      // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
+      // on, the other hand it is good for the cache to pack the vector anyways...
+      EvalToDestAtCompileTime = Dest::InnerStrideAtCompileTime==1,
+      ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
+      MightCannotUseDest = (Dest::InnerStrideAtCompileTime!=1) || ComplexByReal
+    };
+
+    gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
+
+    bool alphaIsCompatible = (!ComplexByReal) || (imag(actualAlpha)==RealScalar(0));
+    bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
+    
+    RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
+
+    ResScalar* actualDestPtr;
+    bool freeDestPtr = false;
+    if (evalToDest)
+    {
+      actualDestPtr = &dest.coeffRef(0);
+    }
+    else
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = dest.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      if((actualDestPtr = static_dest.data())==0)
+      {
+        freeDestPtr = true;
+        actualDestPtr = ei_aligned_stack_new(ResScalar,dest.size());
+      }
+      if(!alphaIsCompatible)
+      {
+        MappedDest(actualDestPtr, dest.size()).setZero();
+        compatibleAlpha = RhsScalar(1);
+      }
+      else
+        MappedDest(actualDestPtr, dest.size()) = dest;
+    }
+
+    general_matrix_vector_product
+      <Index,LhsScalar,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsBlasTraits::NeedToConjugate>::run(
+        actualLhs.rows(), actualLhs.cols(),
+        &actualLhs.coeffRef(0,0), actualLhs.outerStride(),
+        actualRhs.data(), actualRhs.innerStride(),
+        actualDestPtr, 1,
+        compatibleAlpha);
+
+    if (!evalToDest)
+    {
+      if(!alphaIsCompatible)
+        dest += actualAlpha * MappedDest(actualDestPtr, dest.size());
+      else
+        dest = MappedDest(actualDestPtr, dest.size());
+      if(freeDestPtr) ei_aligned_stack_delete(ResScalar, actualDestPtr, dest.size());
+    }
+  }
+};
+
+template<> struct gemv_selector<OnTheRight,RowMajor,true>
+{
+  template<typename ProductType, typename Dest>
+  static void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha)
+  {
+    typedef typename ProductType::LhsScalar LhsScalar;
+    typedef typename ProductType::RhsScalar RhsScalar;
+    typedef typename ProductType::Scalar    ResScalar;
+    typedef typename ProductType::Index Index;
+    typedef typename ProductType::ActualLhsType ActualLhsType;
+    typedef typename ProductType::ActualRhsType ActualRhsType;
+    typedef typename ProductType::_ActualRhsType _ActualRhsType;
+    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
+    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
+
+    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
+    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
+                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+
+    enum {
+      // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
+      // on, the other hand it is good for the cache to pack the vector anyways...
+      DirectlyUseRhs = _ActualRhsType::InnerStrideAtCompileTime==1
+    };
+
+    gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
+
+    RhsScalar* actualRhsPtr;
+    bool freeRhsPtr = false;
+    if (DirectlyUseRhs)
+    {
+      actualRhsPtr = const_cast<RhsScalar*>(&actualRhs.coeffRef(0));
+    }
+    else
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = actualRhs.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      if((actualRhsPtr = static_rhs.data())==0)
+      {
+        freeRhsPtr = true;
+        actualRhsPtr = ei_aligned_stack_new(RhsScalar, actualRhs.size());
+      }
+      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+    }
+
+    general_matrix_vector_product
+      <Index,LhsScalar,RowMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsBlasTraits::NeedToConjugate>::run(
+        actualLhs.rows(), actualLhs.cols(),
+        &actualLhs.coeffRef(0,0), actualLhs.outerStride(),
+        actualRhsPtr, 1,
+        &dest.coeffRef(0,0), dest.innerStride(),
+        actualAlpha);
+
+    if((!DirectlyUseRhs) && freeRhsPtr) ei_aligned_stack_delete(RhsScalar, actualRhsPtr, prod.rhs().size());
+  }
+};
+
+template<> struct gemv_selector<OnTheRight,ColMajor,false>
+{
+  template<typename ProductType, typename Dest>
+  static void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha)
+  {
+    typedef typename Dest::Index Index;
+    // TODO makes sure dest is sequentially stored in memory, otherwise use a temp
+    const Index size = prod.rhs().rows();
+    for(Index k=0; k<size; ++k)
+      dest += (alpha*prod.rhs().coeff(k)) * prod.lhs().col(k);
+  }
+};
+
+template<> struct gemv_selector<OnTheRight,RowMajor,false>
+{
+  template<typename ProductType, typename Dest>
+  static void run(const ProductType& prod, Dest& dest, typename ProductType::Scalar alpha)
+  {
+    typedef typename Dest::Index Index;
+    // TODO makes sure rhs is sequentially stored in memory, otherwise use a temp
+    const Index rows = prod.rows();
+    for(Index i=0; i<rows; ++i)
+      dest.coeffRef(i) += alpha * (prod.lhs().row(i).cwiseProduct(prod.rhs().transpose())).sum();
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Implementation of matrix base methods
+***************************************************************************/
+
+/** \returns the matrix product of \c *this and \a other.
+  *
+  * \note If instead of the matrix product you want the coefficient-wise product, see Cwise::operator*().
+  *
+  * \sa lazyProduct(), operator*=(const MatrixBase&), Cwise::operator*()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+inline const typename ProductReturnType<Derived,OtherDerived>::Type
+MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
+{
+  // A note regarding the function declaration: In MSVC, this function will sometimes
+  // not be inlined since DenseStorage is an unwindable object for dynamic
+  // matrices and product types are holding a member to store the result.
+  // Thus it does not help tagging this function with EIGEN_STRONG_INLINE.
+  enum {
+    ProductIsValid =  Derived::ColsAtCompileTime==Dynamic
+                   || OtherDerived::RowsAtCompileTime==Dynamic
+                   || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime),
+    AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime,
+    SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived)
+  };
+  // note to the lost user:
+  //    * for a dot product use: v1.dot(v2)
+  //    * for a coeff-wise product use: v1.cwiseProduct(v2)
+  EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
+    INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
+  EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
+    INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
+  EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
+#ifdef EIGEN_DEBUG_PRODUCT
+  internal::product_type<Derived,OtherDerived>::debug();
+#endif
+  return typename ProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+}
+
+/** \returns an expression of the matrix product of \c *this and \a other without implicit evaluation.
+  *
+  * The returned product will behave like any other expressions: the coefficients of the product will be
+  * computed once at a time as requested. This might be useful in some extremely rare cases when only
+  * a small and no coherent fraction of the result's coefficients have to be computed.
+  *
+  * \warning This version of the matrix product can be much much slower. So use it only if you know
+  * what you are doing and that you measured a true speed improvement.
+  *
+  * \sa operator*(const MatrixBase&)
+  */
+template<typename Derived>
+template<typename OtherDerived>
+const typename LazyProductReturnType<Derived,OtherDerived>::Type
+MatrixBase<Derived>::lazyProduct(const MatrixBase<OtherDerived> &other) const
+{
+  enum {
+    ProductIsValid =  Derived::ColsAtCompileTime==Dynamic
+                   || OtherDerived::RowsAtCompileTime==Dynamic
+                   || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime),
+    AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime,
+    SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived)
+  };
+  // note to the lost user:
+  //    * for a dot product use: v1.dot(v2)
+  //    * for a coeff-wise product use: v1.cwiseProduct(v2)
+  EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
+    INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
+  EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
+    INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
+  EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
+
+  return typename LazyProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+}
+
+#endif // EIGEN_PRODUCT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ProductBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ProductBase.h
new file mode 100755
index 0000000..3bd3487
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ProductBase.h
@@ -0,0 +1,288 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PRODUCTBASE_H
+#define EIGEN_PRODUCTBASE_H
+
+/** \class ProductBase
+  * \ingroup Core_Module
+  *
+  */
+
+namespace internal {
+template<typename Derived, typename _Lhs, typename _Rhs>
+struct traits<ProductBase<Derived,_Lhs,_Rhs> >
+{
+  typedef MatrixXpr XprKind;
+  typedef typename remove_all<_Lhs>::type Lhs;
+  typedef typename remove_all<_Rhs>::type Rhs;
+  typedef typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType Scalar;
+  typedef typename promote_storage_type<typename traits<Lhs>::StorageKind,
+                                           typename traits<Rhs>::StorageKind>::ret StorageKind;
+  typedef typename promote_index_type<typename traits<Lhs>::Index,
+                                         typename traits<Rhs>::Index>::type Index;
+  enum {
+    RowsAtCompileTime = traits<Lhs>::RowsAtCompileTime,
+    ColsAtCompileTime = traits<Rhs>::ColsAtCompileTime,
+    MaxRowsAtCompileTime = traits<Lhs>::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = traits<Rhs>::MaxColsAtCompileTime,
+    Flags = (MaxRowsAtCompileTime==1 ? RowMajorBit : 0)
+          | EvalBeforeNestingBit | EvalBeforeAssigningBit | NestByRefBit,
+                  // Note that EvalBeforeNestingBit and NestByRefBit
+                  // are not used in practice because nested is overloaded for products
+    CoeffReadCost = 0 // FIXME why is it needed ?
+  };
+};
+}
+
+#define EIGEN_PRODUCT_PUBLIC_INTERFACE(Derived) \
+  typedef ProductBase<Derived, Lhs, Rhs > Base; \
+  EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
+  typedef typename Base::LhsNested LhsNested; \
+  typedef typename Base::_LhsNested _LhsNested; \
+  typedef typename Base::LhsBlasTraits LhsBlasTraits; \
+  typedef typename Base::ActualLhsType ActualLhsType; \
+  typedef typename Base::_ActualLhsType _ActualLhsType; \
+  typedef typename Base::RhsNested RhsNested; \
+  typedef typename Base::_RhsNested _RhsNested; \
+  typedef typename Base::RhsBlasTraits RhsBlasTraits; \
+  typedef typename Base::ActualRhsType ActualRhsType; \
+  typedef typename Base::_ActualRhsType _ActualRhsType; \
+  using Base::m_lhs; \
+  using Base::m_rhs;
+
+template<typename Derived, typename Lhs, typename Rhs>
+class ProductBase : public MatrixBase<Derived>
+{
+  public:
+    typedef MatrixBase<Derived> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(ProductBase)
+    
+    typedef typename Lhs::Nested LhsNested;
+    typedef typename internal::remove_all<LhsNested>::type _LhsNested;
+    typedef internal::blas_traits<_LhsNested> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef typename internal::remove_all<ActualLhsType>::type _ActualLhsType;
+    typedef typename internal::traits<Lhs>::Scalar LhsScalar;
+
+    typedef typename Rhs::Nested RhsNested;
+    typedef typename internal::remove_all<RhsNested>::type _RhsNested;
+    typedef internal::blas_traits<_RhsNested> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+    typedef typename internal::remove_all<ActualRhsType>::type _ActualRhsType;
+    typedef typename internal::traits<Rhs>::Scalar RhsScalar;
+
+    // Diagonal of a product: no need to evaluate the arguments because they are going to be evaluated only once
+    typedef CoeffBasedProduct<LhsNested, RhsNested, 0> FullyLazyCoeffBaseProductType;
+
+  public:
+
+    typedef typename Base::PlainObject PlainObject;
+
+    ProductBase(const Lhs& lhs, const Rhs& rhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      eigen_assert(lhs.cols() == rhs.rows()
+        && "invalid matrix product"
+        && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
+    }
+
+    inline Index rows() const { return m_lhs.rows(); }
+    inline Index cols() const { return m_rhs.cols(); }
+
+    template<typename Dest>
+    inline void evalTo(Dest& dst) const { dst.setZero(); scaleAndAddTo(dst,Scalar(1)); }
+
+    template<typename Dest>
+    inline void addTo(Dest& dst) const { scaleAndAddTo(dst,1); }
+
+    template<typename Dest>
+    inline void subTo(Dest& dst) const { scaleAndAddTo(dst,-1); }
+
+    template<typename Dest>
+    inline void scaleAndAddTo(Dest& dst,Scalar alpha) const { derived().scaleAndAddTo(dst,alpha); }
+
+    const _LhsNested& lhs() const { return m_lhs; }
+    const _RhsNested& rhs() const { return m_rhs; }
+
+    // Implicit conversion to the nested type (trigger the evaluation of the product)
+    operator const PlainObject& () const
+    {
+      m_result.resize(m_lhs.rows(), m_rhs.cols());
+      derived().evalTo(m_result);
+      return m_result;
+    }
+
+    const Diagonal<const FullyLazyCoeffBaseProductType,0> diagonal() const
+    { return FullyLazyCoeffBaseProductType(m_lhs, m_rhs); }
+
+    template<int Index>
+    const Diagonal<FullyLazyCoeffBaseProductType,Index> diagonal() const
+    { return FullyLazyCoeffBaseProductType(m_lhs, m_rhs); }
+
+    const Diagonal<FullyLazyCoeffBaseProductType,Dynamic> diagonal(Index index) const
+    { return FullyLazyCoeffBaseProductType(m_lhs, m_rhs).diagonal(index); }
+
+    // restrict coeff accessors to 1x1 expressions. No need to care about mutators here since this isnt a Lvalue expression
+    typename Base::CoeffReturnType coeff(Index row, Index col) const
+    {
+#ifdef EIGEN2_SUPPORT
+      return lhs().row(row).cwiseProduct(rhs().col(col).transpose()).sum();
+#else
+      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+      eigen_assert(this->rows() == 1 && this->cols() == 1);
+      return derived().coeff(row,col);
+#endif
+    }
+
+    typename Base::CoeffReturnType coeff(Index i) const
+    {
+      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+      eigen_assert(this->rows() == 1 && this->cols() == 1);
+      return derived().coeff(i);
+    }
+
+    const Scalar& coeffRef(Index row, Index col) const
+    {
+      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+      eigen_assert(this->rows() == 1 && this->cols() == 1);
+      return derived().coeffRef(row,col);
+    }
+
+    const Scalar& coeffRef(Index i) const
+    {
+      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+      eigen_assert(this->rows() == 1 && this->cols() == 1);
+      return derived().coeffRef(i);
+    }
+
+  protected:
+
+    const LhsNested m_lhs;
+    const RhsNested m_rhs;
+
+    mutable PlainObject m_result;
+};
+
+// here we need to overload the nested rule for products
+// such that the nested type is a const reference to a plain matrix
+namespace internal {
+template<typename Lhs, typename Rhs, int Mode, int N, typename PlainObject>
+struct nested<GeneralProduct<Lhs,Rhs,Mode>, N, PlainObject>
+{
+  typedef PlainObject const& type;
+};
+}
+
+template<typename NestedProduct>
+class ScaledProduct;
+
+// Note that these two operator* functions are not defined as member
+// functions of ProductBase, because, otherwise we would have to
+// define all overloads defined in MatrixBase. Furthermore, Using
+// "using Base::operator*" would not work with MSVC.
+//
+// Also note that here we accept any compatible scalar types
+template<typename Derived,typename Lhs,typename Rhs>
+const ScaledProduct<Derived>
+operator*(const ProductBase<Derived,Lhs,Rhs>& prod, typename Derived::Scalar x)
+{ return ScaledProduct<Derived>(prod.derived(), x); }
+
+template<typename Derived,typename Lhs,typename Rhs>
+typename internal::enable_if<!internal::is_same<typename Derived::Scalar,typename Derived::RealScalar>::value,
+                      const ScaledProduct<Derived> >::type
+operator*(const ProductBase<Derived,Lhs,Rhs>& prod, typename Derived::RealScalar x)
+{ return ScaledProduct<Derived>(prod.derived(), x); }
+
+
+template<typename Derived,typename Lhs,typename Rhs>
+const ScaledProduct<Derived>
+operator*(typename Derived::Scalar x,const ProductBase<Derived,Lhs,Rhs>& prod)
+{ return ScaledProduct<Derived>(prod.derived(), x); }
+
+template<typename Derived,typename Lhs,typename Rhs>
+typename internal::enable_if<!internal::is_same<typename Derived::Scalar,typename Derived::RealScalar>::value,
+                      const ScaledProduct<Derived> >::type
+operator*(typename Derived::RealScalar x,const ProductBase<Derived,Lhs,Rhs>& prod)
+{ return ScaledProduct<Derived>(prod.derived(), x); }
+
+namespace internal {
+template<typename NestedProduct>
+struct traits<ScaledProduct<NestedProduct> >
+ : traits<ProductBase<ScaledProduct<NestedProduct>,
+                         typename NestedProduct::_LhsNested,
+                         typename NestedProduct::_RhsNested> >
+{
+  typedef typename traits<NestedProduct>::StorageKind StorageKind;
+};
+}
+
+template<typename NestedProduct>
+class ScaledProduct
+  : public ProductBase<ScaledProduct<NestedProduct>,
+                       typename NestedProduct::_LhsNested,
+                       typename NestedProduct::_RhsNested>
+{
+  public:
+    typedef ProductBase<ScaledProduct<NestedProduct>,
+                       typename NestedProduct::_LhsNested,
+                       typename NestedProduct::_RhsNested> Base;
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::PlainObject PlainObject;
+//     EIGEN_PRODUCT_PUBLIC_INTERFACE(ScaledProduct)
+
+    ScaledProduct(const NestedProduct& prod, Scalar x)
+    : Base(prod.lhs(),prod.rhs()), m_prod(prod), m_alpha(x) {}
+
+    template<typename Dest>
+    inline void evalTo(Dest& dst) const { dst.setZero(); scaleAndAddTo(dst,m_alpha); }
+
+    template<typename Dest>
+    inline void addTo(Dest& dst) const { scaleAndAddTo(dst,m_alpha); }
+
+    template<typename Dest>
+    inline void subTo(Dest& dst) const { scaleAndAddTo(dst,-m_alpha); }
+
+    template<typename Dest>
+    inline void scaleAndAddTo(Dest& dst,Scalar alpha) const { m_prod.derived().scaleAndAddTo(dst,alpha); }
+
+    const Scalar& alpha() const { return m_alpha; }
+    
+  protected:
+    const NestedProduct& m_prod;
+    Scalar m_alpha;
+};
+
+/** \internal
+  * Overloaded to perform an efficient C = (A*B).lazy() */
+template<typename Derived>
+template<typename ProductDerived, typename Lhs, typename Rhs>
+Derived& MatrixBase<Derived>::lazyAssign(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+{
+  other.derived().evalTo(derived());
+  return derived();
+}
+
+
+#endif // EIGEN_PRODUCTBASE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Random.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Random.h
new file mode 100755
index 0000000..b7d9010
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Random.h
@@ -0,0 +1,163 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_RANDOM_H
+#define EIGEN_RANDOM_H
+
+namespace internal {
+
+template<typename Scalar> struct scalar_random_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_random_op)
+  template<typename Index>
+  inline const Scalar operator() (Index, Index = 0) const { return random<Scalar>(); }
+};
+
+template<typename Scalar>
+struct functor_traits<scalar_random_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false, IsRepeatable = false }; };
+
+} // end namespace internal
+
+/** \returns a random matrix expression
+  *
+  * The parameters \a rows and \a cols are the number of rows and of columns of
+  * the returned matrix. Must be compatible with this MatrixBase type.
+  *
+  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+  * it is redundant to pass \a rows and \a cols as arguments, so Random() should be used
+  * instead.
+  *
+  * Example: \include MatrixBase_random_int_int.cpp
+  * Output: \verbinclude MatrixBase_random_int_int.out
+  *
+  * This expression has the "evaluate before nesting" flag so that it will be evaluated into
+  * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
+  * behavior with expressions involving random matrices.
+  *
+  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index), MatrixBase::Random()
+  */
+template<typename Derived>
+inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+DenseBase<Derived>::Random(Index rows, Index cols)
+{
+  return NullaryExpr(rows, cols, internal::scalar_random_op<Scalar>());
+}
+
+/** \returns a random vector expression
+  *
+  * The parameter \a size is the size of the returned vector.
+  * Must be compatible with this MatrixBase type.
+  *
+  * \only_for_vectors
+  *
+  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
+  * it is redundant to pass \a size as argument, so Random() should be used
+  * instead.
+  *
+  * Example: \include MatrixBase_random_int.cpp
+  * Output: \verbinclude MatrixBase_random_int.out
+  *
+  * This expression has the "evaluate before nesting" flag so that it will be evaluated into
+  * a temporary vector whenever it is nested in a larger expression. This prevents unexpected
+  * behavior with expressions involving random matrices.
+  *
+  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index,Index), MatrixBase::Random()
+  */
+template<typename Derived>
+inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+DenseBase<Derived>::Random(Index size)
+{
+  return NullaryExpr(size, internal::scalar_random_op<Scalar>());
+}
+
+/** \returns a fixed-size random matrix or vector expression
+  *
+  * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
+  * need to use the variants taking size arguments.
+  *
+  * Example: \include MatrixBase_random.cpp
+  * Output: \verbinclude MatrixBase_random.out
+  *
+  * This expression has the "evaluate before nesting" flag so that it will be evaluated into
+  * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
+  * behavior with expressions involving random matrices.
+  *
+  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index,Index), MatrixBase::Random(Index)
+  */
+template<typename Derived>
+inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+DenseBase<Derived>::Random()
+{
+  return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_random_op<Scalar>());
+}
+
+/** Sets all coefficients in this expression to random values.
+  *
+  * Example: \include MatrixBase_setRandom.cpp
+  * Output: \verbinclude MatrixBase_setRandom.out
+  *
+  * \sa class CwiseNullaryOp, setRandom(Index), setRandom(Index,Index)
+  */
+template<typename Derived>
+inline Derived& DenseBase<Derived>::setRandom()
+{
+  return *this = Random(rows(), cols());
+}
+
+/** Resizes to the given \a size, and sets all coefficients in this expression to random values.
+  *
+  * \only_for_vectors
+  *
+  * Example: \include Matrix_setRandom_int.cpp
+  * Output: \verbinclude Matrix_setRandom_int.out
+  *
+  * \sa MatrixBase::setRandom(), setRandom(Index,Index), class CwiseNullaryOp, MatrixBase::Random()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setRandom(Index size)
+{
+  resize(size);
+  return setRandom();
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to random values.
+  *
+  * \param rows the new number of rows
+  * \param cols the new number of columns
+  *
+  * Example: \include Matrix_setRandom_int_int.cpp
+  * Output: \verbinclude Matrix_setRandom_int_int.out
+  *
+  * \sa MatrixBase::setRandom(), setRandom(Index), class CwiseNullaryOp, MatrixBase::Random()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setRandom(Index rows, Index cols)
+{
+  resize(rows, cols);
+  return setRandom();
+}
+
+#endif // EIGEN_RANDOM_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Redux.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Redux.h
new file mode 100755
index 0000000..f9f5a95
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Redux.h
@@ -0,0 +1,404 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_REDUX_H
+#define EIGEN_REDUX_H
+
+namespace internal {
+
+// TODO
+//  * implement other kind of vectorization
+//  * factorize code
+
+/***************************************************************************
+* Part 1 : the logic deciding a strategy for vectorization and unrolling
+***************************************************************************/
+
+template<typename Func, typename Derived>
+struct redux_traits
+{
+public:
+  enum {
+    PacketSize = packet_traits<typename Derived::Scalar>::size,
+    InnerMaxSize = int(Derived::IsRowMajor)
+                 ? Derived::MaxColsAtCompileTime
+                 : Derived::MaxRowsAtCompileTime
+  };
+
+  enum {
+    MightVectorize = (int(Derived::Flags)&ActualPacketAccessBit)
+                  && (functor_traits<Func>::PacketAccess),
+    MayLinearVectorize = MightVectorize && (int(Derived::Flags)&LinearAccessBit),
+    MaySliceVectorize  = MightVectorize && int(InnerMaxSize)>=3*PacketSize
+  };
+
+public:
+  enum {
+    Traversal = int(MayLinearVectorize) ? int(LinearVectorizedTraversal)
+              : int(MaySliceVectorize)  ? int(SliceVectorizedTraversal)
+                                        : int(DefaultTraversal)
+  };
+
+public:
+  enum {
+    Cost = (  Derived::SizeAtCompileTime == Dynamic
+           || Derived::CoeffReadCost == Dynamic
+           || (Derived::SizeAtCompileTime!=1 && functor_traits<Func>::Cost == Dynamic)
+           ) ? Dynamic
+           : Derived::SizeAtCompileTime * Derived::CoeffReadCost
+               + (Derived::SizeAtCompileTime-1) * functor_traits<Func>::Cost,
+    UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Traversal) == int(DefaultTraversal) ? 1 : int(PacketSize))
+  };
+
+public:
+  enum {
+    Unrolling = Cost != Dynamic && Cost <= UnrollingLimit
+              ? CompleteUnrolling
+              : NoUnrolling
+  };
+};
+
+/***************************************************************************
+* Part 2 : unrollers
+***************************************************************************/
+
+/*** no vectorization ***/
+
+template<typename Func, typename Derived, int Start, int Length>
+struct redux_novec_unroller
+{
+  enum {
+    HalfLength = Length/2
+  };
+
+  typedef typename Derived::Scalar Scalar;
+
+  EIGEN_STRONG_INLINE static Scalar run(const Derived &mat, const Func& func)
+  {
+    return func(redux_novec_unroller<Func, Derived, Start, HalfLength>::run(mat,func),
+                redux_novec_unroller<Func, Derived, Start+HalfLength, Length-HalfLength>::run(mat,func));
+  }
+};
+
+template<typename Func, typename Derived, int Start>
+struct redux_novec_unroller<Func, Derived, Start, 1>
+{
+  enum {
+    outer = Start / Derived::InnerSizeAtCompileTime,
+    inner = Start % Derived::InnerSizeAtCompileTime
+  };
+
+  typedef typename Derived::Scalar Scalar;
+
+  EIGEN_STRONG_INLINE static Scalar run(const Derived &mat, const Func&)
+  {
+    return mat.coeffByOuterInner(outer, inner);
+  }
+};
+
+// This is actually dead code and will never be called. It is required
+// to prevent false warnings regarding failed inlining though
+// for 0 length run() will never be called at all.
+template<typename Func, typename Derived, int Start>
+struct redux_novec_unroller<Func, Derived, Start, 0>
+{
+  typedef typename Derived::Scalar Scalar;
+  EIGEN_STRONG_INLINE static Scalar run(const Derived&, const Func&) { return Scalar(); }
+};
+
+/*** vectorization ***/
+
+template<typename Func, typename Derived, int Start, int Length>
+struct redux_vec_unroller
+{
+  enum {
+    PacketSize = packet_traits<typename Derived::Scalar>::size,
+    HalfLength = Length/2
+  };
+
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+
+  EIGEN_STRONG_INLINE static PacketScalar run(const Derived &mat, const Func& func)
+  {
+    return func.packetOp(
+            redux_vec_unroller<Func, Derived, Start, HalfLength>::run(mat,func),
+            redux_vec_unroller<Func, Derived, Start+HalfLength, Length-HalfLength>::run(mat,func) );
+  }
+};
+
+template<typename Func, typename Derived, int Start>
+struct redux_vec_unroller<Func, Derived, Start, 1>
+{
+  enum {
+    index = Start * packet_traits<typename Derived::Scalar>::size,
+    outer = index / int(Derived::InnerSizeAtCompileTime),
+    inner = index % int(Derived::InnerSizeAtCompileTime),
+    alignment = (Derived::Flags & AlignedBit) ? Aligned : Unaligned
+  };
+
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+
+  EIGEN_STRONG_INLINE static PacketScalar run(const Derived &mat, const Func&)
+  {
+    return mat.template packetByOuterInner<alignment>(outer, inner);
+  }
+};
+
+/***************************************************************************
+* Part 3 : implementation of all cases
+***************************************************************************/
+
+template<typename Func, typename Derived,
+         int Traversal = redux_traits<Func, Derived>::Traversal,
+         int Unrolling = redux_traits<Func, Derived>::Unrolling
+>
+struct redux_impl;
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename Derived::Index Index;
+  static EIGEN_STRONG_INLINE Scalar run(const Derived& mat, const Func& func)
+  {
+    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+    Scalar res;
+    res = mat.coeffByOuterInner(0, 0);
+    for(Index i = 1; i < mat.innerSize(); ++i)
+      res = func(res, mat.coeffByOuterInner(0, i));
+    for(Index i = 1; i < mat.outerSize(); ++i)
+      for(Index j = 0; j < mat.innerSize(); ++j)
+        res = func(res, mat.coeffByOuterInner(i, j));
+    return res;
+  }
+};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func,Derived, DefaultTraversal, CompleteUnrolling>
+  : public redux_novec_unroller<Func,Derived, 0, Derived::SizeAtCompileTime>
+{};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+  typedef typename Derived::Index Index;
+
+  static Scalar run(const Derived& mat, const Func& func)
+  {
+    const Index size = mat.size();
+    eigen_assert(size && "you are using an empty matrix");
+    const Index packetSize = packet_traits<Scalar>::size;
+    const Index alignedStart = first_aligned(mat);
+    enum {
+      alignment = bool(Derived::Flags & DirectAccessBit) || bool(Derived::Flags & AlignedBit)
+                ? Aligned : Unaligned
+    };
+    const Index alignedSize = ((size-alignedStart)/packetSize)*packetSize;
+    const Index alignedEnd = alignedStart + alignedSize;
+    Scalar res;
+    if(alignedSize)
+    {
+      PacketScalar packet_res = mat.template packet<alignment>(alignedStart);
+      for(Index index = alignedStart + packetSize; index < alignedEnd; index += packetSize)
+        packet_res = func.packetOp(packet_res, mat.template packet<alignment>(index));
+      res = func.predux(packet_res);
+
+      for(Index index = 0; index < alignedStart; ++index)
+        res = func(res,mat.coeff(index));
+
+      for(Index index = alignedEnd; index < size; ++index)
+        res = func(res,mat.coeff(index));
+    }
+    else // too small to vectorize anything.
+         // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
+    {
+      res = mat.coeff(0);
+      for(Index index = 1; index < size; ++index)
+        res = func(res,mat.coeff(index));
+    }
+
+    return res;
+  }
+};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, SliceVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+  typedef typename Derived::Index Index;
+
+  static Scalar run(const Derived& mat, const Func& func)
+  {
+    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+    const Index innerSize = mat.innerSize();
+    const Index outerSize = mat.outerSize();
+    enum {
+      packetSize = packet_traits<Scalar>::size
+    };
+    const Index packetedInnerSize = ((innerSize)/packetSize)*packetSize;
+    Scalar res;
+    if(packetedInnerSize)
+    {
+      PacketScalar packet_res = mat.template packet<Unaligned>(0,0);
+      for(Index j=0; j<outerSize; ++j)
+        for(Index i=(j==0?packetSize:0); i<packetedInnerSize; i+=Index(packetSize))
+          packet_res = func.packetOp(packet_res, mat.template packetByOuterInner<Unaligned>(j,i));
+
+      res = func.predux(packet_res);
+      for(Index j=0; j<outerSize; ++j)
+        for(Index i=packetedInnerSize; i<innerSize; ++i)
+          res = func(res, mat.coeffByOuterInner(j,i));
+    }
+    else // too small to vectorize anything.
+         // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
+    {
+      res = redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>::run(mat, func);
+    }
+
+    return res;
+  }
+};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, LinearVectorizedTraversal, CompleteUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+  enum {
+    PacketSize = packet_traits<Scalar>::size,
+    Size = Derived::SizeAtCompileTime,
+    VectorizedSize = (Size / PacketSize) * PacketSize
+  };
+  EIGEN_STRONG_INLINE static Scalar run(const Derived& mat, const Func& func)
+  {
+    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+    Scalar res = func.predux(redux_vec_unroller<Func, Derived, 0, Size / PacketSize>::run(mat,func));
+    if (VectorizedSize != Size)
+      res = func(res,redux_novec_unroller<Func, Derived, VectorizedSize, Size-VectorizedSize>::run(mat,func));
+    return res;
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Part 4 : public API
+***************************************************************************/
+
+
+/** \returns the result of a full redux operation on the whole matrix or vector using \a func
+  *
+  * The template parameter \a BinaryOp is the type of the functor \a func which must be
+  * an associative operator. Both current STL and TR1 functor styles are handled.
+  *
+  * \sa DenseBase::sum(), DenseBase::minCoeff(), DenseBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise()
+  */
+template<typename Derived>
+template<typename Func>
+EIGEN_STRONG_INLINE typename internal::result_of<Func(typename internal::traits<Derived>::Scalar)>::type
+DenseBase<Derived>::redux(const Func& func) const
+{
+  typedef typename internal::remove_all<typename Derived::Nested>::type ThisNested;
+  return internal::redux_impl<Func, ThisNested>
+            ::run(derived(), func);
+}
+
+/** \returns the minimum of all coefficients of *this
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::minCoeff() const
+{
+  return this->redux(Eigen::internal::scalar_min_op<Scalar>());
+}
+
+/** \returns the maximum of all coefficients of *this
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::maxCoeff() const
+{
+  return this->redux(Eigen::internal::scalar_max_op<Scalar>());
+}
+
+/** \returns the sum of all coefficients of *this
+  *
+  * \sa trace(), prod(), mean()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::sum() const
+{
+  if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
+    return Scalar(0);
+  return this->redux(Eigen::internal::scalar_sum_op<Scalar>());
+}
+
+/** \returns the mean of all coefficients of *this
+*
+* \sa trace(), prod(), sum()
+*/
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::mean() const
+{
+  return Scalar(this->redux(Eigen::internal::scalar_sum_op<Scalar>())) / Scalar(this->size());
+}
+
+/** \returns the product of all coefficients of *this
+  *
+  * Example: \include MatrixBase_prod.cpp
+  * Output: \verbinclude MatrixBase_prod.out
+  *
+  * \sa sum(), mean(), trace()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::prod() const
+{
+  if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
+    return Scalar(1);
+  return this->redux(Eigen::internal::scalar_product_op<Scalar>());
+}
+
+/** \returns the trace of \c *this, i.e. the sum of the coefficients on the main diagonal.
+  *
+  * \c *this can be any matrix, not necessarily square.
+  *
+  * \sa diagonal(), sum()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+MatrixBase<Derived>::trace() const
+{
+  return derived().diagonal().sum();
+}
+
+#endif // EIGEN_REDUX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Replicate.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Replicate.h
new file mode 100755
index 0000000..d2f9712
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Replicate.h
@@ -0,0 +1,179 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_REPLICATE_H
+#define EIGEN_REPLICATE_H
+
+/**
+  * \class Replicate
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the multiple replication of a matrix or vector
+  *
+  * \param MatrixType the type of the object we are replicating
+  *
+  * This class represents an expression of the multiple replication of a matrix or vector.
+  * It is the return type of DenseBase::replicate() and most of the time
+  * this is the only way it is used.
+  *
+  * \sa DenseBase::replicate()
+  */
+
+namespace internal {
+template<typename MatrixType,int RowFactor,int ColFactor>
+struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
+ : traits<MatrixType>
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef typename traits<MatrixType>::XprKind XprKind;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+  enum {
+    RowsAtCompileTime = RowFactor==Dynamic || int(MatrixType::RowsAtCompileTime)==Dynamic
+                      ? Dynamic
+                      : RowFactor * MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = ColFactor==Dynamic || int(MatrixType::ColsAtCompileTime)==Dynamic
+                      ? Dynamic
+                      : ColFactor * MatrixType::ColsAtCompileTime,
+   //FIXME we don't propagate the max sizes !!!
+    MaxRowsAtCompileTime = RowsAtCompileTime,
+    MaxColsAtCompileTime = ColsAtCompileTime,
+    IsRowMajor = MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1 ? 1
+               : MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1 ? 0
+               : (MatrixType::Flags & RowMajorBit) ? 1 : 0,
+    Flags = (_MatrixTypeNested::Flags & HereditaryBits & ~RowMajorBit) | (IsRowMajor ? RowMajorBit : 0),
+    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+  };
+};
+}
+
+template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
+  : public internal::dense_xpr_base< Replicate<MatrixType,RowFactor,ColFactor> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Replicate>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Replicate)
+
+    template<typename OriginalMatrixType>
+    inline explicit Replicate(const OriginalMatrixType& matrix)
+      : m_matrix(matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor)
+    {
+      EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
+                          THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
+      eigen_assert(RowFactor!=Dynamic && ColFactor!=Dynamic);
+    }
+
+    template<typename OriginalMatrixType>
+    inline Replicate(const OriginalMatrixType& matrix, int rowFactor, int colFactor)
+      : m_matrix(matrix), m_rowFactor(rowFactor), m_colFactor(colFactor)
+    {
+      EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
+                          THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
+    }
+
+    inline Index rows() const { return m_matrix.rows() * m_rowFactor.value(); }
+    inline Index cols() const { return m_matrix.cols() * m_colFactor.value(); }
+
+    inline Scalar coeff(Index row, Index col) const
+    {
+      // try to avoid using modulo; this is a pure optimization strategy
+      const Index actual_row  = internal::traits<MatrixType>::RowsAtCompileTime==1 ? 0
+                            : RowFactor==1 ? row
+                            : row%m_matrix.rows();
+      const Index actual_col  = internal::traits<MatrixType>::ColsAtCompileTime==1 ? 0
+                            : ColFactor==1 ? col
+                            : col%m_matrix.cols();
+
+      return m_matrix.coeff(actual_row, actual_col);
+    }
+    template<int LoadMode>
+    inline PacketScalar packet(Index row, Index col) const
+    {
+      const Index actual_row  = internal::traits<MatrixType>::RowsAtCompileTime==1 ? 0
+                            : RowFactor==1 ? row
+                            : row%m_matrix.rows();
+      const Index actual_col  = internal::traits<MatrixType>::ColsAtCompileTime==1 ? 0
+                            : ColFactor==1 ? col
+                            : col%m_matrix.cols();
+
+      return m_matrix.template packet<LoadMode>(actual_row, actual_col);
+    }
+
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+    const internal::variable_if_dynamic<Index, RowFactor> m_rowFactor;
+    const internal::variable_if_dynamic<Index, ColFactor> m_colFactor;
+};
+
+/**
+  * \return an expression of the replication of \c *this
+  *
+  * Example: \include MatrixBase_replicate.cpp
+  * Output: \verbinclude MatrixBase_replicate.out
+  *
+  * \sa VectorwiseOp::replicate(), DenseBase::replicate(Index,Index), class Replicate
+  */
+template<typename Derived>
+template<int RowFactor, int ColFactor>
+inline const Replicate<Derived,RowFactor,ColFactor>
+DenseBase<Derived>::replicate() const
+{
+  return Replicate<Derived,RowFactor,ColFactor>(derived());
+}
+
+/**
+  * \return an expression of the replication of \c *this
+  *
+  * Example: \include MatrixBase_replicate_int_int.cpp
+  * Output: \verbinclude MatrixBase_replicate_int_int.out
+  *
+  * \sa VectorwiseOp::replicate(), DenseBase::replicate<int,int>(), class Replicate
+  */
+template<typename Derived>
+inline const Replicate<Derived,Dynamic,Dynamic>
+DenseBase<Derived>::replicate(Index rowFactor,Index colFactor) const
+{
+  return Replicate<Derived,Dynamic,Dynamic>(derived(),rowFactor,colFactor);
+}
+
+/**
+  * \return an expression of the replication of each column (or row) of \c *this
+  *
+  * Example: \include DirectionWise_replicate_int.cpp
+  * Output: \verbinclude DirectionWise_replicate_int.out
+  *
+  * \sa VectorwiseOp::replicate(), DenseBase::replicate(), class Replicate
+  */
+template<typename ExpressionType, int Direction>
+const typename VectorwiseOp<ExpressionType,Direction>::ReplicateReturnType
+VectorwiseOp<ExpressionType,Direction>::replicate(Index factor) const
+{
+  return typename VectorwiseOp<ExpressionType,Direction>::ReplicateReturnType
+          (_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1);
+}
+
+#endif // EIGEN_REPLICATE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ReturnByValue.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ReturnByValue.h
new file mode 100755
index 0000000..24c5a4e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/ReturnByValue.h
@@ -0,0 +1,99 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_RETURNBYVALUE_H
+#define EIGEN_RETURNBYVALUE_H
+
+/** \class ReturnByValue
+  * \ingroup Core_Module
+  *
+  */
+
+namespace internal {
+
+template<typename Derived>
+struct traits<ReturnByValue<Derived> >
+  : public traits<typename traits<Derived>::ReturnType>
+{
+  enum {
+    // We're disabling the DirectAccess because e.g. the constructor of
+    // the Block-with-DirectAccess expression requires to have a coeffRef method.
+    // Also, we don't want to have to implement the stride stuff.
+    Flags = (traits<typename traits<Derived>::ReturnType>::Flags
+             | EvalBeforeNestingBit) & ~DirectAccessBit
+  };
+};
+
+/* The ReturnByValue object doesn't even have a coeff() method.
+ * So the only way that nesting it in an expression can work, is by evaluating it into a plain matrix.
+ * So internal::nested always gives the plain return matrix type.
+ *
+ * FIXME: I don't understand why we need this specialization: isn't this taken care of by the EvalBeforeNestingBit ??
+ */
+template<typename Derived,int n,typename PlainObject>
+struct nested<ReturnByValue<Derived>, n, PlainObject>
+{
+  typedef typename traits<Derived>::ReturnType type;
+};
+
+} // end namespace internal
+
+template<typename Derived> class ReturnByValue
+  : public internal::dense_xpr_base< ReturnByValue<Derived> >::type
+{
+  public:
+    typedef typename internal::traits<Derived>::ReturnType ReturnType;
+
+    typedef typename internal::dense_xpr_base<ReturnByValue>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(ReturnByValue)
+
+    template<typename Dest>
+    inline void evalTo(Dest& dst) const
+    { static_cast<const Derived*>(this)->evalTo(dst); }
+    inline Index rows() const { return static_cast<const Derived*>(this)->rows(); }
+    inline Index cols() const { return static_cast<const Derived*>(this)->cols(); }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+#define Unusable YOU_ARE_TRYING_TO_ACCESS_A_SINGLE_COEFFICIENT_IN_A_SPECIAL_EXPRESSION_WHERE_THAT_IS_NOT_ALLOWED_BECAUSE_THAT_WOULD_BE_INEFFICIENT
+    class Unusable{
+      Unusable(const Unusable&) {}
+      Unusable& operator=(const Unusable&) {return *this;}
+    };
+    const Unusable& coeff(Index) const { return *reinterpret_cast<const Unusable*>(this); }
+    const Unusable& coeff(Index,Index) const { return *reinterpret_cast<const Unusable*>(this); }
+    Unusable& coeffRef(Index) { return *reinterpret_cast<Unusable*>(this); }
+    Unusable& coeffRef(Index,Index) { return *reinterpret_cast<Unusable*>(this); }
+#endif
+};
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& DenseBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
+{
+  other.evalTo(derived());
+  return derived();
+}
+
+#endif // EIGEN_RETURNBYVALUE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Reverse.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Reverse.h
new file mode 100755
index 0000000..600744a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Reverse.h
@@ -0,0 +1,230 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Ricard Marxer <email@ricardmarxer.com>
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_REVERSE_H
+#define EIGEN_REVERSE_H
+
+/** \class Reverse
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the reverse of a vector or matrix
+  *
+  * \param MatrixType the type of the object of which we are taking the reverse
+  *
+  * This class represents an expression of the reverse of a vector.
+  * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::reverse(), VectorwiseOp::reverse()
+  */
+
+namespace internal {
+
+template<typename MatrixType, int Direction>
+struct traits<Reverse<MatrixType, Direction> >
+ : traits<MatrixType>
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef typename traits<MatrixType>::XprKind XprKind;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+  enum {
+    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+
+    // let's enable LinearAccess only with vectorization because of the product overhead
+    LinearAccess = ( (Direction==BothDirections) && (int(_MatrixTypeNested::Flags)&PacketAccessBit) )
+                 ? LinearAccessBit : 0,
+
+    Flags = int(_MatrixTypeNested::Flags) & (HereditaryBits | LvalueBit | PacketAccessBit | LinearAccess),
+
+    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+  };
+};
+
+template<typename PacketScalar, bool ReversePacket> struct reverse_packet_cond
+{
+  static inline PacketScalar run(const PacketScalar& x) { return preverse(x); }
+};
+
+template<typename PacketScalar> struct reverse_packet_cond<PacketScalar,false>
+{
+  static inline PacketScalar run(const PacketScalar& x) { return x; }
+};
+
+} // end namespace internal 
+
+template<typename MatrixType, int Direction> class Reverse
+  : public internal::dense_xpr_base< Reverse<MatrixType, Direction> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Reverse>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Reverse)
+    using Base::IsRowMajor;
+
+    // next line is necessary because otherwise const version of operator()
+    // is hidden by non-const version defined in this file
+    using Base::operator(); 
+
+  protected:
+    enum {
+      PacketSize = internal::packet_traits<Scalar>::size,
+      IsColMajor = !IsRowMajor,
+      ReverseRow = (Direction == Vertical)   || (Direction == BothDirections),
+      ReverseCol = (Direction == Horizontal) || (Direction == BothDirections),
+      OffsetRow  = ReverseRow && IsColMajor ? PacketSize : 1,
+      OffsetCol  = ReverseCol && IsRowMajor ? PacketSize : 1,
+      ReversePacket = (Direction == BothDirections)
+                    || ((Direction == Vertical)   && IsColMajor)
+                    || ((Direction == Horizontal) && IsRowMajor)
+    };
+    typedef internal::reverse_packet_cond<PacketScalar,ReversePacket> reverse_packet;
+  public:
+
+    inline Reverse(const MatrixType& matrix) : m_matrix(matrix) { }
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reverse)
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+    inline Index innerStride() const
+    {
+      return -m_matrix.innerStride();
+    }
+
+    inline Scalar& operator()(Index row, Index col)
+    {
+      eigen_assert(row >= 0 && row < rows() && col >= 0 && col < cols());
+      return coeffRef(row, col);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_matrix.const_cast_derived().coeffRef(ReverseRow ? m_matrix.rows() - row - 1 : row,
+                                                    ReverseCol ? m_matrix.cols() - col - 1 : col);
+    }
+
+    inline CoeffReturnType coeff(Index row, Index col) const
+    {
+      return m_matrix.coeff(ReverseRow ? m_matrix.rows() - row - 1 : row,
+                            ReverseCol ? m_matrix.cols() - col - 1 : col);
+    }
+
+    inline CoeffReturnType coeff(Index index) const
+    {
+      return m_matrix.coeff(m_matrix.size() - index - 1);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_matrix.const_cast_derived().coeffRef(m_matrix.size() - index - 1);
+    }
+
+    inline Scalar& operator()(Index index)
+    {
+      eigen_assert(index >= 0 && index < m_matrix.size());
+      return coeffRef(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return reverse_packet::run(m_matrix.template packet<LoadMode>(
+                                    ReverseRow ? m_matrix.rows() - row - OffsetRow : row,
+                                    ReverseCol ? m_matrix.cols() - col - OffsetCol : col));
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      m_matrix.const_cast_derived().template writePacket<LoadMode>(
+                                      ReverseRow ? m_matrix.rows() - row - OffsetRow : row,
+                                      ReverseCol ? m_matrix.cols() - col - OffsetCol : col,
+                                      reverse_packet::run(x));
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return internal::preverse(m_matrix.template packet<LoadMode>( m_matrix.size() - index - PacketSize ));
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      m_matrix.const_cast_derived().template writePacket<LoadMode>(m_matrix.size() - index - PacketSize, internal::preverse(x));
+    }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+};
+
+/** \returns an expression of the reverse of *this.
+  *
+  * Example: \include MatrixBase_reverse.cpp
+  * Output: \verbinclude MatrixBase_reverse.out
+  *
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::ReverseReturnType
+DenseBase<Derived>::reverse()
+{
+  return derived();
+}
+
+/** This is the const version of reverse(). */
+template<typename Derived>
+inline const typename DenseBase<Derived>::ConstReverseReturnType
+DenseBase<Derived>::reverse() const
+{
+  return derived();
+}
+
+/** This is the "in place" version of reverse: it reverses \c *this.
+  *
+  * In most cases it is probably better to simply use the reversed expression
+  * of a matrix. However, when reversing the matrix data itself is really needed,
+  * then this "in-place" version is probably the right choice because it provides
+  * the following additional features:
+  *  - less error prone: doing the same operation with .reverse() requires special care:
+  *    \code m = m.reverse().eval(); \endcode
+  *  - this API allows to avoid creating a temporary (the current implementation creates a temporary, but that could be avoided using swap)
+  *  - it allows future optimizations (cache friendliness, etc.)
+  *
+  * \sa reverse() */
+template<typename Derived>
+inline void DenseBase<Derived>::reverseInPlace()
+{
+  derived() = derived().reverse().eval();
+}
+
+
+#endif // EIGEN_REVERSE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Select.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Select.h
new file mode 100755
index 0000000..d0cd66a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Select.h
@@ -0,0 +1,158 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELECT_H
+#define EIGEN_SELECT_H
+
+/** \class Select
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a coefficient wise version of the C++ ternary operator ?:
+  *
+  * \param ConditionMatrixType the type of the \em condition expression which must be a boolean matrix
+  * \param ThenMatrixType the type of the \em then expression
+  * \param ElseMatrixType the type of the \em else expression
+  *
+  * This class represents an expression of a coefficient wise version of the C++ ternary operator ?:.
+  * It is the return type of DenseBase::select() and most of the time this is the only way it is used.
+  *
+  * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const
+  */
+
+namespace internal {
+template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
+struct traits<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+ : traits<ThenMatrixType>
+{
+  typedef typename traits<ThenMatrixType>::Scalar Scalar;
+  typedef Dense StorageKind;
+  typedef typename traits<ThenMatrixType>::XprKind XprKind;
+  typedef typename ConditionMatrixType::Nested ConditionMatrixNested;
+  typedef typename ThenMatrixType::Nested ThenMatrixNested;
+  typedef typename ElseMatrixType::Nested ElseMatrixNested;
+  enum {
+    RowsAtCompileTime = ConditionMatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = ConditionMatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = ConditionMatrixType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = ConditionMatrixType::MaxColsAtCompileTime,
+    Flags = (unsigned int)ThenMatrixType::Flags & ElseMatrixType::Flags & HereditaryBits,
+    CoeffReadCost = traits<typename remove_all<ConditionMatrixNested>::type>::CoeffReadCost
+                  + EIGEN_SIZE_MAX(traits<typename remove_all<ThenMatrixNested>::type>::CoeffReadCost,
+                                   traits<typename remove_all<ElseMatrixNested>::type>::CoeffReadCost)
+  };
+};
+}
+
+template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
+class Select : internal::no_assignment_operator,
+  public internal::dense_xpr_base< Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<Select>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Select)
+
+    Select(const ConditionMatrixType& conditionMatrix,
+           const ThenMatrixType& thenMatrix,
+           const ElseMatrixType& elseMatrix)
+      : m_condition(conditionMatrix), m_then(thenMatrix), m_else(elseMatrix)
+    {
+      eigen_assert(m_condition.rows() == m_then.rows() && m_condition.rows() == m_else.rows());
+      eigen_assert(m_condition.cols() == m_then.cols() && m_condition.cols() == m_else.cols());
+    }
+
+    Index rows() const { return m_condition.rows(); }
+    Index cols() const { return m_condition.cols(); }
+
+    const Scalar coeff(Index i, Index j) const
+    {
+      if (m_condition.coeff(i,j))
+        return m_then.coeff(i,j);
+      else
+        return m_else.coeff(i,j);
+    }
+
+    const Scalar coeff(Index i) const
+    {
+      if (m_condition.coeff(i))
+        return m_then.coeff(i);
+      else
+        return m_else.coeff(i);
+    }
+
+  protected:
+    const typename ConditionMatrixType::Nested m_condition;
+    const typename ThenMatrixType::Nested m_then;
+    const typename ElseMatrixType::Nested m_else;
+};
+
+
+/** \returns a matrix where each coefficient (i,j) is equal to \a thenMatrix(i,j)
+  * if \c *this(i,j), and \a elseMatrix(i,j) otherwise.
+  *
+  * Example: \include MatrixBase_select.cpp
+  * Output: \verbinclude MatrixBase_select.out
+  *
+  * \sa class Select
+  */
+template<typename Derived>
+template<typename ThenDerived,typename ElseDerived>
+inline const Select<Derived,ThenDerived,ElseDerived>
+DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
+                            const DenseBase<ElseDerived>& elseMatrix) const
+{
+  return Select<Derived,ThenDerived,ElseDerived>(derived(), thenMatrix.derived(), elseMatrix.derived());
+}
+
+/** Version of DenseBase::select(const DenseBase&, const DenseBase&) with
+  * the \em else expression being a scalar value.
+  *
+  * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const, class Select
+  */
+template<typename Derived>
+template<typename ThenDerived>
+inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
+DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
+                            typename ThenDerived::Scalar elseScalar) const
+{
+  return Select<Derived,ThenDerived,typename ThenDerived::ConstantReturnType>(
+    derived(), thenMatrix.derived(), ThenDerived::Constant(rows(),cols(),elseScalar));
+}
+
+/** Version of DenseBase::select(const DenseBase&, const DenseBase&) with
+  * the \em then expression being a scalar value.
+  *
+  * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const, class Select
+  */
+template<typename Derived>
+template<typename ElseDerived>
+inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
+DenseBase<Derived>::select(typename ElseDerived::Scalar thenScalar,
+                            const DenseBase<ElseDerived>& elseMatrix) const
+{
+  return Select<Derived,typename ElseDerived::ConstantReturnType,ElseDerived>(
+    derived(), ElseDerived::Constant(rows(),cols(),thenScalar), elseMatrix.derived());
+}
+
+#endif // EIGEN_SELECT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/SelfAdjointView.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/SelfAdjointView.h
new file mode 100755
index 0000000..0e9872b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/SelfAdjointView.h
@@ -0,0 +1,325 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINTMATRIX_H
+#define EIGEN_SELFADJOINTMATRIX_H
+
+/** \class SelfAdjointView
+  * \ingroup Core_Module
+  *
+  *
+  * \brief Expression of a selfadjoint matrix from a triangular part of a dense matrix
+  *
+  * \param MatrixType the type of the dense matrix storing the coefficients
+  * \param TriangularPart can be either \c Lower or \c Upper
+  *
+  * This class is an expression of a sefladjoint matrix from a triangular part of a matrix
+  * with given dense storage of the coefficients. It is the return type of MatrixBase::selfadjointView()
+  * and most of the time this is the only way that it is used.
+  *
+  * \sa class TriangularBase, MatrixBase::selfAdjointView()
+  */
+
+namespace internal {
+template<typename MatrixType, unsigned int UpLo>
+struct traits<SelfAdjointView<MatrixType, UpLo> > : traits<MatrixType>
+{
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
+  typedef MatrixType ExpressionType;
+  typedef typename MatrixType::PlainObject DenseMatrixType;
+  enum {
+    Mode = UpLo | SelfAdjoint,
+    Flags =  MatrixTypeNestedCleaned::Flags & (HereditaryBits)
+           & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)), // FIXME these flags should be preserved
+    CoeffReadCost = MatrixTypeNestedCleaned::CoeffReadCost
+  };
+};
+}
+
+template <typename Lhs, int LhsMode, bool LhsIsVector,
+          typename Rhs, int RhsMode, bool RhsIsVector>
+struct SelfadjointProductMatrix;
+
+// FIXME could also be called SelfAdjointWrapper to be consistent with DiagonalWrapper ??
+template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
+  : public TriangularBase<SelfAdjointView<MatrixType, UpLo> >
+{
+  public:
+
+    typedef TriangularBase<SelfAdjointView> Base;
+    typedef typename internal::traits<SelfAdjointView>::MatrixTypeNested MatrixTypeNested;
+    typedef typename internal::traits<SelfAdjointView>::MatrixTypeNestedCleaned MatrixTypeNestedCleaned;
+
+    /** \brief The type of coefficients in this matrix */
+    typedef typename internal::traits<SelfAdjointView>::Scalar Scalar; 
+
+    typedef typename MatrixType::Index Index;
+
+    enum {
+      Mode = internal::traits<SelfAdjointView>::Mode
+    };
+    typedef typename MatrixType::PlainObject PlainObject;
+
+    inline SelfAdjointView(const MatrixType& matrix) : m_matrix(matrix)
+    {}
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+    inline Index outerStride() const { return m_matrix.outerStride(); }
+    inline Index innerStride() const { return m_matrix.innerStride(); }
+
+    /** \sa MatrixBase::coeff()
+      * \warning the coordinates must fit into the referenced triangular part
+      */
+    inline Scalar coeff(Index row, Index col) const
+    {
+      Base::check_coordinates_internal(row, col);
+      return m_matrix.coeff(row, col);
+    }
+
+    /** \sa MatrixBase::coeffRef()
+      * \warning the coordinates must fit into the referenced triangular part
+      */
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      Base::check_coordinates_internal(row, col);
+      return m_matrix.const_cast_derived().coeffRef(row, col);
+    }
+
+    /** \internal */
+    const MatrixTypeNestedCleaned& _expression() const { return m_matrix; }
+
+    const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
+    MatrixTypeNestedCleaned& nestedExpression() { return *const_cast<MatrixTypeNestedCleaned*>(&m_matrix); }
+
+    /** Efficient self-adjoint matrix times vector/matrix product */
+    template<typename OtherDerived>
+    SelfadjointProductMatrix<MatrixType,Mode,false,OtherDerived,0,OtherDerived::IsVectorAtCompileTime>
+    operator*(const MatrixBase<OtherDerived>& rhs) const
+    {
+      return SelfadjointProductMatrix
+              <MatrixType,Mode,false,OtherDerived,0,OtherDerived::IsVectorAtCompileTime>
+              (m_matrix, rhs.derived());
+    }
+
+    /** Efficient vector/matrix times self-adjoint matrix product */
+    template<typename OtherDerived> friend
+    SelfadjointProductMatrix<OtherDerived,0,OtherDerived::IsVectorAtCompileTime,MatrixType,Mode,false>
+    operator*(const MatrixBase<OtherDerived>& lhs, const SelfAdjointView& rhs)
+    {
+      return SelfadjointProductMatrix
+              <OtherDerived,0,OtherDerived::IsVectorAtCompileTime,MatrixType,Mode,false>
+              (lhs.derived(),rhs.m_matrix);
+    }
+
+    /** Perform a symmetric rank 2 update of the selfadjoint matrix \c *this:
+      * \f$ this = this + \alpha u v^* + conj(\alpha) v u^* \f$
+      * \returns a reference to \c *this
+      *
+      * The vectors \a u and \c v \b must be column vectors, however they can be
+      * a adjoint expression without any overhead. Only the meaningful triangular
+      * part of the matrix is updated, the rest is left unchanged.
+      *
+      * \sa rankUpdate(const MatrixBase<DerivedU>&, Scalar)
+      */
+    template<typename DerivedU, typename DerivedV>
+    SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, Scalar alpha = Scalar(1));
+
+    /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
+      * \f$ this = this + \alpha ( u u^* ) \f$ where \a u is a vector or matrix.
+      *
+      * \returns a reference to \c *this
+      *
+      * Note that to perform \f$ this = this + \alpha ( u^* u ) \f$ you can simply
+      * call this function with u.adjoint().
+      *
+      * \sa rankUpdate(const MatrixBase<DerivedU>&, const MatrixBase<DerivedV>&, Scalar)
+      */
+    template<typename DerivedU>
+    SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, Scalar alpha = Scalar(1));
+
+/////////// Cholesky module ///////////
+
+    const LLT<PlainObject, UpLo> llt() const;
+    const LDLT<PlainObject, UpLo> ldlt() const;
+
+/////////// Eigenvalue module ///////////
+
+    /** Real part of #Scalar */
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    /** Return type of eigenvalues() */
+    typedef Matrix<RealScalar, internal::traits<MatrixType>::ColsAtCompileTime, 1> EigenvaluesReturnType;
+
+    EigenvaluesReturnType eigenvalues() const;
+    RealScalar operatorNorm() const;
+    
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived>
+    SelfAdjointView& operator=(const MatrixBase<OtherDerived>& other)
+    {
+      enum {
+        OtherPart = UpLo == Upper ? StrictlyLower : StrictlyUpper
+      };
+      m_matrix.const_cast_derived().template triangularView<UpLo>() = other;
+      m_matrix.const_cast_derived().template triangularView<OtherPart>() = other.adjoint();
+      return *this;
+    }
+    template<typename OtherMatrixType, unsigned int OtherMode>
+    SelfAdjointView& operator=(const TriangularView<OtherMatrixType, OtherMode>& other)
+    {
+      enum {
+        OtherPart = UpLo == Upper ? StrictlyLower : StrictlyUpper
+      };
+      m_matrix.const_cast_derived().template triangularView<UpLo>() = other.toDenseMatrix();
+      m_matrix.const_cast_derived().template triangularView<OtherPart>() = other.toDenseMatrix().adjoint();
+      return *this;
+    }
+    #endif
+
+  protected:
+    const MatrixTypeNested m_matrix;
+};
+
+
+// template<typename OtherDerived, typename MatrixType, unsigned int UpLo>
+// internal::selfadjoint_matrix_product_returntype<OtherDerived,SelfAdjointView<MatrixType,UpLo> >
+// operator*(const MatrixBase<OtherDerived>& lhs, const SelfAdjointView<MatrixType,UpLo>& rhs)
+// {
+//   return internal::matrix_selfadjoint_product_returntype<OtherDerived,SelfAdjointView<MatrixType,UpLo> >(lhs.derived(),rhs);
+// }
+
+// selfadjoint to dense matrix
+
+namespace internal {
+
+template<typename Derived1, typename Derived2, int UnrollCount, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Upper), UnrollCount, ClearOpposite>
+{
+  enum {
+    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
+    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
+  };
+
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Upper), UnrollCount-1, ClearOpposite>::run(dst, src);
+
+    if(row == col)
+      dst.coeffRef(row, col) = real(src.coeff(row, col));
+    else if(row < col)
+      dst.coeffRef(col, row) = conj(dst.coeffRef(row, col) = src.coeff(row, col));
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Upper, 0, ClearOpposite>
+{
+  inline static void run(Derived1 &, const Derived2 &) {}
+};
+
+template<typename Derived1, typename Derived2, int UnrollCount, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Lower), UnrollCount, ClearOpposite>
+{
+  enum {
+    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
+    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
+  };
+
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Lower), UnrollCount-1, ClearOpposite>::run(dst, src);
+
+    if(row == col)
+      dst.coeffRef(row, col) = real(src.coeff(row, col));
+    else if(row > col)
+      dst.coeffRef(col, row) = conj(dst.coeffRef(row, col) = src.coeff(row, col));
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Lower, 0, ClearOpposite>
+{
+  inline static void run(Derived1 &, const Derived2 &) {}
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Upper, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      for(Index i = 0; i < j; ++i)
+      {
+        dst.copyCoeff(i, j, src);
+        dst.coeffRef(j,i) = conj(dst.coeff(i,j));
+      }
+      dst.copyCoeff(j, j, src);
+    }
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Lower, Dynamic, ClearOpposite>
+{
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+  typedef typename Derived1::Index Index;
+    for(Index i = 0; i < dst.rows(); ++i)
+    {
+      for(Index j = 0; j < i; ++j)
+      {
+        dst.copyCoeff(i, j, src);
+        dst.coeffRef(j,i) = conj(dst.coeff(i,j));
+      }
+      dst.copyCoeff(i, i, src);
+    }
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Implementation of MatrixBase methods
+***************************************************************************/
+
+template<typename Derived>
+template<unsigned int UpLo>
+typename MatrixBase<Derived>::template ConstSelfAdjointViewReturnType<UpLo>::Type
+MatrixBase<Derived>::selfadjointView() const
+{
+  return derived();
+}
+
+template<typename Derived>
+template<unsigned int UpLo>
+typename MatrixBase<Derived>::template SelfAdjointViewReturnType<UpLo>::Type
+MatrixBase<Derived>::selfadjointView()
+{
+  return derived();
+}
+
+#endif // EIGEN_SELFADJOINTMATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/SelfCwiseBinaryOp.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/SelfCwiseBinaryOp.h
new file mode 100755
index 0000000..4e9ca88
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/SelfCwiseBinaryOp.h
@@ -0,0 +1,195 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFCWISEBINARYOP_H
+#define EIGEN_SELFCWISEBINARYOP_H
+
+/** \class SelfCwiseBinaryOp
+  * \ingroup Core_Module
+  *
+  * \internal
+  *
+  * \brief Internal helper class for optimizing operators like +=, -=
+  *
+  * This is a pseudo expression class re-implementing the copyCoeff/copyPacket
+  * method to directly performs a +=/-= operations in an optimal way. In particular,
+  * this allows to make sure that the input/output data are loaded only once using
+  * aligned packet loads.
+  *
+  * \sa class SwapWrapper for a similar trick.
+  */
+
+namespace internal {
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct traits<SelfCwiseBinaryOp<BinaryOp,Lhs,Rhs> >
+  : traits<CwiseBinaryOp<BinaryOp,Lhs,Rhs> >
+{
+  enum {
+    // Note that it is still a good idea to preserve the DirectAccessBit
+    // so that assign can correctly align the data.
+    Flags = traits<CwiseBinaryOp<BinaryOp,Lhs,Rhs> >::Flags | (Lhs::Flags&DirectAccessBit) | (Lhs::Flags&LvalueBit),
+    OuterStrideAtCompileTime = Lhs::OuterStrideAtCompileTime,
+    InnerStrideAtCompileTime = Lhs::InnerStrideAtCompileTime
+  };
+};
+}
+
+template<typename BinaryOp, typename Lhs, typename Rhs> class SelfCwiseBinaryOp
+  : public internal::dense_xpr_base< SelfCwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<SelfCwiseBinaryOp>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(SelfCwiseBinaryOp)
+
+    typedef typename internal::packet_traits<Scalar>::type Packet;
+
+    inline SelfCwiseBinaryOp(Lhs& xpr, const BinaryOp& func = BinaryOp()) : m_matrix(xpr), m_functor(func) {}
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+    inline Index outerStride() const { return m_matrix.outerStride(); }
+    inline Index innerStride() const { return m_matrix.innerStride(); }
+    inline const Scalar* data() const { return m_matrix.data(); }
+
+    // note that this function is needed by assign to correctly align loads/stores
+    // TODO make Assign use .data()
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(Lhs)
+      return m_matrix.const_cast_derived().coeffRef(row, col);
+    }
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_matrix.coeffRef(row, col);
+    }
+
+    // note that this function is needed by assign to correctly align loads/stores
+    // TODO make Assign use .data()
+    inline Scalar& coeffRef(Index index)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(Lhs)
+      return m_matrix.const_cast_derived().coeffRef(index);
+    }
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return m_matrix.const_cast_derived().coeffRef(index);
+    }
+
+    template<typename OtherDerived>
+    void copyCoeff(Index row, Index col, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(row >= 0 && row < rows()
+                         && col >= 0 && col < cols());
+      Scalar& tmp = m_matrix.coeffRef(row,col);
+      tmp = m_functor(tmp, _other.coeff(row,col));
+    }
+
+    template<typename OtherDerived>
+    void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(index >= 0 && index < m_matrix.size());
+      Scalar& tmp = m_matrix.coeffRef(index);
+      tmp = m_functor(tmp, _other.coeff(index));
+    }
+
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    void copyPacket(Index row, Index col, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      m_matrix.template writePacket<StoreMode>(row, col,
+        m_functor.packetOp(m_matrix.template packet<StoreMode>(row, col),_other.template packet<LoadMode>(row, col)) );
+    }
+
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    void copyPacket(Index index, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(index >= 0 && index < m_matrix.size());
+      m_matrix.template writePacket<StoreMode>(index,
+        m_functor.packetOp(m_matrix.template packet<StoreMode>(index),_other.template packet<LoadMode>(index)) );
+    }
+
+    // reimplement lazyAssign to handle complex *= real
+    // see CwiseBinaryOp ctor for details
+    template<typename RhsDerived>
+    EIGEN_STRONG_INLINE SelfCwiseBinaryOp& lazyAssign(const DenseBase<RhsDerived>& rhs)
+    {
+      EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs,RhsDerived)
+      EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename RhsDerived::Scalar);
+      
+    #ifdef EIGEN_DEBUG_ASSIGN
+      internal::assign_traits<SelfCwiseBinaryOp, RhsDerived>::debug();
+    #endif
+      eigen_assert(rows() == rhs.rows() && cols() == rhs.cols());
+      internal::assign_impl<SelfCwiseBinaryOp, RhsDerived>::run(*this,rhs.derived());
+    #ifndef EIGEN_NO_DEBUG
+      this->checkTransposeAliasing(rhs.derived());
+    #endif
+      return *this;
+    }
+    
+    // overloaded to honor evaluation of special matrices
+    // maybe another solution would be to not use SelfCwiseBinaryOp
+    // at first...
+    SelfCwiseBinaryOp& operator=(const Rhs& _rhs)
+    {
+      typename internal::nested<Rhs>::type rhs(_rhs);
+      return Base::operator=(rhs);
+    }
+
+  protected:
+    Lhs& m_matrix;
+    const BinaryOp& m_functor;
+
+  private:
+    SelfCwiseBinaryOp& operator=(const SelfCwiseBinaryOp&);
+};
+
+template<typename Derived>
+inline Derived& DenseBase<Derived>::operator*=(const Scalar& other)
+{
+  typedef typename Derived::PlainObject PlainObject;
+  SelfCwiseBinaryOp<internal::scalar_product_op<Scalar>, Derived, typename PlainObject::ConstantReturnType> tmp(derived());
+  tmp = PlainObject::Constant(rows(),cols(),other);
+  return derived();
+}
+
+template<typename Derived>
+inline Derived& DenseBase<Derived>::operator/=(const Scalar& other)
+{
+  typedef typename internal::conditional<NumTraits<Scalar>::IsInteger,
+                                        internal::scalar_quotient_op<Scalar>,
+                                        internal::scalar_product_op<Scalar> >::type BinOp;
+  typedef typename Derived::PlainObject PlainObject;
+  SelfCwiseBinaryOp<BinOp, Derived, typename PlainObject::ConstantReturnType> tmp(derived());
+  tmp = PlainObject::Constant(rows(),cols(), NumTraits<Scalar>::IsInteger ? other : Scalar(1)/other);
+  return derived();
+}
+
+#endif // EIGEN_SELFCWISEBINARYOP_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/SolveTriangular.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/SolveTriangular.h
new file mode 100755
index 0000000..7cbcf3d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/SolveTriangular.h
@@ -0,0 +1,270 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SOLVETRIANGULAR_H
+#define EIGEN_SOLVETRIANGULAR_H
+
+namespace internal {
+
+// Forward declarations:
+// The following two routines are implemented in the products/TriangularSolver*.h files
+template<typename LhsScalar, typename RhsScalar, typename Index, int Side, int Mode, bool Conjugate, int StorageOrder>
+struct triangular_solve_vector;
+
+template <typename Scalar, typename Index, int Side, int Mode, bool Conjugate, int TriStorageOrder, int OtherStorageOrder>
+struct triangular_solve_matrix;
+
+// small helper struct extracting some traits on the underlying solver operation
+template<typename Lhs, typename Rhs, int Side>
+class trsolve_traits
+{
+  private:
+    enum {
+      RhsIsVectorAtCompileTime = (Side==OnTheLeft ? Rhs::ColsAtCompileTime : Rhs::RowsAtCompileTime)==1
+    };
+  public:
+    enum {
+      Unrolling   = (RhsIsVectorAtCompileTime && Rhs::SizeAtCompileTime != Dynamic && Rhs::SizeAtCompileTime <= 8)
+                  ? CompleteUnrolling : NoUnrolling,
+      RhsVectors  = RhsIsVectorAtCompileTime ? 1 : Dynamic
+    };
+};
+
+template<typename Lhs, typename Rhs,
+  int Side, // can be OnTheLeft/OnTheRight
+  int Mode, // can be Upper/Lower | UnitDiag
+  int Unrolling = trsolve_traits<Lhs,Rhs,Side>::Unrolling,
+  int RhsVectors = trsolve_traits<Lhs,Rhs,Side>::RhsVectors
+  >
+struct triangular_solver_selector;
+
+template<typename Lhs, typename Rhs, int Side, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,1>
+{
+  typedef typename Lhs::Scalar LhsScalar;
+  typedef typename Rhs::Scalar RhsScalar;
+  typedef blas_traits<Lhs> LhsProductTraits;
+  typedef typename LhsProductTraits::ExtractType ActualLhsType;
+  typedef Map<Matrix<RhsScalar,Dynamic,1>, Aligned> MappedRhs;
+  static void run(const Lhs& lhs, Rhs& rhs)
+  {
+    ActualLhsType actualLhs = LhsProductTraits::extract(lhs);
+
+    // FIXME find a way to allow an inner stride if packet_traits<Scalar>::size==1
+
+    bool useRhsDirectly = Rhs::InnerStrideAtCompileTime==1 || rhs.innerStride()==1;
+    RhsScalar* actualRhs;
+    if(useRhsDirectly)
+    {
+      actualRhs = &rhs.coeffRef(0);
+    }
+    else
+    {
+      actualRhs = ei_aligned_stack_new(RhsScalar,rhs.size());
+      MappedRhs(actualRhs,rhs.size()) = rhs;
+    }
+
+    triangular_solve_vector<LhsScalar, RhsScalar, typename Lhs::Index, Side, Mode, LhsProductTraits::NeedToConjugate,
+                            (int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor>
+      ::run(actualLhs.cols(), actualLhs.data(), actualLhs.outerStride(), actualRhs);
+
+    if(!useRhsDirectly)
+    {
+      rhs = MappedRhs(actualRhs, rhs.size());
+      ei_aligned_stack_delete(RhsScalar, actualRhs, rhs.size());
+    }
+  }
+};
+
+// the rhs is a matrix
+template<typename Lhs, typename Rhs, int Side, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
+{
+  typedef typename Rhs::Scalar Scalar;
+  typedef typename Rhs::Index Index;
+  typedef blas_traits<Lhs> LhsProductTraits;
+  typedef typename LhsProductTraits::DirectLinearAccessType ActualLhsType;
+  static void run(const Lhs& lhs, Rhs& rhs)
+  {
+    const ActualLhsType actualLhs = LhsProductTraits::extract(lhs);
+    triangular_solve_matrix<Scalar,Index,Side,Mode,LhsProductTraits::NeedToConjugate,(int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor,
+                               (Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor>
+      ::run(lhs.rows(), Side==OnTheLeft? rhs.cols() : rhs.rows(), &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &rhs.coeffRef(0,0), rhs.outerStride());
+  }
+};
+
+/***************************************************************************
+* meta-unrolling implementation
+***************************************************************************/
+
+template<typename Lhs, typename Rhs, int Mode, int Index, int Size,
+         bool Stop = Index==Size>
+struct triangular_solver_unroller;
+
+template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
+struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,false> {
+  enum {
+    IsLower = ((Mode&Lower)==Lower),
+    I = IsLower ? Index : Size - Index - 1,
+    S = IsLower ? 0     : I+1
+  };
+  static void run(const Lhs& lhs, Rhs& rhs)
+  {
+    if (Index>0)
+      rhs.coeffRef(I) -= lhs.row(I).template segment<Index>(S).transpose()
+                         .cwiseProduct(rhs.template segment<Index>(S)).sum();
+
+    if(!(Mode & UnitDiag))
+      rhs.coeffRef(I) /= lhs.coeff(I,I);
+
+    triangular_solver_unroller<Lhs,Rhs,Mode,Index+1,Size>::run(lhs,rhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
+struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,true> {
+  static void run(const Lhs&, Rhs&) {}
+};
+
+template<typename Lhs, typename Rhs, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,OnTheLeft,Mode,CompleteUnrolling,1> {
+  static void run(const Lhs& lhs, Rhs& rhs)
+  { triangular_solver_unroller<Lhs,Rhs,Mode,0,Rhs::SizeAtCompileTime>::run(lhs,rhs); }
+};
+
+template<typename Lhs, typename Rhs, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,OnTheRight,Mode,CompleteUnrolling,1> {
+  static void run(const Lhs& lhs, Rhs& rhs)
+  {
+    Transpose<const Lhs> trLhs(lhs);
+    Transpose<Rhs> trRhs(rhs);
+    
+    triangular_solver_unroller<Transpose<const Lhs>,Transpose<Rhs>,
+                              ((Mode&Upper)==Upper ? Lower : Upper) | (Mode&UnitDiag),
+                              0,Rhs::SizeAtCompileTime>::run(trLhs,trRhs);
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* TriangularView methods
+***************************************************************************/
+
+/** "in-place" version of TriangularView::solve() where the result is written in \a other
+  *
+  * \warning The parameter is only marked 'const' to make the C++ compiler accept a temporary expression here.
+  * This function will const_cast it, so constness isn't honored here.
+  *
+  * See TriangularView:solve() for the details.
+  */
+template<typename MatrixType, unsigned int Mode>
+template<int Side, typename OtherDerived>
+void TriangularView<MatrixType,Mode>::solveInPlace(const MatrixBase<OtherDerived>& _other) const
+{
+  OtherDerived& other = _other.const_cast_derived();
+  eigen_assert(cols() == rows());
+  eigen_assert( (Side==OnTheLeft && cols() == other.rows()) || (Side==OnTheRight && cols() == other.cols()) );
+  eigen_assert(!(Mode & ZeroDiag));
+  eigen_assert(Mode & (Upper|Lower));
+
+  enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit  && OtherDerived::IsVectorAtCompileTime };
+  typedef typename internal::conditional<copy,
+    typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
+  OtherCopy otherCopy(other);
+
+  internal::triangular_solver_selector<MatrixType, typename internal::remove_reference<OtherCopy>::type,
+    Side, Mode>::run(nestedExpression(), otherCopy);
+
+  if (copy)
+    other = otherCopy;
+}
+
+/** \returns the product of the inverse of \c *this with \a other, \a *this being triangular.
+  *
+  * This function computes the inverse-matrix matrix product inverse(\c *this) * \a other if
+  * \a Side==OnTheLeft (the default), or the right-inverse-multiply  \a other * inverse(\c *this) if
+  * \a Side==OnTheRight.
+  *
+  * The matrix \c *this must be triangular and invertible (i.e., all the coefficients of the
+  * diagonal must be non zero). It works as a forward (resp. backward) substitution if \c *this
+  * is an upper (resp. lower) triangular matrix.
+  *
+  * Example: \include MatrixBase_marked.cpp
+  * Output: \verbinclude MatrixBase_marked.out
+  *
+  * This function returns an expression of the inverse-multiply and can works in-place if it is assigned
+  * to the same matrix or vector \a other.
+  *
+  * For users coming from BLAS, this function (and more specifically solveInPlace()) offer
+  * all the operations supported by the \c *TRSV and \c *TRSM BLAS routines.
+  *
+  * \sa TriangularView::solveInPlace()
+  */
+template<typename Derived, unsigned int Mode>
+template<int Side, typename Other>
+const internal::triangular_solve_retval<Side,TriangularView<Derived,Mode>,Other>
+TriangularView<Derived,Mode>::solve(const MatrixBase<Other>& other) const
+{
+  return internal::triangular_solve_retval<Side,TriangularView,Other>(*this, other.derived());
+}
+
+namespace internal {
+
+
+template<int Side, typename TriangularType, typename Rhs>
+struct traits<triangular_solve_retval<Side, TriangularType, Rhs> >
+{
+  typedef typename internal::plain_matrix_type_column_major<Rhs>::type ReturnType;
+};
+
+template<int Side, typename TriangularType, typename Rhs> struct triangular_solve_retval
+ : public ReturnByValue<triangular_solve_retval<Side, TriangularType, Rhs> >
+{
+  typedef typename remove_all<typename Rhs::Nested>::type RhsNestedCleaned;
+  typedef ReturnByValue<triangular_solve_retval> Base;
+  typedef typename Base::Index Index;
+
+  triangular_solve_retval(const TriangularType& tri, const Rhs& rhs)
+    : m_triangularMatrix(tri), m_rhs(rhs)
+  {}
+
+  inline Index rows() const { return m_rhs.rows(); }
+  inline Index cols() const { return m_rhs.cols(); }
+
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  {
+    if(!(is_same<RhsNestedCleaned,Dest>::value && extract_data(dst) == extract_data(m_rhs)))
+      dst = m_rhs;
+    m_triangularMatrix.template solveInPlace<Side>(dst);
+  }
+
+  protected:
+    const TriangularType& m_triangularMatrix;
+    const typename Rhs::Nested m_rhs;
+};
+
+} // namespace internal
+
+#endif // EIGEN_SOLVETRIANGULAR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/StableNorm.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/StableNorm.h
new file mode 100755
index 0000000..fdf113b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/StableNorm.h
@@ -0,0 +1,186 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STABLENORM_H
+#define EIGEN_STABLENORM_H
+
+namespace internal {
+template<typename ExpressionType, typename Scalar>
+inline void stable_norm_kernel(const ExpressionType& bl, Scalar& ssq, Scalar& scale, Scalar& invScale)
+{
+  Scalar max = bl.cwiseAbs().maxCoeff();
+  if (max>scale)
+  {
+    ssq = ssq * abs2(scale/max);
+    scale = max;
+    invScale = Scalar(1)/scale;
+  }
+  // TODO if the max is much much smaller than the current scale,
+  // then we can neglect this sub vector
+  ssq += (bl*invScale).squaredNorm();
+}
+}
+
+/** \returns the \em l2 norm of \c *this avoiding underflow and overflow.
+  * This version use a blockwise two passes algorithm:
+  *  1 - find the absolute largest coefficient \c s
+  *  2 - compute \f$ s \Vert \frac{*this}{s} \Vert \f$ in a standard way
+  *
+  * For architecture/scalar types supporting vectorization, this version
+  * is faster than blueNorm(). Otherwise the blueNorm() is much faster.
+  *
+  * \sa norm(), blueNorm(), hypotNorm()
+  */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::stableNorm() const
+{
+  const Index blockSize = 4096;
+  RealScalar scale = 0;
+  RealScalar invScale = 1;
+  RealScalar ssq = 0; // sum of square
+  enum {
+    Alignment = (int(Flags)&DirectAccessBit) || (int(Flags)&AlignedBit) ? 1 : 0
+  };
+  Index n = size();
+  Index bi = internal::first_aligned(derived());
+  if (bi>0)
+    internal::stable_norm_kernel(this->head(bi), ssq, scale, invScale);
+  for (; bi<n; bi+=blockSize)
+    internal::stable_norm_kernel(this->segment(bi,std::min(blockSize, n - bi)).template forceAlignedAccessIf<Alignment>(), ssq, scale, invScale);
+  return scale * internal::sqrt(ssq);
+}
+
+/** \returns the \em l2 norm of \c *this using the Blue's algorithm.
+  * A Portable Fortran Program to Find the Euclidean Norm of a Vector,
+  * ACM TOMS, Vol 4, Issue 1, 1978.
+  *
+  * For architecture/scalar types without vectorization, this version
+  * is much faster than stableNorm(). Otherwise the stableNorm() is faster.
+  *
+  * \sa norm(), stableNorm(), hypotNorm()
+  */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::blueNorm() const
+{
+  static Index nmax = -1;
+  static RealScalar b1, b2, s1m, s2m, overfl, rbig, relerr;
+  if(nmax <= 0)
+  {
+    int nbig, ibeta, it, iemin, iemax, iexp;
+    RealScalar abig, eps;
+    // This program calculates the machine-dependent constants
+    // bl, b2, slm, s2m, relerr overfl, nmax
+    // from the "basic" machine-dependent numbers
+    // nbig, ibeta, it, iemin, iemax, rbig.
+    // The following define the basic machine-dependent constants.
+    // For portability, the PORT subprograms "ilmaeh" and "rlmach"
+    // are used. For any specific computer, each of the assignment
+    // statements can be replaced
+    nbig  = std::numeric_limits<Index>::max();            // largest integer
+    ibeta = std::numeric_limits<RealScalar>::radix;         // base for floating-point numbers
+    it    = std::numeric_limits<RealScalar>::digits;        // number of base-beta digits in mantissa
+    iemin = std::numeric_limits<RealScalar>::min_exponent;  // minimum exponent
+    iemax = std::numeric_limits<RealScalar>::max_exponent;  // maximum exponent
+    rbig  = std::numeric_limits<RealScalar>::max();         // largest floating-point number
+
+    iexp  = -((1-iemin)/2);
+    b1    = RealScalar(std::pow(RealScalar(ibeta),RealScalar(iexp)));  // lower boundary of midrange
+    iexp  = (iemax + 1 - it)/2;
+    b2    = RealScalar(std::pow(RealScalar(ibeta),RealScalar(iexp)));   // upper boundary of midrange
+
+    iexp  = (2-iemin)/2;
+    s1m   = RealScalar(std::pow(RealScalar(ibeta),RealScalar(iexp)));   // scaling factor for lower range
+    iexp  = - ((iemax+it)/2);
+    s2m   = RealScalar(std::pow(RealScalar(ibeta),RealScalar(iexp)));   // scaling factor for upper range
+
+    overfl  = rbig*s2m;             // overflow boundary for abig
+    eps     = RealScalar(std::pow(double(ibeta), 1-it));
+    relerr  = internal::sqrt(eps);         // tolerance for neglecting asml
+    abig    = RealScalar(1.0/eps - 1.0);
+    if (RealScalar(nbig)>abig)  nmax = int(abig);  // largest safe n
+    else                        nmax = nbig;
+  }
+  Index n = size();
+  RealScalar ab2 = b2 / RealScalar(n);
+  RealScalar asml = RealScalar(0);
+  RealScalar amed = RealScalar(0);
+  RealScalar abig = RealScalar(0);
+  for(Index j=0; j<n; ++j)
+  {
+    RealScalar ax = internal::abs(coeff(j));
+    if(ax > ab2)     abig += internal::abs2(ax*s2m);
+    else if(ax < b1) asml += internal::abs2(ax*s1m);
+    else             amed += internal::abs2(ax);
+  }
+  if(abig > RealScalar(0))
+  {
+    abig = internal::sqrt(abig);
+    if(abig > overfl)
+    {
+      eigen_assert(false && "overflow");
+      return rbig;
+    }
+    if(amed > RealScalar(0))
+    {
+      abig = abig/s2m;
+      amed = internal::sqrt(amed);
+    }
+    else
+      return abig/s2m;
+  }
+  else if(asml > RealScalar(0))
+  {
+    if (amed > RealScalar(0))
+    {
+      abig = internal::sqrt(amed);
+      amed = internal::sqrt(asml) / s1m;
+    }
+    else
+      return internal::sqrt(asml)/s1m;
+  }
+  else
+    return internal::sqrt(amed);
+  asml = std::min(abig, amed);
+  abig = std::max(abig, amed);
+  if(asml <= abig*relerr)
+    return abig;
+  else
+    return abig * internal::sqrt(RealScalar(1) + internal::abs2(asml/abig));
+}
+
+/** \returns the \em l2 norm of \c *this avoiding undeflow and overflow.
+  * This version use a concatenation of hypot() calls, and it is very slow.
+  *
+  * \sa norm(), stableNorm()
+  */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::hypotNorm() const
+{
+  return this->cwiseAbs().redux(internal::scalar_hypot_op<RealScalar>());
+}
+
+#endif // EIGEN_STABLENORM_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Stride.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Stride.h
new file mode 100755
index 0000000..0430f11
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Stride.h
@@ -0,0 +1,119 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STRIDE_H
+#define EIGEN_STRIDE_H
+
+/** \class Stride
+  * \ingroup Core_Module
+  *
+  * \brief Holds strides information for Map
+  *
+  * This class holds the strides information for mapping arrays with strides with class Map.
+  *
+  * It holds two values: the inner stride and the outer stride.
+  *
+  * The inner stride is the pointer increment between two consecutive entries within a given row of a
+  * row-major matrix or within a given column of a column-major matrix.
+  *
+  * The outer stride is the pointer increment between two consecutive rows of a row-major matrix or
+  * between two consecutive columns of a column-major matrix.
+  *
+  * These two values can be passed either at compile-time as template parameters, or at runtime as
+  * arguments to the constructor.
+  *
+  * Indeed, this class takes two template parameters:
+  *  \param _OuterStrideAtCompileTime the outer stride, or Dynamic if you want to specify it at runtime.
+  *  \param _InnerStrideAtCompileTime the inner stride, or Dynamic if you want to specify it at runtime.
+  *
+  * Here is an example:
+  * \include Map_general_stride.cpp
+  * Output: \verbinclude Map_general_stride.out
+  *
+  * \sa class InnerStride, class OuterStride, \ref TopicStorageOrders
+  */
+template<int _OuterStrideAtCompileTime, int _InnerStrideAtCompileTime>
+class Stride
+{
+  public:
+    typedef DenseIndex Index;
+    enum {
+      InnerStrideAtCompileTime = _InnerStrideAtCompileTime,
+      OuterStrideAtCompileTime = _OuterStrideAtCompileTime
+    };
+
+    /** Default constructor, for use when strides are fixed at compile time */
+    Stride()
+      : m_outer(OuterStrideAtCompileTime), m_inner(InnerStrideAtCompileTime)
+    {
+      eigen_assert(InnerStrideAtCompileTime != Dynamic && OuterStrideAtCompileTime != Dynamic);
+    }
+
+    /** Constructor allowing to pass the strides at runtime */
+    Stride(Index outerStride, Index innerStride)
+      : m_outer(outerStride), m_inner(innerStride)
+    {
+      eigen_assert(innerStride>=0 && outerStride>=0);
+    }
+
+    /** Copy constructor */
+    Stride(const Stride& other)
+      : m_outer(other.outer()), m_inner(other.inner())
+    {}
+
+    /** \returns the outer stride */
+    inline Index outer() const { return m_outer.value(); }
+    /** \returns the inner stride */
+    inline Index inner() const { return m_inner.value(); }
+
+  protected:
+    internal::variable_if_dynamic<Index, OuterStrideAtCompileTime> m_outer;
+    internal::variable_if_dynamic<Index, InnerStrideAtCompileTime> m_inner;
+};
+
+/** \brief Convenience specialization of Stride to specify only an inner stride
+  * See class Map for some examples */
+template<int Value = Dynamic>
+class InnerStride : public Stride<0, Value>
+{
+    typedef Stride<0, Value> Base;
+  public:
+    typedef DenseIndex Index;
+    InnerStride() : Base() {}
+    InnerStride(Index v) : Base(0, v) {}
+};
+
+/** \brief Convenience specialization of Stride to specify only an outer stride
+  * See class Map for some examples */
+template<int Value = Dynamic>
+class OuterStride : public Stride<Value, 0>
+{
+    typedef Stride<Value, 0> Base;
+  public:
+    typedef DenseIndex Index;
+    OuterStride() : Base() {}
+    OuterStride(Index v) : Base(v,0) {}
+};
+
+#endif // EIGEN_STRIDE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Swap.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Swap.h
new file mode 100755
index 0000000..5fb0328
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Swap.h
@@ -0,0 +1,126 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SWAP_H
+#define EIGEN_SWAP_H
+
+/** \class SwapWrapper
+  * \ingroup Core_Module
+  *
+  * \internal
+  *
+  * \brief Internal helper class for swapping two expressions
+  */
+namespace internal {
+template<typename ExpressionType>
+struct traits<SwapWrapper<ExpressionType> > : traits<ExpressionType> {};
+}
+
+template<typename ExpressionType> class SwapWrapper
+  : public internal::dense_xpr_base<SwapWrapper<ExpressionType> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<SwapWrapper>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(SwapWrapper)
+    typedef typename internal::packet_traits<Scalar>::type Packet;
+
+    inline SwapWrapper(ExpressionType& xpr) : m_expression(xpr) {}
+
+    inline Index rows() const { return m_expression.rows(); }
+    inline Index cols() const { return m_expression.cols(); }
+    inline Index outerStride() const { return m_expression.outerStride(); }
+    inline Index innerStride() const { return m_expression.innerStride(); }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_expression.const_cast_derived().coeffRef(row, col);
+    }
+
+    inline Scalar& coeffRef(Index index)
+    {
+      return m_expression.const_cast_derived().coeffRef(index);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col) const
+    {
+      return m_expression.coeffRef(row, col);
+    }
+
+    inline Scalar& coeffRef(Index index) const
+    {
+      return m_expression.coeffRef(index);
+    }
+
+    template<typename OtherDerived>
+    void copyCoeff(Index row, Index col, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(row >= 0 && row < rows()
+                         && col >= 0 && col < cols());
+      Scalar tmp = m_expression.coeff(row, col);
+      m_expression.coeffRef(row, col) = _other.coeff(row, col);
+      _other.coeffRef(row, col) = tmp;
+    }
+
+    template<typename OtherDerived>
+    void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(index >= 0 && index < m_expression.size());
+      Scalar tmp = m_expression.coeff(index);
+      m_expression.coeffRef(index) = _other.coeff(index);
+      _other.coeffRef(index) = tmp;
+    }
+
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    void copyPacket(Index row, Index col, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(row >= 0 && row < rows()
+                        && col >= 0 && col < cols());
+      Packet tmp = m_expression.template packet<StoreMode>(row, col);
+      m_expression.template writePacket<StoreMode>(row, col,
+        _other.template packet<LoadMode>(row, col)
+      );
+      _other.template writePacket<LoadMode>(row, col, tmp);
+    }
+
+    template<typename OtherDerived, int StoreMode, int LoadMode>
+    void copyPacket(Index index, const DenseBase<OtherDerived>& other)
+    {
+      OtherDerived& _other = other.const_cast_derived();
+      eigen_internal_assert(index >= 0 && index < m_expression.size());
+      Packet tmp = m_expression.template packet<StoreMode>(index);
+      m_expression.template writePacket<StoreMode>(index,
+        _other.template packet<LoadMode>(index)
+      );
+      _other.template writePacket<LoadMode>(index, tmp);
+    }
+
+  protected:
+    ExpressionType& m_expression;
+};
+
+#endif // EIGEN_SWAP_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Transpose.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Transpose.h
new file mode 100755
index 0000000..b521f93
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Transpose.h
@@ -0,0 +1,426 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRANSPOSE_H
+#define EIGEN_TRANSPOSE_H
+
+/** \class Transpose
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the transpose of a matrix
+  *
+  * \param MatrixType the type of the object of which we are taking the transpose
+  *
+  * This class represents an expression of the transpose of a matrix.
+  * It is the return type of MatrixBase::transpose() and MatrixBase::adjoint()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::transpose(), MatrixBase::adjoint()
+  */
+
+namespace internal {
+template<typename MatrixType>
+struct traits<Transpose<MatrixType> > : traits<MatrixType>
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedPlain;
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef typename traits<MatrixType>::XprKind XprKind;
+  enum {
+    RowsAtCompileTime = MatrixType::ColsAtCompileTime,
+    ColsAtCompileTime = MatrixType::RowsAtCompileTime,
+    MaxRowsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+    Flags0 = MatrixTypeNestedPlain::Flags & ~(LvalueBit | NestByRefBit),
+    Flags1 = Flags0 | FlagsLvalueBit,
+    Flags = Flags1 ^ RowMajorBit,
+    CoeffReadCost = MatrixTypeNestedPlain::CoeffReadCost,
+    InnerStrideAtCompileTime = inner_stride_at_compile_time<MatrixType>::ret,
+    OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret
+  };
+};
+}
+
+template<typename MatrixType, typename StorageKind> class TransposeImpl;
+
+template<typename MatrixType> class Transpose
+  : public TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>
+{
+  public:
+
+    typedef typename TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(Transpose)
+
+    inline Transpose(MatrixType& matrix) : m_matrix(matrix) {}
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Transpose)
+
+    inline Index rows() const { return m_matrix.cols(); }
+    inline Index cols() const { return m_matrix.rows(); }
+
+    /** \returns the nested expression */
+    const typename internal::remove_all<typename MatrixType::Nested>::type&
+    nestedExpression() const { return m_matrix; }
+
+    /** \returns the nested expression */
+    typename internal::remove_all<typename MatrixType::Nested>::type&
+    nestedExpression() { return m_matrix.const_cast_derived(); }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+};
+
+namespace internal {
+
+template<typename MatrixType, bool HasDirectAccess = has_direct_access<MatrixType>::ret>
+struct TransposeImpl_base
+{
+  typedef typename dense_xpr_base<Transpose<MatrixType> >::type type;
+};
+
+template<typename MatrixType>
+struct TransposeImpl_base<MatrixType, false>
+{
+  typedef typename dense_xpr_base<Transpose<MatrixType> >::type type;
+};
+
+} // end namespace internal
+
+template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
+  : public internal::TransposeImpl_base<MatrixType>::type
+{
+  public:
+
+    typedef typename internal::TransposeImpl_base<MatrixType>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Transpose<MatrixType>)
+
+    inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
+    inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
+
+    typedef typename internal::conditional<
+                       internal::is_lvalue<MatrixType>::value,
+                       Scalar,
+                       const Scalar
+                     >::type ScalarWithConstIfNotLvalue;
+
+    inline ScalarWithConstIfNotLvalue* data() { return derived().nestedExpression().data(); }
+    inline const Scalar* data() const { return derived().nestedExpression().data(); }
+
+    inline ScalarWithConstIfNotLvalue& coeffRef(Index row, Index col)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      return derived().nestedExpression().const_cast_derived().coeffRef(col, row);
+    }
+
+    inline ScalarWithConstIfNotLvalue& coeffRef(Index index)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      return derived().nestedExpression().const_cast_derived().coeffRef(index);
+    }
+
+    inline const Scalar& coeffRef(Index row, Index col) const
+    {
+      return derived().nestedExpression().coeffRef(col, row);
+    }
+
+    inline const Scalar& coeffRef(Index index) const
+    {
+      return derived().nestedExpression().coeffRef(index);
+    }
+
+    inline const CoeffReturnType coeff(Index row, Index col) const
+    {
+      return derived().nestedExpression().coeff(col, row);
+    }
+
+    inline const CoeffReturnType coeff(Index index) const
+    {
+      return derived().nestedExpression().coeff(index);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index row, Index col) const
+    {
+      return derived().nestedExpression().template packet<LoadMode>(col, row);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index row, Index col, const PacketScalar& x)
+    {
+      derived().nestedExpression().const_cast_derived().template writePacket<LoadMode>(col, row, x);
+    }
+
+    template<int LoadMode>
+    inline const PacketScalar packet(Index index) const
+    {
+      return derived().nestedExpression().template packet<LoadMode>(index);
+    }
+
+    template<int LoadMode>
+    inline void writePacket(Index index, const PacketScalar& x)
+    {
+      derived().nestedExpression().const_cast_derived().template writePacket<LoadMode>(index, x);
+    }
+};
+
+/** \returns an expression of the transpose of *this.
+  *
+  * Example: \include MatrixBase_transpose.cpp
+  * Output: \verbinclude MatrixBase_transpose.out
+  *
+  * \warning If you want to replace a matrix by its own transpose, do \b NOT do this:
+  * \code
+  * m = m.transpose(); // bug!!! caused by aliasing effect
+  * \endcode
+  * Instead, use the transposeInPlace() method:
+  * \code
+  * m.transposeInPlace();
+  * \endcode
+  * which gives Eigen good opportunities for optimization, or alternatively you can also do:
+  * \code
+  * m = m.transpose().eval();
+  * \endcode
+  *
+  * \sa transposeInPlace(), adjoint() */
+template<typename Derived>
+inline Transpose<Derived>
+DenseBase<Derived>::transpose()
+{
+  return derived();
+}
+
+/** This is the const version of transpose().
+  *
+  * Make sure you read the warning for transpose() !
+  *
+  * \sa transposeInPlace(), adjoint() */
+template<typename Derived>
+inline const typename DenseBase<Derived>::ConstTransposeReturnType
+DenseBase<Derived>::transpose() const
+{
+  return ConstTransposeReturnType(derived());
+}
+
+/** \returns an expression of the adjoint (i.e. conjugate transpose) of *this.
+  *
+  * Example: \include MatrixBase_adjoint.cpp
+  * Output: \verbinclude MatrixBase_adjoint.out
+  *
+  * \warning If you want to replace a matrix by its own adjoint, do \b NOT do this:
+  * \code
+  * m = m.adjoint(); // bug!!! caused by aliasing effect
+  * \endcode
+  * Instead, use the adjointInPlace() method:
+  * \code
+  * m.adjointInPlace();
+  * \endcode
+  * which gives Eigen good opportunities for optimization, or alternatively you can also do:
+  * \code
+  * m = m.adjoint().eval();
+  * \endcode
+  *
+  * \sa adjointInPlace(), transpose(), conjugate(), class Transpose, class internal::scalar_conjugate_op */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::AdjointReturnType
+MatrixBase<Derived>::adjoint() const
+{
+  return this->transpose(); // in the complex case, the .conjugate() is be implicit here
+                            // due to implicit conversion to return type
+}
+
+/***************************************************************************
+* "in place" transpose implementation
+***************************************************************************/
+
+namespace internal {
+
+template<typename MatrixType,
+  bool IsSquare = (MatrixType::RowsAtCompileTime == MatrixType::ColsAtCompileTime) && MatrixType::RowsAtCompileTime!=Dynamic>
+struct inplace_transpose_selector;
+
+template<typename MatrixType>
+struct inplace_transpose_selector<MatrixType,true> { // square matrix
+  static void run(MatrixType& m) {
+    m.template triangularView<StrictlyUpper>().swap(m.transpose());
+  }
+};
+
+template<typename MatrixType>
+struct inplace_transpose_selector<MatrixType,false> { // non square matrix
+  static void run(MatrixType& m) {
+    if (m.rows()==m.cols())
+      m.template triangularView<StrictlyUpper>().swap(m.transpose());
+    else
+      m = m.transpose().eval();
+  }
+};
+
+} // end namespace internal
+
+/** This is the "in place" version of transpose(): it replaces \c *this by its own transpose.
+  * Thus, doing
+  * \code
+  * m.transposeInPlace();
+  * \endcode
+  * has the same effect on m as doing
+  * \code
+  * m = m.transpose().eval();
+  * \endcode
+  * and is faster and also safer because in the latter line of code, forgetting the eval() results
+  * in a bug caused by aliasing.
+  *
+  * Notice however that this method is only useful if you want to replace a matrix by its own transpose.
+  * If you just need the transpose of a matrix, use transpose().
+  *
+  * \note if the matrix is not square, then \c *this must be a resizable matrix.
+  *
+  * \sa transpose(), adjoint(), adjointInPlace() */
+template<typename Derived>
+inline void DenseBase<Derived>::transposeInPlace()
+{
+  internal::inplace_transpose_selector<Derived>::run(derived());
+}
+
+/***************************************************************************
+* "in place" adjoint implementation
+***************************************************************************/
+
+/** This is the "in place" version of adjoint(): it replaces \c *this by its own transpose.
+  * Thus, doing
+  * \code
+  * m.adjointInPlace();
+  * \endcode
+  * has the same effect on m as doing
+  * \code
+  * m = m.adjoint().eval();
+  * \endcode
+  * and is faster and also safer because in the latter line of code, forgetting the eval() results
+  * in a bug caused by aliasing.
+  *
+  * Notice however that this method is only useful if you want to replace a matrix by its own adjoint.
+  * If you just need the adjoint of a matrix, use adjoint().
+  *
+  * \note if the matrix is not square, then \c *this must be a resizable matrix.
+  *
+  * \sa transpose(), adjoint(), transposeInPlace() */
+template<typename Derived>
+inline void MatrixBase<Derived>::adjointInPlace()
+{
+  derived() = adjoint().eval();
+}
+
+#ifndef EIGEN_NO_DEBUG
+
+// The following is to detect aliasing problems in most common cases.
+
+namespace internal {
+
+template<typename BinOp,typename NestedXpr,typename Rhs>
+struct blas_traits<SelfCwiseBinaryOp<BinOp,NestedXpr,Rhs> >
+ : blas_traits<NestedXpr>
+{
+  typedef SelfCwiseBinaryOp<BinOp,NestedXpr,Rhs> XprType;
+  static inline const XprType extract(const XprType& x) { return x; }
+};
+
+template<bool DestIsTransposed, typename OtherDerived>
+struct check_transpose_aliasing_compile_time_selector
+{
+  enum { ret = blas_traits<OtherDerived>::IsTransposed != DestIsTransposed
+  };
+};
+
+template<bool DestIsTransposed, typename BinOp, typename DerivedA, typename DerivedB>
+struct check_transpose_aliasing_compile_time_selector<DestIsTransposed,CwiseBinaryOp<BinOp,DerivedA,DerivedB> >
+{
+  enum { ret =    blas_traits<DerivedA>::IsTransposed != DestIsTransposed
+               || blas_traits<DerivedB>::IsTransposed != DestIsTransposed
+  };
+};
+
+template<typename Scalar, bool DestIsTransposed, typename OtherDerived>
+struct check_transpose_aliasing_run_time_selector
+{
+  static bool run(const Scalar* dest, const OtherDerived& src)
+  {
+    return (blas_traits<OtherDerived>::IsTransposed != DestIsTransposed) && (dest!=0 && dest==(Scalar*)extract_data(src));
+  }
+};
+
+template<typename Scalar, bool DestIsTransposed, typename BinOp, typename DerivedA, typename DerivedB>
+struct check_transpose_aliasing_run_time_selector<Scalar,DestIsTransposed,CwiseBinaryOp<BinOp,DerivedA,DerivedB> >
+{
+  static bool run(const Scalar* dest, const CwiseBinaryOp<BinOp,DerivedA,DerivedB>& src)
+  {
+    return ((blas_traits<DerivedA>::IsTransposed != DestIsTransposed) && (dest!=0 && dest==(Scalar*)extract_data(src.lhs())))
+        || ((blas_traits<DerivedB>::IsTransposed != DestIsTransposed) && (dest!=0 && dest==(Scalar*)extract_data(src.rhs())));
+  }
+};
+
+// the following selector, checkTransposeAliasing_impl, based on MightHaveTransposeAliasing,
+// is because when the condition controlling the assert is known at compile time, ICC emits a warning.
+// This is actually a good warning: in expressions that don't have any transposing, the condition is
+// known at compile time to be false, and using that, we can avoid generating the code of the assert again
+// and again for all these expressions that don't need it.
+
+template<typename Derived, typename OtherDerived,
+         bool MightHaveTransposeAliasing
+                 = check_transpose_aliasing_compile_time_selector
+                     <blas_traits<Derived>::IsTransposed,OtherDerived>::ret
+        >
+struct checkTransposeAliasing_impl
+{
+    static void run(const Derived& dst, const OtherDerived& other)
+    {
+        eigen_assert((!check_transpose_aliasing_run_time_selector
+                      <typename Derived::Scalar,blas_traits<Derived>::IsTransposed,OtherDerived>
+                      ::run(extract_data(dst), other))
+          && "aliasing detected during tranposition, use transposeInPlace() "
+             "or evaluate the rhs into a temporary using .eval()");
+
+    }
+};
+
+template<typename Derived, typename OtherDerived>
+struct checkTransposeAliasing_impl<Derived, OtherDerived, false>
+{
+    static void run(const Derived&, const OtherDerived&)
+    {
+    }
+};
+
+} // end namespace internal
+
+template<typename Derived>
+template<typename OtherDerived>
+void DenseBase<Derived>::checkTransposeAliasing(const OtherDerived& other) const
+{
+    internal::checkTransposeAliasing_impl<Derived, OtherDerived>::run(derived(), other);
+}
+#endif
+
+#endif // EIGEN_TRANSPOSE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Transpositions.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Transpositions.h
new file mode 100755
index 0000000..88fdfb2
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Transpositions.h
@@ -0,0 +1,447 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRANSPOSITIONS_H
+#define EIGEN_TRANSPOSITIONS_H
+
+/** \class Transpositions
+  * \ingroup Core_Module
+  *
+  * \brief Represents a sequence of transpositions (row/column interchange)
+  *
+  * \param SizeAtCompileTime the number of transpositions, or Dynamic
+  * \param MaxSizeAtCompileTime the maximum number of transpositions, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
+  *
+  * This class represents a permutation transformation as a sequence of \em n transpositions
+  * \f$[T_{n-1} \ldots T_{i} \ldots T_{0}]\f$. It is internally stored as a vector of integers \c indices.
+  * Each transposition \f$ T_{i} \f$ applied on the left of a matrix (\f$ T_{i} M\f$) interchanges
+  * the rows \c i and \c indices[i] of the matrix \c M.
+  * A transposition applied on the right (e.g., \f$ M T_{i}\f$) yields a column interchange.
+  *
+  * Compared to the class PermutationMatrix, such a sequence of transpositions is what is
+  * computed during a decomposition with pivoting, and it is faster when applying the permutation in-place.
+  * 
+  * To apply a sequence of transpositions to a matrix, simply use the operator * as in the following example:
+  * \code
+  * Transpositions tr;
+  * MatrixXf mat;
+  * mat = tr * mat;
+  * \endcode
+  * In this example, we detect that the matrix appears on both side, and so the transpositions
+  * are applied in-place without any temporary or extra copy.
+  *
+  * \sa class PermutationMatrix
+  */
+
+namespace internal {
+template<typename TranspositionType, typename MatrixType, int Side, bool Transposed=false> struct transposition_matrix_product_retval;
+}
+
+template<typename Derived>
+class TranspositionsBase
+{
+    typedef internal::traits<Derived> Traits;
+    
+  public:
+
+    typedef typename Traits::IndicesType IndicesType;
+    typedef typename IndicesType::Scalar Index;
+
+    Derived& derived() { return *static_cast<Derived*>(this); }
+    const Derived& derived() const { return *static_cast<const Derived*>(this); }
+
+    /** Copies the \a other transpositions into \c *this */
+    template<typename OtherDerived>
+    Derived& operator=(const TranspositionsBase<OtherDerived>& other)
+    {
+      indices() = other.indices();
+      return derived();
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    Derived& operator=(const TranspositionsBase& other)
+    {
+      indices() = other.indices();
+      return derived();
+    }
+    #endif
+
+    /** \returns the number of transpositions */
+    inline Index size() const { return indices().size(); }
+
+    /** Direct access to the underlying index vector */
+    inline const Index& coeff(Index i) const { return indices().coeff(i); }
+    /** Direct access to the underlying index vector */
+    inline Index& coeffRef(Index i) { return indices().coeffRef(i); }
+    /** Direct access to the underlying index vector */
+    inline const Index& operator()(Index i) const { return indices()(i); }
+    /** Direct access to the underlying index vector */
+    inline Index& operator()(Index i) { return indices()(i); }
+    /** Direct access to the underlying index vector */
+    inline const Index& operator[](Index i) const { return indices()(i); }
+    /** Direct access to the underlying index vector */
+    inline Index& operator[](Index i) { return indices()(i); }
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return derived().indices(); }
+    /** \returns a reference to the stored array representing the transpositions. */
+    IndicesType& indices() { return derived().indices(); }
+
+    /** Resizes to given size. */
+    inline void resize(int size)
+    {
+      indices().resize(size);
+    }
+
+    /** Sets \c *this to represents an identity transformation */
+    void setIdentity()
+    {
+      for(int i = 0; i < indices().size(); ++i)
+        coeffRef(i) = i;
+    }
+
+    // FIXME: do we want such methods ?
+    // might be usefull when the target matrix expression is complex, e.g.:
+    // object.matrix().block(..,..,..,..) = trans * object.matrix().block(..,..,..,..);
+    /*
+    template<typename MatrixType>
+    void applyForwardToRows(MatrixType& mat) const
+    {
+      for(Index k=0 ; k<size() ; ++k)
+        if(m_indices(k)!=k)
+          mat.row(k).swap(mat.row(m_indices(k)));
+    }
+
+    template<typename MatrixType>
+    void applyBackwardToRows(MatrixType& mat) const
+    {
+      for(Index k=size()-1 ; k>=0 ; --k)
+        if(m_indices(k)!=k)
+          mat.row(k).swap(mat.row(m_indices(k)));
+    }
+    */
+
+    /** \returns the inverse transformation */
+    inline Transpose<TranspositionsBase> inverse() const
+    { return Transpose<TranspositionsBase>(derived()); }
+
+    /** \returns the tranpose transformation */
+    inline Transpose<TranspositionsBase> transpose() const
+    { return Transpose<TranspositionsBase>(derived()); }
+
+  protected:
+};
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
+struct traits<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType> >
+{
+  typedef IndexType Index;
+  typedef Matrix<Index, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+};
+}
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
+class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType> >
+{
+    typedef internal::traits<Transpositions> Traits;
+  public:
+
+    typedef TranspositionsBase<Transpositions> Base;
+    typedef typename Traits::IndicesType IndicesType;
+    typedef typename IndicesType::Scalar Index;
+
+    inline Transpositions() {}
+
+    /** Copy constructor. */
+    template<typename OtherDerived>
+    inline Transpositions(const TranspositionsBase<OtherDerived>& other)
+      : m_indices(other.indices()) {}
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** Standard copy constructor. Defined only to prevent a default copy constructor
+      * from hiding the other templated constructor */
+    inline Transpositions(const Transpositions& other) : m_indices(other.indices()) {}
+    #endif
+
+    /** Generic constructor from expression of the transposition indices. */
+    template<typename Other>
+    explicit inline Transpositions(const MatrixBase<Other>& indices) : m_indices(indices)
+    {}
+
+    /** Copies the \a other transpositions into \c *this */
+    template<typename OtherDerived>
+    Transpositions& operator=(const TranspositionsBase<OtherDerived>& other)
+    {
+      return Base::operator=(other);
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    Transpositions& operator=(const Transpositions& other)
+    {
+      m_indices = other.m_indices;
+      return *this;
+    }
+    #endif
+
+    /** Constructs an uninitialized permutation matrix of given size.
+      */
+    inline Transpositions(Index size) : m_indices(size)
+    {}
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return m_indices; }
+    /** \returns a reference to the stored array representing the transpositions. */
+    IndicesType& indices() { return m_indices; }
+
+  protected:
+
+    IndicesType m_indices;
+};
+
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
+struct traits<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,_PacketAccess> >
+{
+  typedef IndexType Index;
+  typedef Map<const Matrix<Index,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1>, _PacketAccess> IndicesType;
+};
+}
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int PacketAccess>
+class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,PacketAccess>
+ : public TranspositionsBase<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,PacketAccess> >
+{
+    typedef internal::traits<Map> Traits;
+  public:
+
+    typedef TranspositionsBase<Map> Base;
+    typedef typename Traits::IndicesType IndicesType;
+    typedef typename IndicesType::Scalar Index;
+
+    inline Map(const Index* indices)
+      : m_indices(indices)
+    {}
+
+    inline Map(const Index* indices, Index size)
+      : m_indices(indices,size)
+    {}
+
+    /** Copies the \a other transpositions into \c *this */
+    template<typename OtherDerived>
+    Map& operator=(const TranspositionsBase<OtherDerived>& other)
+    {
+      return Base::operator=(other);
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    Map& operator=(const Map& other)
+    {
+      m_indices = other.m_indices;
+      return *this;
+    }
+    #endif
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return m_indices; }
+    
+    /** \returns a reference to the stored array representing the transpositions. */
+    IndicesType& indices() { return m_indices; }
+
+  protected:
+
+    IndicesType m_indices;
+};
+
+namespace internal {
+template<typename _IndicesType>
+struct traits<TranspositionsWrapper<_IndicesType> >
+{
+  typedef typename _IndicesType::Scalar Index;
+  typedef _IndicesType IndicesType;
+};
+}
+
+template<typename _IndicesType>
+class TranspositionsWrapper
+ : public TranspositionsBase<TranspositionsWrapper<_IndicesType> >
+{
+    typedef internal::traits<TranspositionsWrapper> Traits;
+  public:
+
+    typedef TranspositionsBase<TranspositionsWrapper> Base;
+    typedef typename Traits::IndicesType IndicesType;
+    typedef typename IndicesType::Scalar Index;
+
+    inline TranspositionsWrapper(IndicesType& indices)
+      : m_indices(indices)
+    {}
+
+    /** Copies the \a other transpositions into \c *this */
+    template<typename OtherDerived>
+    TranspositionsWrapper& operator=(const TranspositionsBase<OtherDerived>& other)
+    {
+      return Base::operator=(other);
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is a special case of the templated operator=. Its purpose is to
+      * prevent a default operator= from hiding the templated operator=.
+      */
+    TranspositionsWrapper& operator=(const TranspositionsWrapper& other)
+    {
+      m_indices = other.m_indices;
+      return *this;
+    }
+    #endif
+
+    /** const version of indices(). */
+    const IndicesType& indices() const { return m_indices; }
+
+    /** \returns a reference to the stored array representing the transpositions. */
+    IndicesType& indices() { return m_indices; }
+
+  protected:
+
+    const typename IndicesType::Nested m_indices;
+};
+
+/** \returns the \a matrix with the \a transpositions applied to the columns.
+  */
+template<typename Derived, typename TranspositionsDerived>
+inline const internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, OnTheRight>
+operator*(const MatrixBase<Derived>& matrix,
+          const TranspositionsBase<TranspositionsDerived> &transpositions)
+{
+  return internal::transposition_matrix_product_retval
+           <TranspositionsDerived, Derived, OnTheRight>
+           (transpositions.derived(), matrix.derived());
+}
+
+/** \returns the \a matrix with the \a transpositions applied to the rows.
+  */
+template<typename Derived, typename TranspositionDerived>
+inline const internal::transposition_matrix_product_retval
+               <TranspositionDerived, Derived, OnTheLeft>
+operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
+          const MatrixBase<Derived>& matrix)
+{
+  return internal::transposition_matrix_product_retval
+           <TranspositionDerived, Derived, OnTheLeft>
+           (transpositions.derived(), matrix.derived());
+}
+
+namespace internal {
+
+template<typename TranspositionType, typename MatrixType, int Side, bool Transposed>
+struct traits<transposition_matrix_product_retval<TranspositionType, MatrixType, Side, Transposed> >
+{
+  typedef typename MatrixType::PlainObject ReturnType;
+};
+
+template<typename TranspositionType, typename MatrixType, int Side, bool Transposed>
+struct transposition_matrix_product_retval
+ : public ReturnByValue<transposition_matrix_product_retval<TranspositionType, MatrixType, Side, Transposed> >
+{
+    typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
+    typedef typename TranspositionType::Index Index;
+
+    transposition_matrix_product_retval(const TranspositionType& tr, const MatrixType& matrix)
+      : m_transpositions(tr), m_matrix(matrix)
+    {}
+
+    inline int rows() const { return m_matrix.rows(); }
+    inline int cols() const { return m_matrix.cols(); }
+
+    template<typename Dest> inline void evalTo(Dest& dst) const
+    {
+      const int size = m_transpositions.size();
+      Index j = 0;
+
+      if(!(is_same<MatrixTypeNestedCleaned,Dest>::value && extract_data(dst) == extract_data(m_matrix)))
+        dst = m_matrix;
+
+      for(int k=(Transposed?size-1:0) ; Transposed?k>=0:k<size ; Transposed?--k:++k)
+        if((j=m_transpositions.coeff(k))!=k)
+        {
+          if(Side==OnTheLeft)
+            dst.row(k).swap(dst.row(j));
+          else if(Side==OnTheRight)
+            dst.col(k).swap(dst.col(j));
+        }
+    }
+
+  protected:
+    const TranspositionType& m_transpositions;
+    const typename MatrixType::Nested m_matrix;
+};
+
+} // end namespace internal
+
+/* Template partial specialization for transposed/inverse transpositions */
+
+template<typename TranspositionsDerived>
+class Transpose<TranspositionsBase<TranspositionsDerived> >
+{
+    typedef TranspositionsDerived TranspositionType;
+    typedef typename TranspositionType::IndicesType IndicesType;
+  public:
+
+    Transpose(const TranspositionType& t) : m_transpositions(t) {}
+
+    inline int size() const { return m_transpositions.size(); }
+
+    /** \returns the \a matrix with the inverse transpositions applied to the columns.
+      */
+    template<typename Derived> friend
+    inline const internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheRight, true>
+    operator*(const MatrixBase<Derived>& matrix, const Transpose& trt)
+    {
+      return internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheRight, true>(trt.m_transpositions, matrix.derived());
+    }
+
+    /** \returns the \a matrix with the inverse transpositions applied to the rows.
+      */
+    template<typename Derived>
+    inline const internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheLeft, true>
+    operator*(const MatrixBase<Derived>& matrix) const
+    {
+      return internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheLeft, true>(m_transpositions, matrix.derived());
+    }
+
+  protected:
+    const TranspositionType& m_transpositions;
+};
+
+#endif // EIGEN_TRANSPOSITIONS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/TriangularMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/TriangularMatrix.h
new file mode 100755
index 0000000..f9fedcb
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/TriangularMatrix.h
@@ -0,0 +1,834 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULARMATRIX_H
+#define EIGEN_TRIANGULARMATRIX_H
+
+namespace internal {
+  
+template<int Side, typename TriangularType, typename Rhs> struct triangular_solve_retval;
+  
+}
+
+/** \internal
+  *
+  * \class TriangularBase
+  * \ingroup Core_Module
+  *
+  * \brief Base class for triangular part in a matrix
+  */
+template<typename Derived> class TriangularBase : public EigenBase<Derived>
+{
+  public:
+
+    enum {
+      Mode = internal::traits<Derived>::Mode,
+      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime
+    };
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::DenseMatrixType DenseMatrixType;
+    typedef DenseMatrixType DenseType;
+
+    inline TriangularBase() { eigen_assert(!((Mode&UnitDiag) && (Mode&ZeroDiag))); }
+
+    inline Index rows() const { return derived().rows(); }
+    inline Index cols() const { return derived().cols(); }
+    inline Index outerStride() const { return derived().outerStride(); }
+    inline Index innerStride() const { return derived().innerStride(); }
+
+    inline Scalar coeff(Index row, Index col) const  { return derived().coeff(row,col); }
+    inline Scalar& coeffRef(Index row, Index col) { return derived().coeffRef(row,col); }
+
+    /** \see MatrixBase::copyCoeff(row,col)
+      */
+    template<typename Other>
+    EIGEN_STRONG_INLINE void copyCoeff(Index row, Index col, Other& other)
+    {
+      derived().coeffRef(row, col) = other.coeff(row, col);
+    }
+
+    inline Scalar operator()(Index row, Index col) const
+    {
+      check_coordinates(row, col);
+      return coeff(row,col);
+    }
+    inline Scalar& operator()(Index row, Index col)
+    {
+      check_coordinates(row, col);
+      return coeffRef(row,col);
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    inline Derived& derived() { return *static_cast<Derived*>(this); }
+    #endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    template<typename DenseDerived>
+    void evalTo(MatrixBase<DenseDerived> &other) const;
+    template<typename DenseDerived>
+    void evalToLazy(MatrixBase<DenseDerived> &other) const;
+
+    DenseMatrixType toDenseMatrix() const
+    {
+      DenseMatrixType res(rows(), cols());
+      evalToLazy(res);
+      return res;
+    }
+
+  protected:
+
+    void check_coordinates(Index row, Index col) const
+    {
+      EIGEN_ONLY_USED_FOR_DEBUG(row);
+      EIGEN_ONLY_USED_FOR_DEBUG(col);
+      eigen_assert(col>=0 && col<cols() && row>=0 && row<rows());
+      const int mode = int(Mode) & ~SelfAdjoint;
+      eigen_assert((mode==Upper && col>=row)
+                || (mode==Lower && col<=row)
+                || ((mode==StrictlyUpper || mode==UnitUpper) && col>row)
+                || ((mode==StrictlyLower || mode==UnitLower) && col<row));
+    }
+
+    #ifdef EIGEN_INTERNAL_DEBUGGING
+    void check_coordinates_internal(Index row, Index col) const
+    {
+      check_coordinates(row, col);
+    }
+    #else
+    void check_coordinates_internal(Index , Index ) const {}
+    #endif
+
+};
+
+/** \class TriangularView
+  * \ingroup Core_Module
+  *
+  * \brief Base class for triangular part in a matrix
+  *
+  * \param MatrixType the type of the object in which we are taking the triangular part
+  * \param Mode the kind of triangular matrix expression to construct. Can be Upper,
+  *             Lower, UpperSelfadjoint, or LowerSelfadjoint. This is in fact a bit field;
+  *             it must have either Upper or Lower, and additionnaly it may have either
+  *             UnitDiag or Selfadjoint.
+  *
+  * This class represents a triangular part of a matrix, not necessarily square. Strictly speaking, for rectangular
+  * matrices one should speak ok "trapezoid" parts. This class is the return type
+  * of MatrixBase::triangularView() and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::triangularView()
+  */
+namespace internal {
+template<typename MatrixType, unsigned int _Mode>
+struct traits<TriangularView<MatrixType, _Mode> > : traits<MatrixType>
+{
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedNonRef;
+  typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
+  typedef MatrixType ExpressionType;
+  typedef typename MatrixType::PlainObject DenseMatrixType;
+  enum {
+    Mode = _Mode,
+    Flags = (MatrixTypeNestedCleaned::Flags & (HereditaryBits) & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit))) | Mode,
+    CoeffReadCost = MatrixTypeNestedCleaned::CoeffReadCost
+  };
+};
+}
+
+template<int Mode, bool LhsIsTriangular,
+         typename Lhs, bool LhsIsVector,
+         typename Rhs, bool RhsIsVector>
+struct TriangularProduct;
+
+template<typename _MatrixType, unsigned int _Mode> class TriangularView
+  : public TriangularBase<TriangularView<_MatrixType, _Mode> >
+{
+  public:
+
+    typedef TriangularBase<TriangularView> Base;
+    typedef typename internal::traits<TriangularView>::Scalar Scalar;
+
+    typedef _MatrixType MatrixType;
+    typedef typename internal::traits<TriangularView>::DenseMatrixType DenseMatrixType;
+    typedef DenseMatrixType PlainObject;
+
+  protected:
+    typedef typename internal::traits<TriangularView>::MatrixTypeNested MatrixTypeNested;
+    typedef typename internal::traits<TriangularView>::MatrixTypeNestedNonRef MatrixTypeNestedNonRef;
+    typedef typename internal::traits<TriangularView>::MatrixTypeNestedCleaned MatrixTypeNestedCleaned;
+
+    typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
+    
+  public:
+    using Base::evalToLazy;
+  
+
+    typedef typename internal::traits<TriangularView>::StorageKind StorageKind;
+    typedef typename internal::traits<TriangularView>::Index Index;
+
+    enum {
+      Mode = _Mode,
+      TransposeMode = (Mode & Upper ? Lower : 0)
+                    | (Mode & Lower ? Upper : 0)
+                    | (Mode & (UnitDiag))
+                    | (Mode & (ZeroDiag))
+    };
+
+    inline TriangularView(const MatrixType& matrix) : m_matrix(matrix)
+    {}
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+    inline Index outerStride() const { return m_matrix.outerStride(); }
+    inline Index innerStride() const { return m_matrix.innerStride(); }
+
+    /** \sa MatrixBase::operator+=() */
+    template<typename Other> TriangularView&  operator+=(const DenseBase<Other>& other) { return *this = m_matrix + other.derived(); }
+    /** \sa MatrixBase::operator-=() */
+    template<typename Other> TriangularView&  operator-=(const DenseBase<Other>& other) { return *this = m_matrix - other.derived(); }
+    /** \sa MatrixBase::operator*=() */
+    TriangularView&  operator*=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = m_matrix * other; }
+    /** \sa MatrixBase::operator/=() */
+    TriangularView&  operator/=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = m_matrix / other; }
+
+    /** \sa MatrixBase::fill() */
+    void fill(const Scalar& value) { setConstant(value); }
+    /** \sa MatrixBase::setConstant() */
+    TriangularView& setConstant(const Scalar& value)
+    { return *this = MatrixType::Constant(rows(), cols(), value); }
+    /** \sa MatrixBase::setZero() */
+    TriangularView& setZero() { return setConstant(Scalar(0)); }
+    /** \sa MatrixBase::setOnes() */
+    TriangularView& setOnes() { return setConstant(Scalar(1)); }
+
+    /** \sa MatrixBase::coeff()
+      * \warning the coordinates must fit into the referenced triangular part
+      */
+    inline Scalar coeff(Index row, Index col) const
+    {
+      Base::check_coordinates_internal(row, col);
+      return m_matrix.coeff(row, col);
+    }
+
+    /** \sa MatrixBase::coeffRef()
+      * \warning the coordinates must fit into the referenced triangular part
+      */
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      Base::check_coordinates_internal(row, col);
+      return m_matrix.const_cast_derived().coeffRef(row, col);
+    }
+
+    const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
+    MatrixTypeNestedCleaned& nestedExpression() { return *const_cast<MatrixTypeNestedCleaned*>(&m_matrix); }
+
+    /** Assigns a triangular matrix to a triangular part of a dense matrix */
+    template<typename OtherDerived>
+    TriangularView& operator=(const TriangularBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    TriangularView& operator=(const MatrixBase<OtherDerived>& other);
+
+    TriangularView& operator=(const TriangularView& other)
+    { return *this = other.nestedExpression(); }
+
+    template<typename OtherDerived>
+    void lazyAssign(const TriangularBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    void lazyAssign(const MatrixBase<OtherDerived>& other);
+
+    /** \sa MatrixBase::conjugate() */
+    inline TriangularView<MatrixConjugateReturnType,Mode> conjugate()
+    { return m_matrix.conjugate(); }
+    /** \sa MatrixBase::conjugate() const */
+    inline const TriangularView<MatrixConjugateReturnType,Mode> conjugate() const
+    { return m_matrix.conjugate(); }
+
+    /** \sa MatrixBase::adjoint() */
+    inline TriangularView<typename MatrixType::AdjointReturnType,TransposeMode> adjoint()
+    { return m_matrix.adjoint(); }
+    /** \sa MatrixBase::adjoint() const */
+    inline const TriangularView<typename MatrixType::AdjointReturnType,TransposeMode> adjoint() const
+    { return m_matrix.adjoint(); }
+
+    /** \sa MatrixBase::transpose() */
+    inline TriangularView<Transpose<MatrixType>,TransposeMode> transpose()
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      return m_matrix.const_cast_derived().transpose();
+    }
+    /** \sa MatrixBase::transpose() const */
+    inline const TriangularView<Transpose<MatrixType>,TransposeMode> transpose() const
+    { return m_matrix.transpose(); }
+
+    /** Efficient triangular matrix times vector/matrix product */
+    template<typename OtherDerived>
+    TriangularProduct<Mode,true,MatrixType,false,OtherDerived,OtherDerived::IsVectorAtCompileTime>
+    operator*(const MatrixBase<OtherDerived>& rhs) const
+    {
+      return TriangularProduct
+              <Mode,true,MatrixType,false,OtherDerived,OtherDerived::IsVectorAtCompileTime>
+              (m_matrix, rhs.derived());
+    }
+
+    /** Efficient vector/matrix times triangular matrix product */
+    template<typename OtherDerived> friend
+    TriangularProduct<Mode,false,OtherDerived,OtherDerived::IsVectorAtCompileTime,MatrixType,false>
+    operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
+    {
+      return TriangularProduct
+              <Mode,false,OtherDerived,OtherDerived::IsVectorAtCompileTime,MatrixType,false>
+              (lhs.derived(),rhs.m_matrix);
+    }
+
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived>
+    struct eigen2_product_return_type
+    {
+      typedef typename TriangularView<MatrixType,Mode>::DenseMatrixType DenseMatrixType;
+      typedef typename OtherDerived::PlainObject::DenseType OtherPlainObject;
+      typedef typename ProductReturnType<DenseMatrixType, OtherPlainObject>::Type ProdRetType;
+      typedef typename ProdRetType::PlainObject type;
+    };
+    template<typename OtherDerived>
+    const typename eigen2_product_return_type<OtherDerived>::type
+    operator*(const EigenBase<OtherDerived>& rhs) const
+    {
+      typename OtherDerived::PlainObject::DenseType rhsPlainObject;
+      rhs.evalTo(rhsPlainObject);
+      return this->toDenseMatrix() * rhsPlainObject;
+    }
+    template<typename OtherMatrixType>
+    bool isApprox(const TriangularView<OtherMatrixType, Mode>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
+    {
+      return this->toDenseMatrix().isApprox(other.toDenseMatrix(), precision);
+    }
+    template<typename OtherDerived>
+    bool isApprox(const MatrixBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
+    {
+      return this->toDenseMatrix().isApprox(other, precision);
+    }
+    #endif // EIGEN2_SUPPORT
+
+    template<int Side, typename Other>
+    inline const internal::triangular_solve_retval<Side,TriangularView, Other>
+    solve(const MatrixBase<Other>& other) const;
+
+    template<int Side, typename OtherDerived>
+    void solveInPlace(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename Other>
+    inline const internal::triangular_solve_retval<OnTheLeft,TriangularView, Other> 
+    solve(const MatrixBase<Other>& other) const
+    { return solve<OnTheLeft>(other); }
+
+    template<typename OtherDerived>
+    void solveInPlace(const MatrixBase<OtherDerived>& other) const
+    { return solveInPlace<OnTheLeft>(other); }
+
+    const SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView() const
+    {
+      EIGEN_STATIC_ASSERT((Mode&UnitDiag)==0,PROGRAMMING_ERROR);
+      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
+    }
+    SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView()
+    {
+      EIGEN_STATIC_ASSERT((Mode&UnitDiag)==0,PROGRAMMING_ERROR);
+      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
+    }
+
+    template<typename OtherDerived>
+    void swap(TriangularBase<OtherDerived> const & other)
+    {
+      TriangularView<SwapWrapper<MatrixType>,Mode>(const_cast<MatrixType&>(m_matrix)).lazyAssign(other.derived());
+    }
+
+    template<typename OtherDerived>
+    void swap(MatrixBase<OtherDerived> const & other)
+    {
+      TriangularView<SwapWrapper<MatrixType>,Mode>(const_cast<MatrixType&>(m_matrix)).lazyAssign(other.derived());
+    }
+
+    Scalar determinant() const
+    {
+      if (Mode & UnitDiag)
+        return 1;
+      else if (Mode & ZeroDiag)
+        return 0;
+      else
+        return m_matrix.diagonal().prod();
+    }
+    
+    // TODO simplify the following:
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE TriangularView& operator=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+    {
+      setZero();
+      return assignProduct(other,1);
+    }
+    
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE TriangularView& operator+=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+    {
+      return assignProduct(other,1);
+    }
+    
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE TriangularView& operator-=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
+    {
+      return assignProduct(other,-1);
+    }
+    
+    
+    template<typename ProductDerived>
+    EIGEN_STRONG_INLINE TriangularView& operator=(const ScaledProduct<ProductDerived>& other)
+    {
+      setZero();
+      return assignProduct(other,other.alpha());
+    }
+    
+    template<typename ProductDerived>
+    EIGEN_STRONG_INLINE TriangularView& operator+=(const ScaledProduct<ProductDerived>& other)
+    {
+      return assignProduct(other,other.alpha());
+    }
+    
+    template<typename ProductDerived>
+    EIGEN_STRONG_INLINE TriangularView& operator-=(const ScaledProduct<ProductDerived>& other)
+    {
+      return assignProduct(other,-other.alpha());
+    }
+    
+  protected:
+    
+    template<typename ProductDerived, typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE TriangularView& assignProduct(const ProductBase<ProductDerived, Lhs,Rhs>& prod, const Scalar& alpha);
+
+    const MatrixTypeNested m_matrix;
+};
+
+/***************************************************************************
+* Implementation of triangular evaluation/assignment
+***************************************************************************/
+
+namespace internal {
+
+template<typename Derived1, typename Derived2, unsigned int Mode, int UnrollCount, bool ClearOpposite>
+struct triangular_assignment_selector
+{
+  enum {
+    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
+    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
+  };
+
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    triangular_assignment_selector<Derived1, Derived2, Mode, UnrollCount-1, ClearOpposite>::run(dst, src);
+
+    eigen_assert( Mode == Upper || Mode == Lower
+            || Mode == StrictlyUpper || Mode == StrictlyLower
+            || Mode == UnitUpper || Mode == UnitLower);
+    if((Mode == Upper && row <= col)
+    || (Mode == Lower && row >= col)
+    || (Mode == StrictlyUpper && row < col)
+    || (Mode == StrictlyLower && row > col)
+    || (Mode == UnitUpper && row < col)
+    || (Mode == UnitLower && row > col))
+      dst.copyCoeff(row, col, src);
+    else if(ClearOpposite)
+    {
+      if (Mode&UnitDiag && row==col)
+        dst.coeffRef(row, col) = 1;
+      else
+        dst.coeffRef(row, col) = 0;
+    }
+  }
+};
+
+// prevent buggy user code from causing an infinite recursion
+template<typename Derived1, typename Derived2, unsigned int Mode, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, Mode, 0, ClearOpposite>
+{
+  inline static void run(Derived1 &, const Derived2 &) {}
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, Upper, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      Index maxi = std::min(j, dst.rows()-1);
+      for(Index i = 0; i <= maxi; ++i)
+        dst.copyCoeff(i, j, src);
+      if (ClearOpposite)
+        for(Index i = maxi+1; i < dst.rows(); ++i)
+          dst.coeffRef(i, j) = 0;
+    }
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, Lower, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      for(Index i = j; i < dst.rows(); ++i)
+        dst.copyCoeff(i, j, src);
+      Index maxi = std::min(j, dst.rows());
+      if (ClearOpposite)
+        for(Index i = 0; i < maxi; ++i)
+          dst.coeffRef(i, j) = 0;
+    }
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, StrictlyUpper, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      Index maxi = std::min(j, dst.rows());
+      for(Index i = 0; i < maxi; ++i)
+        dst.copyCoeff(i, j, src);
+      if (ClearOpposite)
+        for(Index i = maxi; i < dst.rows(); ++i)
+          dst.coeffRef(i, j) = 0;
+    }
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, StrictlyLower, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      for(Index i = j+1; i < dst.rows(); ++i)
+        dst.copyCoeff(i, j, src);
+      Index maxi = std::min(j, dst.rows()-1);
+      if (ClearOpposite)
+        for(Index i = 0; i <= maxi; ++i)
+          dst.coeffRef(i, j) = 0;
+    }
+  }
+};
+
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, UnitUpper, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      Index maxi = std::min(j, dst.rows());
+      for(Index i = 0; i < maxi; ++i)
+        dst.copyCoeff(i, j, src);
+      if (ClearOpposite)
+      {
+        for(Index i = maxi+1; i < dst.rows(); ++i)
+          dst.coeffRef(i, j) = 0;
+      }
+    }
+    dst.diagonal().setOnes();
+  }
+};
+template<typename Derived1, typename Derived2, bool ClearOpposite>
+struct triangular_assignment_selector<Derived1, Derived2, UnitLower, Dynamic, ClearOpposite>
+{
+  typedef typename Derived1::Index Index;
+  inline static void run(Derived1 &dst, const Derived2 &src)
+  {
+    for(Index j = 0; j < dst.cols(); ++j)
+    {
+      Index maxi = std::min(j, dst.rows());
+      for(Index i = maxi+1; i < dst.rows(); ++i)
+        dst.copyCoeff(i, j, src);
+      if (ClearOpposite)
+      {
+        for(Index i = 0; i < maxi; ++i)
+          dst.coeffRef(i, j) = 0;
+      }
+    }
+    dst.diagonal().setOnes();
+  }
+};
+
+} // end namespace internal
+
+// FIXME should we keep that possibility
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+inline TriangularView<MatrixType, Mode>&
+TriangularView<MatrixType, Mode>::operator=(const MatrixBase<OtherDerived>& other)
+{
+  if(OtherDerived::Flags & EvalBeforeAssigningBit)
+  {
+    typename internal::plain_matrix_type<OtherDerived>::type other_evaluated(other.rows(), other.cols());
+    other_evaluated.template triangularView<Mode>().lazyAssign(other.derived());
+    lazyAssign(other_evaluated);
+  }
+  else
+    lazyAssign(other.derived());
+  return *this;
+}
+
+// FIXME should we keep that possibility
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+void TriangularView<MatrixType, Mode>::lazyAssign(const MatrixBase<OtherDerived>& other)
+{
+  enum {
+    unroll = MatrixType::SizeAtCompileTime != Dynamic
+          && internal::traits<OtherDerived>::CoeffReadCost != Dynamic
+          && MatrixType::SizeAtCompileTime*internal::traits<OtherDerived>::CoeffReadCost/2 <= EIGEN_UNROLLING_LIMIT
+  };
+  eigen_assert(m_matrix.rows() == other.rows() && m_matrix.cols() == other.cols());
+
+  internal::triangular_assignment_selector
+    <MatrixType, OtherDerived, int(Mode),
+    unroll ? int(MatrixType::SizeAtCompileTime) : Dynamic,
+    false // do not change the opposite triangular part
+    >::run(m_matrix.const_cast_derived(), other.derived());
+}
+
+
+
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+inline TriangularView<MatrixType, Mode>&
+TriangularView<MatrixType, Mode>::operator=(const TriangularBase<OtherDerived>& other)
+{
+  eigen_assert(Mode == int(OtherDerived::Mode));
+  if(internal::traits<OtherDerived>::Flags & EvalBeforeAssigningBit)
+  {
+    typename OtherDerived::DenseMatrixType other_evaluated(other.rows(), other.cols());
+    other_evaluated.template triangularView<Mode>().lazyAssign(other.derived().nestedExpression());
+    lazyAssign(other_evaluated);
+  }
+  else
+    lazyAssign(other.derived().nestedExpression());
+  return *this;
+}
+
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+void TriangularView<MatrixType, Mode>::lazyAssign(const TriangularBase<OtherDerived>& other)
+{
+  enum {
+    unroll = MatrixType::SizeAtCompileTime != Dynamic
+                   && internal::traits<OtherDerived>::CoeffReadCost != Dynamic
+                   && MatrixType::SizeAtCompileTime * internal::traits<OtherDerived>::CoeffReadCost / 2
+                        <= EIGEN_UNROLLING_LIMIT
+  };
+  eigen_assert(m_matrix.rows() == other.rows() && m_matrix.cols() == other.cols());
+
+  internal::triangular_assignment_selector
+    <MatrixType, OtherDerived, int(Mode),
+    unroll ? int(MatrixType::SizeAtCompileTime) : Dynamic,
+    false // preserve the opposite triangular part
+    >::run(m_matrix.const_cast_derived(), other.derived().nestedExpression());
+}
+
+/***************************************************************************
+* Implementation of TriangularBase methods
+***************************************************************************/
+
+/** Assigns a triangular or selfadjoint matrix to a dense matrix.
+  * If the matrix is triangular, the opposite part is set to zero. */
+template<typename Derived>
+template<typename DenseDerived>
+void TriangularBase<Derived>::evalTo(MatrixBase<DenseDerived> &other) const
+{
+  if(internal::traits<Derived>::Flags & EvalBeforeAssigningBit)
+  {
+    typename internal::plain_matrix_type<Derived>::type other_evaluated(rows(), cols());
+    evalToLazy(other_evaluated);
+    other.derived().swap(other_evaluated);
+  }
+  else
+    evalToLazy(other.derived());
+}
+
+/** Assigns a triangular or selfadjoint matrix to a dense matrix.
+  * If the matrix is triangular, the opposite part is set to zero. */
+template<typename Derived>
+template<typename DenseDerived>
+void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
+{
+  enum {
+    unroll = DenseDerived::SizeAtCompileTime != Dynamic
+                   && internal::traits<Derived>::CoeffReadCost != Dynamic
+                   && DenseDerived::SizeAtCompileTime * internal::traits<Derived>::CoeffReadCost / 2
+                        <= EIGEN_UNROLLING_LIMIT
+  };
+  other.derived().resize(this->rows(), this->cols());
+
+  internal::triangular_assignment_selector
+    <DenseDerived, typename internal::traits<Derived>::MatrixTypeNestedCleaned, Derived::Mode,
+    unroll ? int(DenseDerived::SizeAtCompileTime) : Dynamic,
+    true // clear the opposite triangular part
+    >::run(other.derived(), derived().nestedExpression());
+}
+
+/***************************************************************************
+* Implementation of TriangularView methods
+***************************************************************************/
+
+/***************************************************************************
+* Implementation of MatrixBase methods
+***************************************************************************/
+
+#ifdef EIGEN2_SUPPORT
+
+// implementation of part<>(), including the SelfAdjoint case.
+
+namespace internal {
+template<typename MatrixType, unsigned int Mode>
+struct eigen2_part_return_type
+{
+  typedef TriangularView<MatrixType, Mode> type;
+};
+
+template<typename MatrixType>
+struct eigen2_part_return_type<MatrixType, SelfAdjoint>
+{
+  typedef SelfAdjointView<MatrixType, Upper> type;
+};
+}
+
+/** \deprecated use MatrixBase::triangularView() */
+template<typename Derived>
+template<unsigned int Mode>
+const typename internal::eigen2_part_return_type<Derived, Mode>::type MatrixBase<Derived>::part() const
+{
+  return derived();
+}
+
+/** \deprecated use MatrixBase::triangularView() */
+template<typename Derived>
+template<unsigned int Mode>
+typename internal::eigen2_part_return_type<Derived, Mode>::type MatrixBase<Derived>::part()
+{
+  return derived();
+}
+#endif
+
+/**
+  * \returns an expression of a triangular view extracted from the current matrix
+  *
+  * The parameter \a Mode can have the following values: \c Upper, \c StrictlyUpper, \c UnitUpper,
+  * \c Lower, \c StrictlyLower, \c UnitLower.
+  *
+  * Example: \include MatrixBase_extract.cpp
+  * Output: \verbinclude MatrixBase_extract.out
+  *
+  * \sa class TriangularView
+  */
+template<typename Derived>
+template<unsigned int Mode>
+typename MatrixBase<Derived>::template TriangularViewReturnType<Mode>::Type
+MatrixBase<Derived>::triangularView()
+{
+  return derived();
+}
+
+/** This is the const version of MatrixBase::triangularView() */
+template<typename Derived>
+template<unsigned int Mode>
+typename MatrixBase<Derived>::template ConstTriangularViewReturnType<Mode>::Type
+MatrixBase<Derived>::triangularView() const
+{
+  return derived();
+}
+
+/** \returns true if *this is approximately equal to an upper triangular matrix,
+  *          within the precision given by \a prec.
+  *
+  * \sa isLowerTriangular()
+  */
+template<typename Derived>
+bool MatrixBase<Derived>::isUpperTriangular(RealScalar prec) const
+{
+  RealScalar maxAbsOnUpperPart = static_cast<RealScalar>(-1);
+  for(Index j = 0; j < cols(); ++j)
+  {
+    Index maxi = std::min(j, rows()-1);
+    for(Index i = 0; i <= maxi; ++i)
+    {
+      RealScalar absValue = internal::abs(coeff(i,j));
+      if(absValue > maxAbsOnUpperPart) maxAbsOnUpperPart = absValue;
+    }
+  }
+  RealScalar threshold = maxAbsOnUpperPart * prec;
+  for(Index j = 0; j < cols(); ++j)
+    for(Index i = j+1; i < rows(); ++i)
+      if(internal::abs(coeff(i, j)) > threshold) return false;
+  return true;
+}
+
+/** \returns true if *this is approximately equal to a lower triangular matrix,
+  *          within the precision given by \a prec.
+  *
+  * \sa isUpperTriangular()
+  */
+template<typename Derived>
+bool MatrixBase<Derived>::isLowerTriangular(RealScalar prec) const
+{
+  RealScalar maxAbsOnLowerPart = static_cast<RealScalar>(-1);
+  for(Index j = 0; j < cols(); ++j)
+    for(Index i = j; i < rows(); ++i)
+    {
+      RealScalar absValue = internal::abs(coeff(i,j));
+      if(absValue > maxAbsOnLowerPart) maxAbsOnLowerPart = absValue;
+    }
+  RealScalar threshold = maxAbsOnLowerPart * prec;
+  for(Index j = 1; j < cols(); ++j)
+  {
+    Index maxi = std::min(j, rows()-1);
+    for(Index i = 0; i < maxi; ++i)
+      if(internal::abs(coeff(i, j)) > threshold) return false;
+  }
+  return true;
+}
+
+#endif // EIGEN_TRIANGULARMATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/VectorBlock.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/VectorBlock.h
new file mode 100755
index 0000000..858e4c7
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/VectorBlock.h
@@ -0,0 +1,296 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_VECTORBLOCK_H
+#define EIGEN_VECTORBLOCK_H
+
+/** \class VectorBlock
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a fixed-size or dynamic-size sub-vector
+  *
+  * \param VectorType the type of the object in which we are taking a sub-vector
+  * \param Size size of the sub-vector we are taking at compile time (optional)
+  *
+  * This class represents an expression of either a fixed-size or dynamic-size sub-vector.
+  * It is the return type of DenseBase::segment(Index,Index) and DenseBase::segment<int>(Index) and
+  * most of the time this is the only way it is used.
+  *
+  * However, if you want to directly maniputate sub-vector expressions,
+  * for instance if you want to write a function returning such an expression, you
+  * will need to use this class.
+  *
+  * Here is an example illustrating the dynamic case:
+  * \include class_VectorBlock.cpp
+  * Output: \verbinclude class_VectorBlock.out
+  *
+  * \note Even though this expression has dynamic size, in the case where \a VectorType
+  * has fixed size, this expression inherits a fixed maximal size which means that evaluating
+  * it does not cause a dynamic memory allocation.
+  *
+  * Here is an example illustrating the fixed-size case:
+  * \include class_FixedVectorBlock.cpp
+  * Output: \verbinclude class_FixedVectorBlock.out
+  *
+  * \sa class Block, DenseBase::segment(Index,Index,Index,Index), DenseBase::segment(Index,Index)
+  */
+
+namespace internal {
+template<typename VectorType, int Size>
+struct traits<VectorBlock<VectorType, Size> >
+  : public traits<Block<VectorType,
+                     traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+                     traits<VectorType>::Flags & RowMajorBit ? Size : 1> >
+{
+};
+}
+
+template<typename VectorType, int Size> class VectorBlock
+  : public Block<VectorType,
+                     internal::traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+                     internal::traits<VectorType>::Flags & RowMajorBit ? Size : 1>
+{
+    typedef Block<VectorType,
+                     internal::traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+                     internal::traits<VectorType>::Flags & RowMajorBit ? Size : 1> Base;
+    enum {
+      IsColVector = !(internal::traits<VectorType>::Flags & RowMajorBit)
+    };
+  public:
+    EIGEN_DENSE_PUBLIC_INTERFACE(VectorBlock)
+
+    using Base::operator=;
+
+    /** Dynamic-size constructor
+      */
+    inline VectorBlock(VectorType& vector, Index start, Index size)
+      : Base(vector,
+             IsColVector ? start : 0, IsColVector ? 0 : start,
+             IsColVector ? size  : 1, IsColVector ? 1 : size)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorBlock);
+    }
+
+    /** Fixed-size constructor
+      */
+    inline VectorBlock(VectorType& vector, Index start)
+      : Base(vector, IsColVector ? start : 0, IsColVector ? 0 : start)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorBlock);
+    }
+};
+
+
+/** \returns a dynamic-size expression of a segment (i.e. a vector block) in *this.
+  *
+  * \only_for_vectors
+  *
+  * \param start the first coefficient in the segment
+  * \param size the number of coefficients in the segment
+  *
+  * Example: \include MatrixBase_segment_int_int.cpp
+  * Output: \verbinclude MatrixBase_segment_int_int.out
+  *
+  * \note Even though the returned expression has dynamic size, in the case
+  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+  * which means that evaluating it does not cause a dynamic memory allocation.
+  *
+  * \sa class Block, segment(Index)
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::SegmentReturnType
+DenseBase<Derived>::segment(Index start, Index size)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return SegmentReturnType(derived(), start, size);
+}
+
+/** This is the const version of segment(Index,Index).*/
+template<typename Derived>
+inline typename DenseBase<Derived>::ConstSegmentReturnType
+DenseBase<Derived>::segment(Index start, Index size) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return ConstSegmentReturnType(derived(), start, size);
+}
+
+/** \returns a dynamic-size expression of the first coefficients of *this.
+  *
+  * \only_for_vectors
+  *
+  * \param size the number of coefficients in the block
+  *
+  * Example: \include MatrixBase_start_int.cpp
+  * Output: \verbinclude MatrixBase_start_int.out
+  *
+  * \note Even though the returned expression has dynamic size, in the case
+  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+  * which means that evaluating it does not cause a dynamic memory allocation.
+  *
+  * \sa class Block, block(Index,Index)
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::SegmentReturnType
+DenseBase<Derived>::head(Index size)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return SegmentReturnType(derived(), 0, size);
+}
+
+/** This is the const version of head(Index).*/
+template<typename Derived>
+inline typename DenseBase<Derived>::ConstSegmentReturnType
+DenseBase<Derived>::head(Index size) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return ConstSegmentReturnType(derived(), 0, size);
+}
+
+/** \returns a dynamic-size expression of the last coefficients of *this.
+  *
+  * \only_for_vectors
+  *
+  * \param size the number of coefficients in the block
+  *
+  * Example: \include MatrixBase_end_int.cpp
+  * Output: \verbinclude MatrixBase_end_int.out
+  *
+  * \note Even though the returned expression has dynamic size, in the case
+  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+  * which means that evaluating it does not cause a dynamic memory allocation.
+  *
+  * \sa class Block, block(Index,Index)
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::SegmentReturnType
+DenseBase<Derived>::tail(Index size)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return SegmentReturnType(derived(), this->size() - size, size);
+}
+
+/** This is the const version of tail(Index).*/
+template<typename Derived>
+inline typename DenseBase<Derived>::ConstSegmentReturnType
+DenseBase<Derived>::tail(Index size) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return ConstSegmentReturnType(derived(), this->size() - size, size);
+}
+
+/** \returns a fixed-size expression of a segment (i.e. a vector block) in \c *this
+  *
+  * \only_for_vectors
+  *
+  * The template parameter \a Size is the number of coefficients in the block
+  *
+  * \param start the index of the first element of the sub-vector
+  *
+  * Example: \include MatrixBase_template_int_segment.cpp
+  * Output: \verbinclude MatrixBase_template_int_segment.out
+  *
+  * \sa class Block
+  */
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template FixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::segment(Index start)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename FixedSegmentReturnType<Size>::Type(derived(), start);
+}
+
+/** This is the const version of segment<int>(Index).*/
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template ConstFixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::segment(Index start) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename ConstFixedSegmentReturnType<Size>::Type(derived(), start);
+}
+
+/** \returns a fixed-size expression of the first coefficients of *this.
+  *
+  * \only_for_vectors
+  *
+  * The template parameter \a Size is the number of coefficients in the block
+  *
+  * Example: \include MatrixBase_template_int_start.cpp
+  * Output: \verbinclude MatrixBase_template_int_start.out
+  *
+  * \sa class Block
+  */
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template FixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::head()
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename FixedSegmentReturnType<Size>::Type(derived(), 0);
+}
+
+/** This is the const version of head<int>().*/
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template ConstFixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::head() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename ConstFixedSegmentReturnType<Size>::Type(derived(), 0);
+}
+
+/** \returns a fixed-size expression of the last coefficients of *this.
+  *
+  * \only_for_vectors
+  *
+  * The template parameter \a Size is the number of coefficients in the block
+  *
+  * Example: \include MatrixBase_template_int_end.cpp
+  * Output: \verbinclude MatrixBase_template_int_end.out
+  *
+  * \sa class Block
+  */
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template FixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::tail()
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename FixedSegmentReturnType<Size>::Type(derived(), size() - Size);
+}
+
+/** This is the const version of tail<int>.*/
+template<typename Derived>
+template<int Size>
+inline typename DenseBase<Derived>::template ConstFixedSegmentReturnType<Size>::Type
+DenseBase<Derived>::tail() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return typename ConstFixedSegmentReturnType<Size>::Type(derived(), size() - Size);
+}
+
+
+#endif // EIGEN_VECTORBLOCK_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/VectorwiseOp.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/VectorwiseOp.h
new file mode 100755
index 0000000..e328d94
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/VectorwiseOp.h
@@ -0,0 +1,557 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PARTIAL_REDUX_H
+#define EIGEN_PARTIAL_REDUX_H
+
+/** \class PartialReduxExpr
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression of a partially reduxed matrix
+  *
+  * \param MatrixType the type of the matrix we are applying the redux operation
+  * \param MemberOp type of the member functor
+  * \param Direction indicates the direction of the redux (Vertical or Horizontal)
+  *
+  * This class represents an expression of a partial redux operator of a matrix.
+  * It is the return type of some VectorwiseOp functions,
+  * and most of the time this is the only way it is used.
+  *
+  * \sa class VectorwiseOp
+  */
+
+template< typename MatrixType, typename MemberOp, int Direction>
+class PartialReduxExpr;
+
+namespace internal {
+template<typename MatrixType, typename MemberOp, int Direction>
+struct traits<PartialReduxExpr<MatrixType, MemberOp, Direction> >
+ : traits<MatrixType>
+{
+  typedef typename MemberOp::result_type Scalar;
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef typename traits<MatrixType>::XprKind XprKind;
+  typedef typename MatrixType::Scalar InputScalar;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+  enum {
+    RowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::MaxColsAtCompileTime,
+    Flags0 = (unsigned int)_MatrixTypeNested::Flags & HereditaryBits,
+    Flags = (Flags0 & ~RowMajorBit) | (RowsAtCompileTime == 1 ? RowMajorBit : 0),
+    TraversalSize = Direction==Vertical ? RowsAtCompileTime : ColsAtCompileTime
+  };
+  #if EIGEN_GNUC_AT_LEAST(3,4)
+  typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
+  #else
+  typedef typename MemberOp::template Cost<InputScalar,TraversalSize> CostOpType;
+  #endif
+  enum {
+    CoeffReadCost = TraversalSize * traits<_MatrixTypeNested>::CoeffReadCost + int(CostOpType::value)
+  };
+};
+}
+
+template< typename MatrixType, typename MemberOp, int Direction>
+class PartialReduxExpr : internal::no_assignment_operator,
+  public internal::dense_xpr_base< PartialReduxExpr<MatrixType, MemberOp, Direction> >::type
+{
+  public:
+
+    typedef typename internal::dense_xpr_base<PartialReduxExpr>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(PartialReduxExpr)
+    typedef typename internal::traits<PartialReduxExpr>::MatrixTypeNested MatrixTypeNested;
+    typedef typename internal::traits<PartialReduxExpr>::_MatrixTypeNested _MatrixTypeNested;
+
+    PartialReduxExpr(const MatrixType& mat, const MemberOp& func = MemberOp())
+      : m_matrix(mat), m_functor(func) {}
+
+    Index rows() const { return (Direction==Vertical   ? 1 : m_matrix.rows()); }
+    Index cols() const { return (Direction==Horizontal ? 1 : m_matrix.cols()); }
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index i, Index j) const
+    {
+      if (Direction==Vertical)
+        return m_functor(m_matrix.col(j));
+      else
+        return m_functor(m_matrix.row(i));
+    }
+
+    const Scalar coeff(Index index) const
+    {
+      if (Direction==Vertical)
+        return m_functor(m_matrix.col(index));
+      else
+        return m_functor(m_matrix.row(index));
+    }
+
+  protected:
+    const MatrixTypeNested m_matrix;
+    const MemberOp m_functor;
+};
+
+#define EIGEN_MEMBER_FUNCTOR(MEMBER,COST)                               \
+  template <typename ResultType>                                        \
+  struct member_##MEMBER {                                           \
+    EIGEN_EMPTY_STRUCT_CTOR(member_##MEMBER)                         \
+    typedef ResultType result_type;                                     \
+    template<typename Scalar, int Size> struct Cost                     \
+    { enum { value = COST }; };                                         \
+    template<typename XprType>                                          \
+    EIGEN_STRONG_INLINE ResultType operator()(const XprType& mat) const \
+    { return mat.MEMBER(); } \
+  }
+
+namespace internal {
+
+EIGEN_MEMBER_FUNCTOR(squaredNorm, Size * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(norm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(stableNorm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(blueNorm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(hypotNorm, (Size-1) * functor_traits<scalar_hypot_op<Scalar> >::Cost );
+EIGEN_MEMBER_FUNCTOR(sum, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(mean, (Size-1)*NumTraits<Scalar>::AddCost + NumTraits<Scalar>::MulCost);
+EIGEN_MEMBER_FUNCTOR(minCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(maxCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(all, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(any, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(count, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(prod, (Size-1)*NumTraits<Scalar>::MulCost);
+
+
+template <typename BinaryOp, typename Scalar>
+struct member_redux {
+  typedef typename result_of<
+                     BinaryOp(Scalar)
+                   >::type  result_type;
+  template<typename _Scalar, int Size> struct Cost
+  { enum { value = (Size-1) * functor_traits<BinaryOp>::Cost }; };
+  member_redux(const BinaryOp func) : m_functor(func) {}
+  template<typename Derived>
+  inline result_type operator()(const DenseBase<Derived>& mat) const
+  { return mat.redux(m_functor); }
+  const BinaryOp m_functor;
+};
+}
+
+/** \class VectorwiseOp
+  * \ingroup Core_Module
+  *
+  * \brief Pseudo expression providing partial reduction operations
+  *
+  * \param ExpressionType the type of the object on which to do partial reductions
+  * \param Direction indicates the direction of the redux (Vertical or Horizontal)
+  *
+  * This class represents a pseudo expression with partial reduction features.
+  * It is the return type of DenseBase::colwise() and DenseBase::rowwise()
+  * and most of the time this is the only way it is used.
+  *
+  * Example: \include MatrixBase_colwise.cpp
+  * Output: \verbinclude MatrixBase_colwise.out
+  *
+  * \sa DenseBase::colwise(), DenseBase::rowwise(), class PartialReduxExpr
+  */
+template<typename ExpressionType, int Direction> class VectorwiseOp
+{
+  public:
+
+    typedef typename ExpressionType::Scalar Scalar;
+    typedef typename ExpressionType::RealScalar RealScalar;
+    typedef typename ExpressionType::Index Index;
+    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
+        ExpressionType, ExpressionType&>::type ExpressionTypeNested;
+    typedef typename internal::remove_all<ExpressionTypeNested>::type ExpressionTypeNestedCleaned;
+
+    template<template<typename _Scalar> class Functor,
+                      typename Scalar=typename internal::traits<ExpressionType>::Scalar> struct ReturnType
+    {
+      typedef PartialReduxExpr<ExpressionType,
+                               Functor<Scalar>,
+                               Direction
+                              > Type;
+    };
+
+    template<typename BinaryOp> struct ReduxReturnType
+    {
+      typedef PartialReduxExpr<ExpressionType,
+                               internal::member_redux<BinaryOp,typename internal::traits<ExpressionType>::Scalar>,
+                               Direction
+                              > Type;
+    };
+
+    enum {
+      IsVertical   = (Direction==Vertical) ? 1 : 0,
+      IsHorizontal = (Direction==Horizontal) ? 1 : 0
+    };
+
+  protected:
+
+    /** \internal
+      * \returns the i-th subvector according to the \c Direction */
+    typedef typename internal::conditional<Direction==Vertical,
+                               typename ExpressionType::ColXpr,
+                               typename ExpressionType::RowXpr>::type SubVector;
+    SubVector subVector(Index i)
+    {
+      return SubVector(m_matrix.derived(),i);
+    }
+
+    /** \internal
+      * \returns the number of subvectors in the direction \c Direction */
+    Index subVectors() const
+    { return Direction==Vertical?m_matrix.cols():m_matrix.rows(); }
+
+    template<typename OtherDerived> struct ExtendedType {
+      typedef Replicate<OtherDerived,
+                        Direction==Vertical   ? 1 : ExpressionType::RowsAtCompileTime,
+                        Direction==Horizontal ? 1 : ExpressionType::ColsAtCompileTime> Type;
+    };
+
+    /** \internal
+      * Replicates a vector to match the size of \c *this */
+    template<typename OtherDerived>
+    typename ExtendedType<OtherDerived>::Type
+    extendedTo(const DenseBase<OtherDerived>& other) const
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived);
+      return typename ExtendedType<OtherDerived>::Type
+                      (other.derived(),
+                       Direction==Vertical   ? 1 : m_matrix.rows(),
+                       Direction==Horizontal ? 1 : m_matrix.cols());
+    }
+
+  public:
+
+    inline VectorwiseOp(ExpressionType& matrix) : m_matrix(matrix) {}
+
+    /** \internal */
+    inline const ExpressionType& _expression() const { return m_matrix; }
+
+    /** \returns a row or column vector expression of \c *this reduxed by \a func
+      *
+      * The template parameter \a BinaryOp is the type of the functor
+      * of the custom redux operator. Note that func must be an associative operator.
+      *
+      * \sa class VectorwiseOp, DenseBase::colwise(), DenseBase::rowwise()
+      */
+    template<typename BinaryOp>
+    const typename ReduxReturnType<BinaryOp>::Type
+    redux(const BinaryOp& func = BinaryOp()) const
+    { return typename ReduxReturnType<BinaryOp>::Type(_expression(), func); }
+
+    /** \returns a row (or column) vector expression of the smallest coefficient
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_minCoeff.cpp
+      * Output: \verbinclude PartialRedux_minCoeff.out
+      *
+      * \sa DenseBase::minCoeff() */
+    const typename ReturnType<internal::member_minCoeff>::Type minCoeff() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the largest coefficient
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_maxCoeff.cpp
+      * Output: \verbinclude PartialRedux_maxCoeff.out
+      *
+      * \sa DenseBase::maxCoeff() */
+    const typename ReturnType<internal::member_maxCoeff>::Type maxCoeff() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the squared norm
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_squaredNorm.cpp
+      * Output: \verbinclude PartialRedux_squaredNorm.out
+      *
+      * \sa DenseBase::squaredNorm() */
+    const typename ReturnType<internal::member_squaredNorm,RealScalar>::Type squaredNorm() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the norm
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_norm.cpp
+      * Output: \verbinclude PartialRedux_norm.out
+      *
+      * \sa DenseBase::norm() */
+    const typename ReturnType<internal::member_norm,RealScalar>::Type norm() const
+    { return _expression(); }
+
+
+    /** \returns a row (or column) vector expression of the norm
+      * of each column (or row) of the referenced expression, using
+      * blue's algorithm.
+      *
+      * \sa DenseBase::blueNorm() */
+    const typename ReturnType<internal::member_blueNorm,RealScalar>::Type blueNorm() const
+    { return _expression(); }
+
+
+    /** \returns a row (or column) vector expression of the norm
+      * of each column (or row) of the referenced expression, avoiding
+      * underflow and overflow.
+      *
+      * \sa DenseBase::stableNorm() */
+    const typename ReturnType<internal::member_stableNorm,RealScalar>::Type stableNorm() const
+    { return _expression(); }
+
+
+    /** \returns a row (or column) vector expression of the norm
+      * of each column (or row) of the referenced expression, avoiding
+      * underflow and overflow using a concatenation of hypot() calls.
+      *
+      * \sa DenseBase::hypotNorm() */
+    const typename ReturnType<internal::member_hypotNorm,RealScalar>::Type hypotNorm() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the sum
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_sum.cpp
+      * Output: \verbinclude PartialRedux_sum.out
+      *
+      * \sa DenseBase::sum() */
+    const typename ReturnType<internal::member_sum>::Type sum() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the mean
+    * of each column (or row) of the referenced expression.
+    *
+    * \sa DenseBase::mean() */
+    const typename ReturnType<internal::member_mean>::Type mean() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression representing
+      * whether \b all coefficients of each respective column (or row) are \c true.
+      *
+      * \sa DenseBase::all() */
+    const typename ReturnType<internal::member_all>::Type all() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression representing
+      * whether \b at \b least one coefficient of each respective column (or row) is \c true.
+      *
+      * \sa DenseBase::any() */
+    const typename ReturnType<internal::member_any>::Type any() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression representing
+      * the number of \c true coefficients of each respective column (or row).
+      *
+      * Example: \include PartialRedux_count.cpp
+      * Output: \verbinclude PartialRedux_count.out
+      *
+      * \sa DenseBase::count() */
+    const PartialReduxExpr<ExpressionType, internal::member_count<Index>, Direction> count() const
+    { return _expression(); }
+
+    /** \returns a row (or column) vector expression of the product
+      * of each column (or row) of the referenced expression.
+      *
+      * Example: \include PartialRedux_prod.cpp
+      * Output: \verbinclude PartialRedux_prod.out
+      *
+      * \sa DenseBase::prod() */
+    const typename ReturnType<internal::member_prod>::Type prod() const
+    { return _expression(); }
+
+
+    /** \returns a matrix expression
+      * where each column (or row) are reversed.
+      *
+      * Example: \include Vectorwise_reverse.cpp
+      * Output: \verbinclude Vectorwise_reverse.out
+      *
+      * \sa DenseBase::reverse() */
+    const Reverse<ExpressionType, Direction> reverse() const
+    { return Reverse<ExpressionType, Direction>( _expression() ); }
+
+    typedef Replicate<ExpressionType,Direction==Vertical?Dynamic:1,Direction==Horizontal?Dynamic:1> ReplicateReturnType;
+    const ReplicateReturnType replicate(Index factor) const;
+
+    /**
+      * \return an expression of the replication of each column (or row) of \c *this
+      *
+      * Example: \include DirectionWise_replicate.cpp
+      * Output: \verbinclude DirectionWise_replicate.out
+      *
+      * \sa VectorwiseOp::replicate(Index), DenseBase::replicate(), class Replicate
+      */
+    // NOTE implemented here because of sunstudio's compilation errors
+    template<int Factor> const Replicate<ExpressionType,(IsVertical?Factor:1),(IsHorizontal?Factor:1)>
+    replicate(Index factor = Factor) const
+    {
+      return Replicate<ExpressionType,Direction==Vertical?Factor:1,Direction==Horizontal?Factor:1>
+          (_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1);
+    }
+
+/////////// Artithmetic operators ///////////
+
+    /** Copies the vector \a other to each subvector of \c *this */
+    template<typename OtherDerived>
+    ExpressionType& operator=(const DenseBase<OtherDerived>& other)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+      //eigen_assert((m_matrix.isNull()) == (other.isNull())); FIXME
+      for(Index j=0; j<subVectors(); ++j)
+        subVector(j) = other;
+      return const_cast<ExpressionType&>(m_matrix);
+    }
+
+    /** Adds the vector \a other to each subvector of \c *this */
+    template<typename OtherDerived>
+    ExpressionType& operator+=(const DenseBase<OtherDerived>& other)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+      for(Index j=0; j<subVectors(); ++j)
+        subVector(j) += other.derived();
+      return const_cast<ExpressionType&>(m_matrix);
+    }
+
+    /** Substracts the vector \a other to each subvector of \c *this */
+    template<typename OtherDerived>
+    ExpressionType& operator-=(const DenseBase<OtherDerived>& other)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+      for(Index j=0; j<subVectors(); ++j)
+        subVector(j) -= other.derived();
+      return const_cast<ExpressionType&>(m_matrix);
+    }
+
+    /** Returns the expression of the sum of the vector \a other to each subvector of \c *this */
+    template<typename OtherDerived> EIGEN_STRONG_INLINE
+    CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
+                  const ExpressionTypeNestedCleaned,
+                  const typename ExtendedType<OtherDerived>::Type>
+    operator+(const DenseBase<OtherDerived>& other) const
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived);
+      return m_matrix + extendedTo(other.derived());
+    }
+
+    /** Returns the expression of the difference between each subvector of \c *this and the vector \a other */
+    template<typename OtherDerived>
+    CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
+                  const ExpressionTypeNestedCleaned,
+                  const typename ExtendedType<OtherDerived>::Type>
+    operator-(const DenseBase<OtherDerived>& other) const
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived);
+      return m_matrix - extendedTo(other.derived());
+    }
+
+/////////// Geometry module ///////////
+
+    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+    Homogeneous<ExpressionType,Direction> homogeneous() const;
+    #endif
+
+    typedef typename ExpressionType::PlainObject CrossReturnType;
+    template<typename OtherDerived>
+    const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const;
+
+    enum {
+      HNormalized_Size = Direction==Vertical ? internal::traits<ExpressionType>::RowsAtCompileTime
+                                             : internal::traits<ExpressionType>::ColsAtCompileTime,
+      HNormalized_SizeMinusOne = HNormalized_Size==Dynamic ? Dynamic : HNormalized_Size-1
+    };
+    typedef Block<const ExpressionType,
+                  Direction==Vertical   ? int(HNormalized_SizeMinusOne)
+                                        : int(internal::traits<ExpressionType>::RowsAtCompileTime),
+                  Direction==Horizontal ? int(HNormalized_SizeMinusOne)
+                                        : int(internal::traits<ExpressionType>::ColsAtCompileTime)>
+            HNormalized_Block;
+    typedef Block<const ExpressionType,
+                  Direction==Vertical   ? 1 : int(internal::traits<ExpressionType>::RowsAtCompileTime),
+                  Direction==Horizontal ? 1 : int(internal::traits<ExpressionType>::ColsAtCompileTime)>
+            HNormalized_Factors;
+    typedef CwiseBinaryOp<internal::scalar_quotient_op<typename internal::traits<ExpressionType>::Scalar>,
+                const HNormalized_Block,
+                const Replicate<HNormalized_Factors,
+                  Direction==Vertical   ? HNormalized_SizeMinusOne : 1,
+                  Direction==Horizontal ? HNormalized_SizeMinusOne : 1> >
+            HNormalizedReturnType;
+
+    const HNormalizedReturnType hnormalized() const;
+
+  protected:
+    ExpressionTypeNested m_matrix;
+};
+
+/** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+  *
+  * Example: \include MatrixBase_colwise.cpp
+  * Output: \verbinclude MatrixBase_colwise.out
+  *
+  * \sa rowwise(), class VectorwiseOp
+  */
+template<typename Derived>
+inline const typename DenseBase<Derived>::ConstColwiseReturnType
+DenseBase<Derived>::colwise() const
+{
+  return derived();
+}
+
+/** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
+  *
+  * \sa rowwise(), class VectorwiseOp
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::ColwiseReturnType
+DenseBase<Derived>::colwise()
+{
+  return derived();
+}
+
+/** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+  *
+  * Example: \include MatrixBase_rowwise.cpp
+  * Output: \verbinclude MatrixBase_rowwise.out
+  *
+  * \sa colwise(), class VectorwiseOp
+  */
+template<typename Derived>
+inline const typename DenseBase<Derived>::ConstRowwiseReturnType
+DenseBase<Derived>::rowwise() const
+{
+  return derived();
+}
+
+/** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
+  *
+  * \sa colwise(), class VectorwiseOp
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::RowwiseReturnType
+DenseBase<Derived>::rowwise()
+{
+  return derived();
+}
+
+#endif // EIGEN_PARTIAL_REDUX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Visitor.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Visitor.h
new file mode 100755
index 0000000..378ebcb
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/Visitor.h
@@ -0,0 +1,248 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_VISITOR_H
+#define EIGEN_VISITOR_H
+
+namespace internal {
+
+template<typename Visitor, typename Derived, int UnrollCount>
+struct visitor_impl
+{
+  enum {
+    col = (UnrollCount-1) / Derived::RowsAtCompileTime,
+    row = (UnrollCount-1) % Derived::RowsAtCompileTime
+  };
+
+  inline static void run(const Derived &mat, Visitor& visitor)
+  {
+    visitor_impl<Visitor, Derived, UnrollCount-1>::run(mat, visitor);
+    visitor(mat.coeff(row, col), row, col);
+  }
+};
+
+template<typename Visitor, typename Derived>
+struct visitor_impl<Visitor, Derived, 1>
+{
+  inline static void run(const Derived &mat, Visitor& visitor)
+  {
+    return visitor.init(mat.coeff(0, 0), 0, 0);
+  }
+};
+
+template<typename Visitor, typename Derived>
+struct visitor_impl<Visitor, Derived, Dynamic>
+{
+  typedef typename Derived::Index Index;
+  inline static void run(const Derived& mat, Visitor& visitor)
+  {
+    visitor.init(mat.coeff(0,0), 0, 0);
+    for(Index i = 1; i < mat.rows(); ++i)
+      visitor(mat.coeff(i, 0), i, 0);
+    for(Index j = 1; j < mat.cols(); ++j)
+      for(Index i = 0; i < mat.rows(); ++i)
+        visitor(mat.coeff(i, j), i, j);
+  }
+};
+
+} // end namespace internal
+
+/** Applies the visitor \a visitor to the whole coefficients of the matrix or vector.
+  *
+  * The template parameter \a Visitor is the type of the visitor and provides the following interface:
+  * \code
+  * struct MyVisitor {
+  *   // called for the first coefficient
+  *   void init(const Scalar& value, Index i, Index j);
+  *   // called for all other coefficients
+  *   void operator() (const Scalar& value, Index i, Index j);
+  * };
+  * \endcode
+  *
+  * \note compared to one or two \em for \em loops, visitors offer automatic
+  * unrolling for small fixed size matrix.
+  *
+  * \sa minCoeff(Index*,Index*), maxCoeff(Index*,Index*), DenseBase::redux()
+  */
+template<typename Derived>
+template<typename Visitor>
+void DenseBase<Derived>::visit(Visitor& visitor) const
+{
+  enum { unroll = SizeAtCompileTime != Dynamic
+                   && CoeffReadCost != Dynamic
+                   && (SizeAtCompileTime == 1 || internal::functor_traits<Visitor>::Cost != Dynamic)
+                   && SizeAtCompileTime * CoeffReadCost + (SizeAtCompileTime-1) * internal::functor_traits<Visitor>::Cost
+                      <= EIGEN_UNROLLING_LIMIT };
+  return internal::visitor_impl<Visitor, Derived,
+      unroll ? int(SizeAtCompileTime) : Dynamic
+    >::run(derived(), visitor);
+}
+
+namespace internal {
+
+/** \internal
+  * \brief Base class to implement min and max visitors
+  */
+template <typename Derived>
+struct coeff_visitor
+{
+  typedef typename Derived::Index Index;
+  typedef typename Derived::Scalar Scalar;
+  Index row, col;
+  Scalar res;
+  inline void init(const Scalar& value, Index i, Index j)
+  {
+    res = value;
+    row = i;
+    col = j;
+  }
+};
+
+/** \internal
+  * \brief Visitor computing the min coefficient with its value and coordinates
+  *
+  * \sa DenseBase::minCoeff(Index*, Index*)
+  */
+template <typename Derived>
+struct min_coeff_visitor : coeff_visitor<Derived>
+{
+  typedef typename Derived::Index Index;
+  typedef typename Derived::Scalar Scalar;
+  void operator() (const Scalar& value, Index i, Index j)
+  {
+    if(value < this->res)
+    {
+      this->res = value;
+      this->row = i;
+      this->col = j;
+    }
+  }
+};
+
+template<typename Scalar>
+struct functor_traits<min_coeff_visitor<Scalar> > {
+  enum {
+    Cost = NumTraits<Scalar>::AddCost
+  };
+};
+
+/** \internal
+  * \brief Visitor computing the max coefficient with its value and coordinates
+  *
+  * \sa DenseBase::maxCoeff(Index*, Index*)
+  */
+template <typename Derived>
+struct max_coeff_visitor : coeff_visitor<Derived>
+{
+  typedef typename Derived::Index Index;
+  typedef typename Derived::Scalar Scalar;
+  void operator() (const Scalar& value, Index i, Index j)
+  {
+    if(value > this->res)
+    {
+      this->res = value;
+      this->row = i;
+      this->col = j;
+    }
+  }
+};
+
+template<typename Scalar>
+struct functor_traits<max_coeff_visitor<Scalar> > {
+  enum {
+    Cost = NumTraits<Scalar>::AddCost
+  };
+};
+
+} // end namespace internal
+
+/** \returns the minimum of all coefficients of *this
+  * and puts in *row and *col its location.
+  *
+  * \sa DenseBase::minCoeff(Index*), DenseBase::maxCoeff(Index*,Index*), DenseBase::visitor(), DenseBase::minCoeff()
+  */
+template<typename Derived>
+template<typename IndexType>
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::minCoeff(IndexType* row, IndexType* col) const
+{
+  internal::min_coeff_visitor<Derived> minVisitor;
+  this->visit(minVisitor);
+  *row = minVisitor.row;
+  if (col) *col = minVisitor.col;
+  return minVisitor.res;
+}
+
+/** \returns the minimum of all coefficients of *this
+  * and puts in *index its location.
+  *
+  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::minCoeff()
+  */
+template<typename Derived>
+template<typename IndexType>
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::minCoeff(IndexType* index) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  internal::min_coeff_visitor<Derived> minVisitor;
+  this->visit(minVisitor);
+  *index = (RowsAtCompileTime==1) ? minVisitor.col : minVisitor.row;
+  return minVisitor.res;
+}
+
+/** \returns the maximum of all coefficients of *this
+  * and puts in *row and *col its location.
+  *
+  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::maxCoeff()
+  */
+template<typename Derived>
+template<typename IndexType>
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::maxCoeff(IndexType* row, IndexType* col) const
+{
+  internal::max_coeff_visitor<Derived> maxVisitor;
+  this->visit(maxVisitor);
+  *row = maxVisitor.row;
+  if (col) *col = maxVisitor.col;
+  return maxVisitor.res;
+}
+
+/** \returns the maximum of all coefficients of *this
+  * and puts in *index its location.
+  *
+  * \sa DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::maxCoeff()
+  */
+template<typename Derived>
+template<typename IndexType>
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::maxCoeff(IndexType* index) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  internal::max_coeff_visitor<Derived> maxVisitor;
+  this->visit(maxVisitor);
+  *index = (RowsAtCompileTime==1) ? maxVisitor.col : maxVisitor.row;
+  return maxVisitor.res;
+}
+
+#endif // EIGEN_VISITOR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/AltiVec/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/AltiVec/CMakeLists.txt
new file mode 100755
index 0000000..9f8d2e9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/AltiVec/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Core_arch_AltiVec_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Core_arch_AltiVec_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/AltiVec COMPONENT Devel
+)
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/AltiVec/Complex.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/AltiVec/Complex.h
new file mode 100755
index 0000000..f8adf1b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/AltiVec/Complex.h
@@ -0,0 +1,228 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPLEX_ALTIVEC_H
+#define EIGEN_COMPLEX_ALTIVEC_H
+
+namespace internal {
+
+static Packet4ui  p4ui_CONJ_XOR = vec_mergeh((Packet4ui)p4i_ZERO, (Packet4ui)p4f_ZERO_);//{ 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+static Packet16uc p16uc_COMPLEX_RE   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
+static Packet16uc p16uc_COMPLEX_IM   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 1), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
+static Packet16uc p16uc_COMPLEX_REV  = vec_sld(p16uc_REVERSE, p16uc_REVERSE, 8);//{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
+static Packet16uc p16uc_COMPLEX_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);//{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+static Packet16uc p16uc_PSET_HI = (Packet16uc) vec_mergeh((Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 1));//{ 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };
+static Packet16uc p16uc_PSET_LO = (Packet16uc) vec_mergeh((Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 2), (Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 3));//{ 8,9,10,11, 12,13,14,15, 8,9,10,11, 12,13,14,15 };
+
+//---------- float ----------
+struct Packet2cf
+{
+  EIGEN_STRONG_INLINE Packet2cf() {}
+  EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
+  Packet4f  v;
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet2cf type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
+{
+  Packet2cf res;
+  /* On AltiVec we cannot load 64-bit registers, so wa have to take care of alignment */
+  if((ptrdiff_t(&from) % 16) == 0)
+    res.v = pload<Packet4f>((const float *)&from);
+  else
+    res.v = ploadu<Packet4f>((const float *)&from);
+  res.v = vec_perm(res.v, res.v, p16uc_PSET_HI);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_add(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_sub(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) { return Packet2cf((Packet4f)vec_xor((Packet4ui)a.v, p4ui_CONJ_XOR)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  Packet4f v1, v2;
+
+  // Permute and multiply the real parts of a and b
+  v1 = vec_perm(a.v, a.v, p16uc_COMPLEX_RE);
+  // Get the imaginary parts of a
+  v2 = vec_perm(a.v, a.v, p16uc_COMPLEX_IM);
+  // multiply a_re * b 
+  v1 = vec_madd(v1, b.v, p4f_ZERO);
+  // multiply a_im * b and get the conjugate result
+  v2 = vec_madd(v2, b.v, p4f_ZERO);
+  v2 = (Packet4f) vec_xor((Packet4ui)v2, p4ui_CONJ_XOR);
+  // permute back to a proper order
+  v2 = vec_perm(v2, v2, p16uc_COMPLEX_REV);
+  
+  return Packet2cf(vec_add(v1, v2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_and(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_or(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_xor(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_and(a.v, vec_nor(b.v,b.v))); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*     from)
+{
+  return pset1<Packet2cf>(*from);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { vec_dstt((float *)addr, DST_CTRL(2,2,32), DST_CHAN); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> EIGEN_ALIGN16 res[2];
+  pstore((float *)&res, a.v);
+
+  return res[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
+{
+  Packet4f rev_a;
+  rev_a = vec_perm(a.v, a.v, p16uc_COMPLEX_REV2);
+  return Packet2cf(rev_a);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+  Packet4f b;
+  b = (Packet4f) vec_sld(a.v, a.v, 8);
+  b = padd(a.v, b);
+  return pfirst(Packet2cf(b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+{
+  Packet4f b1, b2;
+  
+  b1 = (Packet4f) vec_sld(vecs[0].v, vecs[1].v, 8);
+  b2 = (Packet4f) vec_sld(vecs[1].v, vecs[0].v, 8);
+  b2 = (Packet4f) vec_sld(b2, b2, 8);
+  b2 = padd(b1, b2);
+
+  return Packet2cf(b2);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+  Packet4f b;
+  Packet2cf prod;
+  b = (Packet4f) vec_sld(a.v, a.v, 8);
+  prod = pmul(a, Packet2cf(b));
+
+  return pfirst(prod);
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cf>
+{
+  EIGEN_STRONG_INLINE static void run(Packet2cf& first, const Packet2cf& second)
+  {
+    if (Offset==1)
+    {
+      first.v = vec_sld(first.v, second.v, 8);
+    }
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for AltiVec
+  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
+  Packet4f s = vec_madd(b.v, b.v, p4f_ZERO);
+  return Packet2cf(pdiv(res.v, vec_add(s,vec_perm(s, s, p16uc_COMPLEX_REV))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& x)
+{
+  return Packet2cf(vec_perm(x.v, x.v, p16uc_COMPLEX_REV));
+}
+
+} // end namespace internal
+
+#endif // EIGEN_COMPLEX_ALTIVEC_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/AltiVec/PacketMath.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/AltiVec/PacketMath.h
new file mode 100755
index 0000000..dc34ebb
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/AltiVec/PacketMath.h
@@ -0,0 +1,509 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Konstantinos Margaritis <markos@codex.gr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PACKET_MATH_ALTIVEC_H
+#define EIGEN_PACKET_MATH_ALTIVEC_H
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 4
+#endif
+
+#ifndef EIGEN_HAS_FUSE_CJMADD
+#define EIGEN_HAS_FUSE_CJMADD 1
+#endif
+
+// NOTE Altivec has 32 registers, but Eigen only accepts a value of 8 or 16
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16
+#endif
+
+typedef __vector float          Packet4f;
+typedef __vector int            Packet4i;
+typedef __vector unsigned int   Packet4ui;
+typedef __vector __bool int     Packet4bi;
+typedef __vector short int      Packet8i;
+typedef __vector unsigned char  Packet16uc;
+
+// We don't want to write the same code all the time, but we need to reuse the constants
+// and it doesn't really work to declare them global, so we define macros instead
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet4f(NAME,X) \
+  Packet4f p4f_##NAME = (Packet4f) vec_splat_s32(X)
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet4i(NAME,X) \
+  Packet4i p4i_##NAME = vec_splat_s32(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
+  Packet4f p4f_##NAME = pset1<Packet4f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+  Packet4f p4f_##NAME = vreinterpretq_f32_u32(pset1<int>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+  Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+#define DST_CHAN 1
+#define DST_CTRL(size, count, stride) (((size) << 24) | ((count) << 16) | (stride))
+
+// Define global static constants:
+static Packet4f p4f_COUNTDOWN = { 3.0, 2.0, 1.0, 0.0 };
+static Packet4i p4i_COUNTDOWN = { 3, 2, 1, 0 };
+static Packet16uc p16uc_REVERSE = {12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3};
+static Packet16uc p16uc_FORWARD = vec_lvsl(0, (float*)0);
+static Packet16uc p16uc_DUPLICATE = {0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7};
+
+static _EIGEN_DECLARE_CONST_FAST_Packet4f(ZERO, 0);
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0);
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE,1);
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS16,-16);
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS1,-1);
+static Packet4f p4f_ONE = vec_ctf(p4i_ONE, 0);
+static Packet4f p4f_ZERO_ = (Packet4f) vec_sl((Packet4ui)p4i_MINUS1, (Packet4ui)p4i_MINUS1);
+
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet4f type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+
+    // FIXME check the Has*
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 0,
+    HasSqrt = 0
+  };
+};
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet4i type;
+  enum {
+    // FIXME check the Has*
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4
+  };
+};
+
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+/*
+inline std::ostream & operator <<(std::ostream & s, const Packet4f & v)
+{
+  union {
+    Packet4f   v;
+    float n[4];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet4i & v)
+{
+  union {
+    Packet4i   v;
+    int n[4];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet4ui & v)
+{
+  union {
+    Packet4ui   v;
+    unsigned int n[4];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packetbi & v)
+{
+  union {
+    Packet4bi v;
+    unsigned int n[4];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
+  return s;
+}
+*/
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) {
+  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
+  float EIGEN_ALIGN16 af[4];
+  af[0] = from;
+  Packet4f vc = vec_ld(0, af);
+  vc = vec_splat(vc, 0);
+  return vc;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   {
+  int EIGEN_ALIGN16 ai[4];
+  ai[0] = from;
+  Packet4i vc = vec_ld(0, ai);
+  vc = vec_splat(vc, 0);
+  return vc;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a) { return vec_add(pset1<Packet4f>(a), p4f_COUNTDOWN); }
+template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a)     { return vec_add(pset1<Packet4i>(a), p4i_COUNTDOWN); }
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_add(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_add(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_sub(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_sub(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return psub<Packet4f>(p4f_ZERO, a); }
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return psub<Packet4i>(p4i_ZERO, a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_madd(a,b,p4f_ZERO); }
+/* Commented out: it's actually slower than processing it scalar
+ *
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+  // Detailed in: http://freevec.org/content/32bit_signed_integer_multiplication_altivec
+  //Set up constants, variables
+  Packet4i a1, b1, bswap, low_prod, high_prod, prod, prod_, v1sel;
+
+  // Get the absolute values
+  a1  = vec_abs(a);
+  b1  = vec_abs(b);
+
+  // Get the signs using xor
+  Packet4bi sgn = (Packet4bi) vec_cmplt(vec_xor(a, b), p4i_ZERO);
+
+  // Do the multiplication for the asbolute values.
+  bswap = (Packet4i) vec_rl((Packet4ui) b1, (Packet4ui) p4i_MINUS16 );
+  low_prod = vec_mulo((Packet8i) a1, (Packet8i)b1);
+  high_prod = vec_msum((Packet8i) a1, (Packet8i) bswap, p4i_ZERO);
+  high_prod = (Packet4i) vec_sl((Packet4ui) high_prod, (Packet4ui) p4i_MINUS16);
+  prod = vec_add( low_prod, high_prod );
+
+  // NOR the product and select only the negative elements according to the sign mask
+  prod_ = vec_nor(prod, prod);
+  prod_ = vec_sel(p4i_ZERO, prod_, sgn);
+
+  // Add 1 to the result to get the negative numbers
+  v1sel = vec_sel(p4i_ZERO, p4i_ONE, sgn);
+  prod_ = vec_add(prod_, v1sel);
+
+  // Merge the results back to the final vector.
+  prod = vec_sel(prod, prod_, sgn);
+
+  return prod;
+}
+*/
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f t, y_0, y_1, res;
+
+  // Altivec does not offer a divide instruction, we have to do a reciprocal approximation
+  y_0 = vec_re(b);
+
+  // Do one Newton-Raphson iteration to get the needed accuracy
+  t   = vec_nmsub(y_0, b, p4f_ONE);
+  y_1 = vec_madd(y_0, t, y_0);
+
+  res = vec_madd(a, y_1, p4f_ZERO);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by AltiVec");
+  return pset1<Packet4i>(0);
+}
+
+// for some weird raisons, it has to be overloaded for packet of integers
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vec_madd(a, b, c); }
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_min(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_max(a, b); }
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_and(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_or(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_or(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_xor(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_xor(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_and(a, vec_nor(b, b)); }
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, vec_nor(b, b)); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return vec_ld(0, from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return vec_ld(0, from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD
+  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
+  Packet16uc MSQ, LSQ;
+  Packet16uc mask;
+  MSQ = vec_ld(0, (unsigned char *)from);          // most significant quadword
+  LSQ = vec_ld(15, (unsigned char *)from);         // least significant quadword
+  mask = vec_lvsl(0, from);                        // create the permute mask
+  return (Packet4f) vec_perm(MSQ, LSQ, mask);           // align the data
+
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD
+  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
+  Packet16uc MSQ, LSQ;
+  Packet16uc mask;
+  MSQ = vec_ld(0, (unsigned char *)from);          // most significant quadword
+  LSQ = vec_ld(15, (unsigned char *)from);         // least significant quadword
+  mask = vec_lvsl(0, from);                        // create the permute mask
+  return (Packet4i) vec_perm(MSQ, LSQ, mask);    // align the data
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
+{
+  Packet4f p;
+  if((ptrdiff_t(&from) % 16) == 0)  p = pload<Packet4f>(from);
+  else                              p = ploadu<Packet4f>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE);
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
+{
+  Packet4i p;
+  if((ptrdiff_t(&from) % 16) == 0)  p = pload<Packet4i>(from);
+  else                              p = ploadu<Packet4i>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE vec_st(from, 0, to); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vec_st(from, 0, to); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from)
+{
+  EIGEN_DEBUG_UNALIGNED_STORE
+  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
+  // Warning: not thread safe!
+  Packet16uc MSQ, LSQ, edges;
+  Packet16uc edgeAlign, align;
+
+  MSQ = vec_ld(0, (unsigned char *)to);                     // most significant quadword
+  LSQ = vec_ld(15, (unsigned char *)to);                    // least significant quadword
+  edgeAlign = vec_lvsl(0, to);                              // permute map to extract edges
+  edges=vec_perm(LSQ,MSQ,edgeAlign);                        // extract the edges
+  align = vec_lvsr( 0, to );                                // permute map to misalign data
+  MSQ = vec_perm(edges,(Packet16uc)from,align);             // misalign the data (MSQ)
+  LSQ = vec_perm((Packet16uc)from,edges,align);             // misalign the data (LSQ)
+  vec_st( LSQ, 15, (unsigned char *)to );                   // Store the LSQ part first
+  vec_st( MSQ, 0, (unsigned char *)to );                    // Store the MSQ part
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from)
+{
+  EIGEN_DEBUG_UNALIGNED_STORE
+  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
+  // Warning: not thread safe!
+  Packet16uc MSQ, LSQ, edges;
+  Packet16uc edgeAlign, align;
+
+  MSQ = vec_ld(0, (unsigned char *)to);                     // most significant quadword
+  LSQ = vec_ld(15, (unsigned char *)to);                    // least significant quadword
+  edgeAlign = vec_lvsl(0, to);                              // permute map to extract edges
+  edges=vec_perm(LSQ, MSQ, edgeAlign);                      // extract the edges
+  align = vec_lvsr( 0, to );                                // permute map to misalign data
+  MSQ = vec_perm(edges, (Packet16uc) from, align);          // misalign the data (MSQ)
+  LSQ = vec_perm((Packet16uc) from, edges, align);          // misalign the data (LSQ)
+  vec_st( LSQ, 15, (unsigned char *)to );                   // Store the LSQ part first
+  vec_st( MSQ, 0, (unsigned char *)to );                    // Store the MSQ part
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { vec_dstt(addr, DST_CTRL(2,2,32), DST_CHAN); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr) { vec_dstt(addr, DST_CTRL(2,2,32), DST_CHAN); }
+
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x[4]; vec_st(a, 0, x); return x[0]; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x[4]; vec_st(a, 0, x); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) { return (Packet4f)vec_perm((Packet16uc)a,(Packet16uc)a, p16uc_REVERSE); }
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) { return (Packet4i)vec_perm((Packet16uc)a,(Packet16uc)a, p16uc_REVERSE); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vec_abs(a); }
+template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vec_abs(a); }
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet4f b, sum;
+  b   = (Packet4f) vec_sld(a, a, 8);
+  sum = vec_add(a, b);
+  b   = (Packet4f) vec_sld(sum, sum, 4);
+  sum = vec_add(sum, b);
+  return pfirst(sum);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  Packet4f v[4], sum[4];
+
+  // It's easier and faster to transpose then add as columns
+  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
+  // Do the transpose, first set of moves
+  v[0] = vec_mergeh(vecs[0], vecs[2]);
+  v[1] = vec_mergel(vecs[0], vecs[2]);
+  v[2] = vec_mergeh(vecs[1], vecs[3]);
+  v[3] = vec_mergel(vecs[1], vecs[3]);
+  // Get the resulting vectors
+  sum[0] = vec_mergeh(v[0], v[2]);
+  sum[1] = vec_mergel(v[0], v[2]);
+  sum[2] = vec_mergeh(v[1], v[3]);
+  sum[3] = vec_mergel(v[1], v[3]);
+
+  // Now do the summation:
+  // Lines 0+1
+  sum[0] = vec_add(sum[0], sum[1]);
+  // Lines 2+3
+  sum[1] = vec_add(sum[2], sum[3]);
+  // Add the results
+  sum[0] = vec_add(sum[0], sum[1]);
+
+  return sum[0];
+}
+
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  Packet4i sum;
+  sum = vec_sums(a, p4i_ZERO);
+  sum = vec_sld(sum, p4i_ZERO, 12);
+  return pfirst(sum);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  Packet4i v[4], sum[4];
+
+  // It's easier and faster to transpose then add as columns
+  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
+  // Do the transpose, first set of moves
+  v[0] = vec_mergeh(vecs[0], vecs[2]);
+  v[1] = vec_mergel(vecs[0], vecs[2]);
+  v[2] = vec_mergeh(vecs[1], vecs[3]);
+  v[3] = vec_mergel(vecs[1], vecs[3]);
+  // Get the resulting vectors
+  sum[0] = vec_mergeh(v[0], v[2]);
+  sum[1] = vec_mergel(v[0], v[2]);
+  sum[2] = vec_mergeh(v[1], v[3]);
+  sum[3] = vec_mergel(v[1], v[3]);
+
+  // Now do the summation:
+  // Lines 0+1
+  sum[0] = vec_add(sum[0], sum[1]);
+  // Lines 2+3
+  sum[1] = vec_add(sum[2], sum[3]);
+  // Add the results
+  sum[0] = vec_add(sum[0], sum[1]);
+
+  return sum[0];
+}
+
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  Packet4f prod;
+  prod = pmul(a, (Packet4f)vec_sld(a, a, 8));
+  return pfirst(pmul(prod, (Packet4f)vec_sld(prod, prod, 4)));
+}
+
+template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+{
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  return aux[0] * aux[1] * aux[2] * aux[3];
+}
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  Packet4f b, res;
+  b = vec_min(a, vec_sld(a, a, 8));
+  res = vec_min(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+  Packet4i b, res;
+  b = vec_min(a, vec_sld(a, a, 8));
+  res = vec_min(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+// max
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  Packet4f b, res;
+  b = vec_max(a, vec_sld(a, a, 8));
+  res = vec_max(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+  Packet4i b, res;
+  b = vec_max(a, vec_sld(a, a, 8));
+  res = vec_max(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4f& first, const Packet4f& second)
+  {
+    if (Offset!=0)
+      first = vec_sld(first, second, Offset*4);
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4i& first, const Packet4i& second)
+  {
+    if (Offset!=0)
+      first = vec_sld(first, second, Offset*4);
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_PACKET_MATH_ALTIVEC_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/CMakeLists.txt
new file mode 100755
index 0000000..8456dec
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/CMakeLists.txt
@@ -0,0 +1,4 @@
+ADD_SUBDIRECTORY(SSE)
+ADD_SUBDIRECTORY(AltiVec)
+ADD_SUBDIRECTORY(NEON)
+ADD_SUBDIRECTORY(Default)
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/Default/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/Default/CMakeLists.txt
new file mode 100755
index 0000000..339c091
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/Default/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Core_arch_Default_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Core_arch_Default_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/Default COMPONENT Devel
+)
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/Default/Settings.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/Default/Settings.h
new file mode 100755
index 0000000..957adc8
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/Default/Settings.h
@@ -0,0 +1,64 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+
+/* All the parameters defined in this file can be specialized in the
+ * architecture specific files, and/or by the user.
+ * More to come... */
+
+#ifndef EIGEN_DEFAULT_SETTINGS_H
+#define EIGEN_DEFAULT_SETTINGS_H
+
+/** Defines the maximal loop size to enable meta unrolling of loops.
+  * Note that the value here is expressed in Eigen's own notion of "number of FLOPS",
+  * it does not correspond to the number of iterations or the number of instructions
+  */
+#ifndef EIGEN_UNROLLING_LIMIT
+#define EIGEN_UNROLLING_LIMIT 100
+#endif
+
+/** Defines the threshold between a "small" and a "large" matrix.
+  * This threshold is mainly used to select the proper product implementation.
+  */
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+/** Defines the maximal width of the blocks used in the triangular product and solver
+  * for vectors (level 2 blas xTRMV and xTRSV). The default is 8.
+  */
+#ifndef EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH
+#define EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH 8
+#endif
+
+
+/** Defines the default number of registers available for that architecture.
+  * Currently it must be 8 or 16. Other values will fail.
+  */
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 8
+#endif
+
+#endif // EIGEN_DEFAULT_SETTINGS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/NEON/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/NEON/CMakeLists.txt
new file mode 100755
index 0000000..fd4d4af
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/NEON/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Core_arch_NEON_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Core_arch_NEON_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/NEON COMPONENT Devel
+)
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/NEON/Complex.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/NEON/Complex.h
new file mode 100755
index 0000000..a88354b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/NEON/Complex.h
@@ -0,0 +1,269 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPLEX_NEON_H
+#define EIGEN_COMPLEX_NEON_H
+
+namespace internal {
+
+static uint32x4_t p4ui_CONJ_XOR = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+static uint32x2_t p2ui_CONJ_XOR = { 0x00000000, 0x80000000 };
+
+//---------- float ----------
+struct Packet2cf
+{
+  EIGEN_STRONG_INLINE Packet2cf() {}
+  EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
+  Packet4f  v;
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet2cf type;
+  enum {
+    Vectorizable = 1,
+    size = 2,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
+{
+  float32x2_t r64;
+  r64 = vld1_f32((float *)&from);
+
+  return Packet2cf(vcombine_f32(r64, r64));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(padd<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(psub<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate<Packet4f>(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
+{
+  Packet4ui b = vreinterpretq_u32_f32(a.v);
+  return Packet2cf(vreinterpretq_f32_u32(veorq_u32(b, p4ui_CONJ_XOR)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  Packet4f v1, v2;
+  float32x2_t a_lo, a_hi;
+
+  // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
+  v1 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 0), vdup_lane_f32(vget_high_f32(a.v), 0));
+  // Get the real values of a | a1_im | a1_im | a2_im | a2_im |
+  v2 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 1), vdup_lane_f32(vget_high_f32(a.v), 1));
+  // Multiply the real a with b
+  v1 = vmulq_f32(v1, b.v);
+  // Multiply the imag a with b
+  v2 = vmulq_f32(v2, b.v);
+  // Conjugate v2 
+  v2 = vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(v2), p4ui_CONJ_XOR));
+  // Swap real/imag elements in v2.
+  a_lo = vrev64_f32(vget_low_f32(v2));
+  a_hi = vrev64_f32(vget_high_f32(v2));
+  v2 = vcombine_f32(a_lo, a_hi);
+  // Add and return the result
+  return Packet2cf(vaddq_f32(v1, v2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  return Packet2cf(vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  return Packet2cf(vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  return Packet2cf(vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  return Packet2cf(vreinterpretq_f32_u32(vbicq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pload<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { __pld((float *)addr); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> EIGEN_ALIGN16 x[2];
+  vst1q_f32((float *)x, a.v);
+  return x[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
+{
+  float32x2_t a_lo, a_hi;
+  Packet4f a_r128;
+
+  a_lo = vget_low_f32(a.v);
+  a_hi = vget_high_f32(a.v);
+  a_r128 = vcombine_f32(a_hi, a_lo);
+
+  return Packet2cf(a_r128);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& a)
+{
+  return Packet2cf(vrev64q_f32(a.v));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+  float32x2_t a1, a2;
+  std::complex<float> s;
+
+  a1 = vget_low_f32(a.v);
+  a2 = vget_high_f32(a.v);
+  a2 = vadd_f32(a1, a2);
+  vst1_f32((float *)&s, a2);
+
+  return s;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+{
+  Packet4f sum1, sum2, sum;
+
+  // Add the first two 64-bit float32x2_t of vecs[0]
+  sum1 = vcombine_f32(vget_low_f32(vecs[0].v), vget_low_f32(vecs[1].v));
+  sum2 = vcombine_f32(vget_high_f32(vecs[0].v), vget_high_f32(vecs[1].v));
+  sum = vaddq_f32(sum1, sum2);
+
+  return Packet2cf(sum);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+  float32x2_t a1, a2, v1, v2, prod;
+  std::complex<float> s;
+
+  a1 = vget_low_f32(a.v);
+  a2 = vget_high_f32(a.v);
+   // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
+  v1 = vdup_lane_f32(a1, 0);
+  // Get the real values of a | a1_im | a1_im | a2_im | a2_im |
+  v2 = vdup_lane_f32(a1, 1);
+  // Multiply the real a with b
+  v1 = vmul_f32(v1, a2);
+  // Multiply the imag a with b
+  v2 = vmul_f32(v2, a2);
+  // Conjugate v2 
+  v2 = vreinterpret_f32_u32(veor_u32(vreinterpret_u32_f32(v2), p2ui_CONJ_XOR));
+  // Swap real/imag elements in v2.
+  v2 = vrev64_f32(v2);
+  // Add v1, v2
+  prod = vadd_f32(v1, v2);
+
+  vst1_f32((float *)&s, prod);
+
+  return s;
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cf>
+{
+  EIGEN_STRONG_INLINE static void run(Packet2cf& first, const Packet2cf& second)
+  {
+    if (Offset==1)
+    {
+      first.v = vextq_f32(first.v, second.v, 2);
+    }
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for AltiVec
+  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
+  Packet4f s, rev_s;
+  float32x2_t a_lo, a_hi;
+
+  // this computes the norm
+  s = vmulq_f32(b.v, b.v);
+  a_lo = vrev64_f32(vget_low_f32(s));
+  a_hi = vrev64_f32(vget_high_f32(s));
+  rev_s = vcombine_f32(a_lo, a_hi);
+
+  return Packet2cf(pdiv(res.v, vaddq_f32(s,rev_s)));
+}
+
+} // end namespace internal
+
+#endif // EIGEN_COMPLEX_NEON_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/NEON/PacketMath.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/NEON/PacketMath.h
new file mode 100755
index 0000000..4f66b0f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/NEON/PacketMath.h
@@ -0,0 +1,420 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Konstantinos Margaritis <markos@codex.gr>
+// Heavily based on Gael's SSE version.
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PACKET_MATH_NEON_H
+#define EIGEN_PACKET_MATH_NEON_H
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+// FIXME NEON has 16 quad registers, but since the current register allocator
+// is so bad, it is much better to reduce it to 8
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 8
+#endif
+
+typedef float32x4_t Packet4f;
+typedef int32x4_t   Packet4i;
+typedef uint32x4_t  Packet4ui;
+
+#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
+  const Packet4f p4f_##NAME = pset1<Packet4f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+  const Packet4f p4f_##NAME = vreinterpretq_f32_u32(pset1<int>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+  const Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+#ifndef __pld
+#define __pld(x) asm volatile ( "   pld [%[addr]]\n" :: [addr] "r" (x) : "cc" );
+#endif
+
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet4f type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+   
+    HasDiv  = 1,
+    // FIXME check the Has*
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 0,
+    HasSqrt = 0
+  };
+};
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet4i type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4
+    // FIXME check the Has*
+  };
+};
+
+#if EIGEN_GNUC_AT_MOST(4,4)
+// workaround gcc 4.2, 4.3 and 4.4 compilatin issue
+EIGEN_STRONG_INLINE float32x4_t vld1q_f32(const float* x) { return ::vld1q_f32((const float32_t*)x); }
+EIGEN_STRONG_INLINE float32x2_t vld1_f32 (const float* x) { return ::vld1_f32 ((const float32_t*)x); }
+EIGEN_STRONG_INLINE void        vst1q_f32(float* to, float32x4_t from) { ::vst1q_f32((float32_t*)to,from); }
+EIGEN_STRONG_INLINE void        vst1_f32 (float* to, float32x2_t from) { ::vst1_f32 ((float32_t*)to,from); }
+#endif
+
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return vdupq_n_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   { return vdupq_n_s32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a)
+{
+  Packet4f countdown = { 3, 2, 1, 0 };
+  return vaddq_f32(pset1<Packet4f>(a), countdown);
+}
+template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a)
+{
+  Packet4i countdown = { 3, 2, 1, 0 };
+  return vaddq_s32(pset1<Packet4i>(a), countdown);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return vaddq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return vaddq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return vsubq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return vsubq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return vnegq_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return vnegq_s32(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vmulq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return vmulq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f inv, restep, div;
+
+  // NEON does not offer a divide instruction, we have to do a reciprocal approximation
+  // However NEON in contrast to other SIMD engines (AltiVec/SSE), offers
+  // a reciprocal estimate AND a reciprocal step -which saves a few instructions
+  // vrecpeq_f32() returns an estimate to 1/b, which we will finetune with
+  // Newton-Raphson and vrecpsq_f32()
+  inv = vrecpeq_f32(b);
+
+  // This returns a differential, by which we will have to multiply inv to get a better
+  // approximation of 1/b.
+  restep = vrecpsq_f32(b, inv);
+  inv = vmulq_f32(restep, inv);
+
+  // Finally, multiply a by 1/b and get the wanted result of the division.
+  div = vmulq_f32(a, inv);
+
+  return div;
+}
+template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet4i>(0);
+}
+
+// for some weird raisons, it has to be overloaded for packet of integers
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vminq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vminq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return vmaxq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vmaxq_s32(a,b); }
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  return vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vandq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  return vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vorrq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  return vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return veorq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  return vreinterpretq_f32_u32(vbicq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vbicq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*   from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)   { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
+{
+  float32x2_t lo, hi;
+  lo = vdup_n_f32(*from);
+  hi = vdup_n_f32(*from);
+  return vcombine_f32(lo, hi);
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
+{
+  int32x2_t lo, hi;
+  lo = vdup_n_s32(*from);
+  hi = vdup_n_s32(*from);
+  return vcombine_s32(lo, hi);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f32(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_s32(to, from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f32(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_s32(to, from); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { __pld(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr) { __pld(addr); }
+
+// FIXME only store the 2 first elements ?
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x[4]; vst1q_f32(x, a); return x[0]; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x[4]; vst1q_s32(x, a); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) {
+  float32x2_t a_lo, a_hi;
+  Packet4f a_r64;
+
+  a_r64 = vrev64q_f32(a);
+  a_lo = vget_low_f32(a_r64);
+  a_hi = vget_high_f32(a_r64);
+  return vcombine_f32(a_hi, a_lo);
+}
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) {
+  int32x2_t a_lo, a_hi;
+  Packet4i a_r64;
+
+  a_r64 = vrev64q_s32(a);
+  a_lo = vget_low_s32(a_r64);
+  a_hi = vget_high_s32(a_r64);
+  return vcombine_s32(a_hi, a_lo);
+}
+template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vabsq_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vabsq_s32(a); }
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  float32x2_t a_lo, a_hi, sum;
+  float s[2];
+
+  a_lo = vget_low_f32(a);
+  a_hi = vget_high_f32(a);
+  sum = vpadd_f32(a_lo, a_hi);
+  sum = vpadd_f32(sum, sum);
+  vst1_f32(s, sum);
+
+  return s[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  float32x4x2_t vtrn1, vtrn2, res1, res2;
+  Packet4f sum1, sum2, sum;
+
+  // NEON zip performs interleaving of the supplied vectors.
+  // We perform two interleaves in a row to acquire the transposed vector
+  vtrn1 = vzipq_f32(vecs[0], vecs[2]);
+  vtrn2 = vzipq_f32(vecs[1], vecs[3]);
+  res1 = vzipq_f32(vtrn1.val[0], vtrn2.val[0]);
+  res2 = vzipq_f32(vtrn1.val[1], vtrn2.val[1]);
+
+  // Do the addition of the resulting vectors
+  sum1 = vaddq_f32(res1.val[0], res1.val[1]);
+  sum2 = vaddq_f32(res2.val[0], res2.val[1]);
+  sum = vaddq_f32(sum1, sum2);
+
+  return sum;
+}
+
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  int32x2_t a_lo, a_hi, sum;
+  int32_t s[2];
+
+  a_lo = vget_low_s32(a);
+  a_hi = vget_high_s32(a);
+  sum = vpadd_s32(a_lo, a_hi);
+  sum = vpadd_s32(sum, sum);
+  vst1_s32(s, sum);
+
+  return s[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  int32x4x2_t vtrn1, vtrn2, res1, res2;
+  Packet4i sum1, sum2, sum;
+
+  // NEON zip performs interleaving of the supplied vectors.
+  // We perform two interleaves in a row to acquire the transposed vector
+  vtrn1 = vzipq_s32(vecs[0], vecs[2]);
+  vtrn2 = vzipq_s32(vecs[1], vecs[3]);
+  res1 = vzipq_s32(vtrn1.val[0], vtrn2.val[0]);
+  res2 = vzipq_s32(vtrn1.val[1], vtrn2.val[1]);
+
+  // Do the addition of the resulting vectors
+  sum1 = vaddq_s32(res1.val[0], res1.val[1]);
+  sum2 = vaddq_s32(res2.val[0], res2.val[1]);
+  sum = vaddq_s32(sum1, sum2);
+
+  return sum;
+}
+
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  float32x2_t a_lo, a_hi, prod;
+  float s[2];
+
+  // Get a_lo = |a1|a2| and a_hi = |a3|a4|
+  a_lo = vget_low_f32(a);
+  a_hi = vget_high_f32(a);
+  // Get the product of a_lo * a_hi -> |a1*a3|a2*a4|
+  prod = vmul_f32(a_lo, a_hi);
+  // Multiply prod with its swapped value |a2*a4|a1*a3|
+  prod = vmul_f32(prod, vrev64_f32(prod));
+  vst1_f32(s, prod);
+
+  return s[0];
+}
+template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+{
+  int32x2_t a_lo, a_hi, prod;
+  int32_t s[2];
+
+  // Get a_lo = |a1|a2| and a_hi = |a3|a4|
+  a_lo = vget_low_s32(a);
+  a_hi = vget_high_s32(a);
+  // Get the product of a_lo * a_hi -> |a1*a3|a2*a4|
+  prod = vmul_s32(a_lo, a_hi);
+  // Multiply prod with its swapped value |a2*a4|a1*a3|
+  prod = vmul_s32(prod, vrev64_s32(prod));
+  vst1_s32(s, prod);
+
+  return s[0];
+}
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  float32x2_t a_lo, a_hi, min;
+  float s[2];
+
+  a_lo = vget_low_f32(a);
+  a_hi = vget_high_f32(a);
+  min = vpmin_f32(a_lo, a_hi);
+  min = vpmin_f32(min, min);
+  vst1_f32(s, min);
+
+  return s[0];
+}
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+  int32x2_t a_lo, a_hi, min;
+  int32_t s[2];
+
+  a_lo = vget_low_s32(a);
+  a_hi = vget_high_s32(a);
+  min = vpmin_s32(a_lo, a_hi);
+  min = vpmin_s32(min, min);
+  vst1_s32(s, min);
+
+  return s[0];
+}
+
+// max
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  float32x2_t a_lo, a_hi, max;
+  float s[2];
+
+  a_lo = vget_low_f32(a);
+  a_hi = vget_high_f32(a);
+  max = vpmax_f32(a_lo, a_hi);
+  max = vpmax_f32(max, max);
+  vst1_f32(s, max);
+
+  return s[0];
+}
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+  int32x2_t a_lo, a_hi, max;
+  int32_t s[2];
+
+  a_lo = vget_low_s32(a);
+  a_hi = vget_high_s32(a);
+  max = vpmax_s32(a_lo, a_hi);
+  max = vpmax_s32(max, max);
+  vst1_s32(s, max);
+
+  return s[0];
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4f& first, const Packet4f& second)
+  {
+    if (Offset!=0)
+      first = vextq_f32(first, second, Offset);
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4i& first, const Packet4i& second)
+  {
+    if (Offset!=0)
+      first = vextq_s32(first, second, Offset);
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_PACKET_MATH_NEON_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/CMakeLists.txt
new file mode 100755
index 0000000..46ea7cc
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Core_arch_SSE_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Core_arch_SSE_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/SSE COMPONENT Devel
+)
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/Complex.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/Complex.h
new file mode 100755
index 0000000..c352bb3
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/Complex.h
@@ -0,0 +1,447 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPLEX_SSE_H
+#define EIGEN_COMPLEX_SSE_H
+
+namespace internal {
+
+//---------- float ----------
+struct Packet2cf
+{
+  EIGEN_STRONG_INLINE Packet2cf() {}
+  EIGEN_STRONG_INLINE explicit Packet2cf(const __m128& a) : v(a) {}
+  __m128  v;
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet2cf type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_add_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_sub_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a)
+{
+  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x80000000,0x80000000,0x80000000));
+  return Packet2cf(_mm_xor_ps(a.v,mask));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
+{
+  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+  return Packet2cf(_mm_xor_ps(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for SSE3 and 4
+  #ifdef EIGEN_VECTORIZE_SSE3
+  return Packet2cf(_mm_addsub_ps(_mm_mul_ps(_mm_moveldup_ps(a.v), b.v),
+                                 _mm_mul_ps(_mm_movehdup_ps(a.v),
+                                            vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+//   return Packet2cf(_mm_addsub_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
+//                                  _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+//                                             vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+  #else
+  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x00000000,0x80000000,0x00000000));
+  return Packet2cf(_mm_add_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
+                              _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+                                                    vec4f_swizzle1(b.v, 1, 0, 3, 2)), mask)));
+  #endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_and_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_or_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_xor_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_andnot_ps(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>(&real_ref(*from))); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>(&real_ref(*from))); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
+{
+  Packet2cf res;
+  #if EIGEN_GNUC_AT_MOST(4,2)
+  // workaround annoying "may be used uninitialized in this function" warning with gcc 4.2
+  res.v = _mm_loadl_pi(_mm_set1_ps(0.0f), (const __m64*)&from);
+  #else
+  res.v = _mm_loadl_pi(res.v, (const __m64*)&from);
+  #endif
+  return Packet2cf(_mm_movelh_ps(res.v,res.v));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&real_ref(*to), from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&real_ref(*to), from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
+{
+  #if EIGEN_GNUC_AT_MOST(4,3)
+  // Workaround gcc 4.2 ICE - this is not performance wise ideal, but who cares...
+  // This workaround also fix invalid code generation with gcc 4.3
+  EIGEN_ALIGN16 std::complex<float> res[2];
+  _mm_store_ps((float*)res, a.v);
+  return res[0];
+  #else
+  std::complex<float> res;
+  _mm_storel_pi((__m64*)&res, a.v);
+  return res;
+  #endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a) { return Packet2cf(_mm_castpd_ps(preverse(_mm_castps_pd(a.v)))); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+  return pfirst(Packet2cf(_mm_add_ps(a.v, _mm_movehl_ps(a.v,a.v))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+{
+  return Packet2cf(_mm_add_ps(_mm_movelh_ps(vecs[0].v,vecs[1].v), _mm_movehl_ps(vecs[1].v,vecs[0].v)));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+  return pfirst(pmul(a, Packet2cf(_mm_movehl_ps(a.v,a.v))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cf>
+{
+  EIGEN_STRONG_INLINE static void run(Packet2cf& first, const Packet2cf& second)
+  {
+    if (Offset==1)
+    {
+      first.v = _mm_movehl_ps(first.v, first.v);
+      first.v = _mm_movelh_ps(first.v, second.v);
+    }
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return internal::pmul(a, pconj(b));
+    #else
+    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+    return Packet2cf(_mm_add_ps(_mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v), mask),
+                                _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+                                           vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return internal::pmul(pconj(a), b);
+    #else
+    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+    return Packet2cf(_mm_add_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
+                                _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+                                                      vec4f_swizzle1(b.v, 1, 0, 3, 2)), mask)));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return pconj(internal::pmul(a, b));
+    #else
+    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+    return Packet2cf(_mm_sub_ps(_mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v), mask),
+                                _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+                                           vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet4f, Packet2cf, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet4f& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet4f& x, const Packet2cf& y) const
+  { return Packet2cf(Eigen::internal::pmul(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet2cf, Packet4f, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet4f& y, const Packet2cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& x, const Packet4f& y) const
+  { return Packet2cf(Eigen::internal::pmul(x.v, y)); }
+};
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for SSE3 and 4
+  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
+  __m128 s = _mm_mul_ps(b.v,b.v);
+  return Packet2cf(_mm_div_ps(res.v,_mm_add_ps(s,_mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(s), 0xb1)))));
+}
+
+EIGEN_STRONG_INLINE Packet2cf pcplxflip/*<Packet2cf>*/(const Packet2cf& x)
+{
+  return Packet2cf(vec4f_swizzle1(x.v, 1, 0, 3, 2));
+}
+
+
+//---------- double ----------
+struct Packet1cd
+{
+  EIGEN_STRONG_INLINE Packet1cd() {}
+  EIGEN_STRONG_INLINE explicit Packet1cd(const __m128d& a) : v(a) {}
+  __m128d  v;
+};
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet1cd type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 0,
+    size = 1,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1}; };
+
+template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_add_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_sub_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a)
+{
+  const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+  return Packet1cd(_mm_xor_pd(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  // TODO optimize it for SSE3 and 4
+  #ifdef EIGEN_VECTORIZE_SSE3
+  return Packet1cd(_mm_addsub_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
+                                 _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+                                            vec2d_swizzle1(b.v, 1, 0))));
+  #else
+  const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
+  return Packet1cd(_mm_add_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
+                              _mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+                                                    vec2d_swizzle1(b.v, 1, 0)), mask)));
+  #endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_and_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_or_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_xor_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_andnot_pd(a.v,b.v)); }
+
+// FIXME force unaligned load, this is a temporary fix
+template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
+{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
+
+// FIXME force unaligned store, this is a temporary fix
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+
+template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
+{
+  EIGEN_ALIGN16 double res[2];
+  _mm_store_pd(res, a.v);
+  return std::complex<double>(res[0],res[1]);
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a)
+{
+  return pfirst(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)
+{
+  return vecs[0];
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a)
+{
+  return pfirst(a);
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet1cd>
+{
+  EIGEN_STRONG_INLINE static void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
+  {
+    // FIXME is it sure we never have to align a Packet1cd?
+    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return internal::pmul(a, pconj(b));
+    #else
+    const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+    return Packet1cd(_mm_add_pd(_mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v), mask),
+                                _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+                                           vec2d_swizzle1(b.v, 1, 0))));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return internal::pmul(pconj(a), b);
+    #else
+    const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+    return Packet1cd(_mm_add_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
+                                _mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+                                                      vec2d_swizzle1(b.v, 1, 0)), mask)));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    #ifdef EIGEN_VECTORIZE_SSE3
+    return pconj(internal::pmul(a, b));
+    #else
+    const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+    return Packet1cd(_mm_sub_pd(_mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v), mask),
+                                _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+                                           vec2d_swizzle1(b.v, 1, 0))));
+    #endif
+  }
+};
+
+template<> struct conj_helper<Packet2d, Packet1cd, false,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet2d& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet2d& x, const Packet1cd& y) const
+  { return Packet1cd(Eigen::internal::pmul(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet1cd, Packet2d, false,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet2d& y, const Packet1cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& x, const Packet2d& y) const
+  { return Packet1cd(Eigen::internal::pmul(x.v, y)); }
+};
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  // TODO optimize it for SSE3 and 4
+  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+  __m128d s = _mm_mul_pd(b.v,b.v);
+  return Packet1cd(_mm_div_pd(res.v, _mm_add_pd(s,_mm_shuffle_pd(s, s, 0x1))));
+}
+
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+{
+  return Packet1cd(preverse(x.v));
+}
+
+} // end namespace internal
+
+#endif // EIGEN_COMPLEX_SSE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/MathFunctions.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/MathFunctions.h
new file mode 100755
index 0000000..9d56d82
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/MathFunctions.h
@@ -0,0 +1,395 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Julien Pommier
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_SSE_H
+#define EIGEN_MATH_FUNCTIONS_SSE_H
+
+namespace internal {
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f plog<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+  /* the smallest non denormalized float number */
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos,  0x00800000);
+
+  /* natural logarithm computed for 4 simultaneous float
+    return NaN for x <= 0
+  */
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_SQRTHF, 0.707106781186547524f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p0, 7.0376836292E-2f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p1, - 1.1514610310E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p2, 1.1676998740E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p3, - 1.2420140846E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p4, + 1.4249322787E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p5, - 1.6668057665E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p6, + 2.0000714765E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p7, - 2.4999993993E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p8, + 3.3333331174E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q1, -2.12194440e-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q2, 0.693359375f);
+
+
+  Packet4i emm0;
+
+  Packet4f invalid_mask = _mm_cmple_ps(x, _mm_setzero_ps());
+
+  x = pmax(x, p4f_min_norm_pos);  /* cut off denormalized stuff */
+  emm0 = _mm_srli_epi32(_mm_castps_si128(x), 23);
+
+  /* keep only the fractional part */
+  x = _mm_and_ps(x, p4f_inv_mant_mask);
+  x = _mm_or_ps(x, p4f_half);
+
+  emm0 = _mm_sub_epi32(emm0, p4i_0x7f);
+  Packet4f e = padd(_mm_cvtepi32_ps(emm0), p4f_1);
+
+  /* part2:
+     if( x < SQRTHF ) {
+       e -= 1;
+       x = x + x - 1.0;
+     } else { x = x - 1.0; }
+  */
+  Packet4f mask = _mm_cmplt_ps(x, p4f_cephes_SQRTHF);
+  Packet4f tmp = _mm_and_ps(x, mask);
+  x = psub(x, p4f_1);
+  e = psub(e, _mm_and_ps(p4f_1, mask));
+  x = padd(x, tmp);
+
+  Packet4f x2 = pmul(x,x);
+  Packet4f x3 = pmul(x2,x);
+
+  Packet4f y, y1, y2;
+  y  = pmadd(p4f_cephes_log_p0, x, p4f_cephes_log_p1);
+  y1 = pmadd(p4f_cephes_log_p3, x, p4f_cephes_log_p4);
+  y2 = pmadd(p4f_cephes_log_p6, x, p4f_cephes_log_p7);
+  y  = pmadd(y , x, p4f_cephes_log_p2);
+  y1 = pmadd(y1, x, p4f_cephes_log_p5);
+  y2 = pmadd(y2, x, p4f_cephes_log_p8);
+  y = pmadd(y, x3, y1);
+  y = pmadd(y, x3, y2);
+  y = pmul(y, x3);
+
+  y1 = pmul(e, p4f_cephes_log_q1);
+  tmp = pmul(x2, p4f_half);
+  y = padd(y, y1);
+  x = psub(x, tmp);
+  y2 = pmul(e, p4f_cephes_log_q2);
+  x = padd(x, y);
+  x = padd(x, y2);
+  return _mm_or_ps(x, invalid_mask); // negative arg will be NAN
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexp<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+
+
+  _EIGEN_DECLARE_CONST_Packet4f(exp_hi, 88.3762626647949f);
+  _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
+
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
+
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
+
+  Packet4f tmp = _mm_setzero_ps(), fx;
+  Packet4i emm0;
+
+  // clamp x
+  x = pmax(pmin(x, p4f_exp_hi), p4f_exp_lo);
+
+  /* express exp(x) as exp(g + n*log(2)) */
+  fx = pmadd(x, p4f_cephes_LOG2EF, p4f_half);
+
+  /* how to perform a floorf with SSE: just below */
+  emm0 = _mm_cvttps_epi32(fx);
+  tmp  = _mm_cvtepi32_ps(emm0);
+  /* if greater, substract 1 */
+  Packet4f mask = _mm_cmpgt_ps(tmp, fx);
+  mask = _mm_and_ps(mask, p4f_1);
+  fx = psub(tmp, mask);
+
+  tmp = pmul(fx, p4f_cephes_exp_C1);
+  Packet4f z = pmul(fx, p4f_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  z = pmul(x,x);
+
+  Packet4f y = p4f_cephes_exp_p0;
+  y = pmadd(y, x, p4f_cephes_exp_p1);
+  y = pmadd(y, x, p4f_cephes_exp_p2);
+  y = pmadd(y, x, p4f_cephes_exp_p3);
+  y = pmadd(y, x, p4f_cephes_exp_p4);
+  y = pmadd(y, x, p4f_cephes_exp_p5);
+  y = pmadd(y, z, x);
+  y = padd(y, p4f_1);
+
+  /* build 2^n */
+  emm0 = _mm_cvttps_epi32(fx);
+  emm0 = _mm_add_epi32(emm0, p4i_0x7f);
+  emm0 = _mm_slli_epi32(emm0, 23);
+  return pmul(y, _mm_castsi128_ps(emm0));
+}
+
+/* evaluation of 4 sines at onces, using SSE2 intrinsics.
+
+   The code is the exact rewriting of the cephes sinf function.
+   Precision is excellent as long as x < 8192 (I did not bother to
+   take into account the special handling they have for greater values
+   -- it does not return garbage for arguments over 8192, though, but
+   the extra precision is missing).
+
+   Note that it is such that sinf((float)M_PI) = 8.74e-8, which is the
+   surprising but correct result.
+*/
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psin<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+
+  _EIGEN_DECLARE_CONST_Packet4i(1, 1);
+  _EIGEN_DECLARE_CONST_Packet4i(not1, ~1);
+  _EIGEN_DECLARE_CONST_Packet4i(2, 2);
+  _EIGEN_DECLARE_CONST_Packet4i(4, 4);
+
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(sign_mask, 0x80000000);
+
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP1,-0.78515625f);
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP2, -2.4187564849853515625e-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP3, -3.77489497744594108e-8f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p0, -1.9515295891E-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p1,  8.3321608736E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p2, -1.6666654611E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p0,  2.443315711809948E-005f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p1, -1.388731625493765E-003f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p2,  4.166664568298827E-002f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI
+
+  Packet4f xmm1, xmm2 = _mm_setzero_ps(), xmm3, sign_bit, y;
+
+  Packet4i emm0, emm2;
+  sign_bit = x;
+  /* take the absolute value */
+  x = pabs(x);
+
+  /* take the modulo */
+
+  /* extract the sign bit (upper one) */
+  sign_bit = _mm_and_ps(sign_bit, p4f_sign_mask);
+
+  /* scale by 4/Pi */
+  y = pmul(x, p4f_cephes_FOPI);
+
+  /* store the integer part of y in mm0 */
+  emm2 = _mm_cvttps_epi32(y);
+  /* j=(j+1) & (~1) (see the cephes sources) */
+  emm2 = _mm_add_epi32(emm2, p4i_1);
+  emm2 = _mm_and_si128(emm2, p4i_not1);
+  y = _mm_cvtepi32_ps(emm2);
+  /* get the swap sign flag */
+  emm0 = _mm_and_si128(emm2, p4i_4);
+  emm0 = _mm_slli_epi32(emm0, 29);
+  /* get the polynom selection mask
+     there is one polynom for 0 <= x <= Pi/4
+     and another one for Pi/4<x<=Pi/2
+
+     Both branches will be computed.
+  */
+  emm2 = _mm_and_si128(emm2, p4i_2);
+  emm2 = _mm_cmpeq_epi32(emm2, _mm_setzero_si128());
+
+  Packet4f swap_sign_bit = _mm_castsi128_ps(emm0);
+  Packet4f poly_mask = _mm_castsi128_ps(emm2);
+  sign_bit = _mm_xor_ps(sign_bit, swap_sign_bit);
+
+  /* The magic pass: "Extended precision modular arithmetic"
+     x = ((x - y * DP1) - y * DP2) - y * DP3; */
+  xmm1 = pmul(y, p4f_minus_cephes_DP1);
+  xmm2 = pmul(y, p4f_minus_cephes_DP2);
+  xmm3 = pmul(y, p4f_minus_cephes_DP3);
+  x = padd(x, xmm1);
+  x = padd(x, xmm2);
+  x = padd(x, xmm3);
+
+  /* Evaluate the first polynom  (0 <= x <= Pi/4) */
+  y = p4f_coscof_p0;
+  Packet4f z = _mm_mul_ps(x,x);
+
+  y = pmadd(y, z, p4f_coscof_p1);
+  y = pmadd(y, z, p4f_coscof_p2);
+  y = pmul(y, z);
+  y = pmul(y, z);
+  Packet4f tmp = pmul(z, p4f_half);
+  y = psub(y, tmp);
+  y = padd(y, p4f_1);
+
+  /* Evaluate the second polynom  (Pi/4 <= x <= 0) */
+
+  Packet4f y2 = p4f_sincof_p0;
+  y2 = pmadd(y2, z, p4f_sincof_p1);
+  y2 = pmadd(y2, z, p4f_sincof_p2);
+  y2 = pmul(y2, z);
+  y2 = pmul(y2, x);
+  y2 = padd(y2, x);
+
+  /* select the correct result from the two polynoms */
+  y2 = _mm_and_ps(poly_mask, y2);
+  y = _mm_andnot_ps(poly_mask, y);
+  y = _mm_or_ps(y,y2);
+  /* update the sign */
+  return _mm_xor_ps(y, sign_bit);
+}
+
+/* almost the same as psin */
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pcos<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+
+  _EIGEN_DECLARE_CONST_Packet4i(1, 1);
+  _EIGEN_DECLARE_CONST_Packet4i(not1, ~1);
+  _EIGEN_DECLARE_CONST_Packet4i(2, 2);
+  _EIGEN_DECLARE_CONST_Packet4i(4, 4);
+
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP1,-0.78515625f);
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP2, -2.4187564849853515625e-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP3, -3.77489497744594108e-8f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p0, -1.9515295891E-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p1,  8.3321608736E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(sincof_p2, -1.6666654611E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p0,  2.443315711809948E-005f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p1, -1.388731625493765E-003f);
+  _EIGEN_DECLARE_CONST_Packet4f(coscof_p2,  4.166664568298827E-002f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI
+
+  Packet4f xmm1, xmm2 = _mm_setzero_ps(), xmm3, y;
+  Packet4i emm0, emm2;
+
+  x = pabs(x);
+
+  /* scale by 4/Pi */
+  y = pmul(x, p4f_cephes_FOPI);
+
+  /* get the integer part of y */
+  emm2 = _mm_cvttps_epi32(y);
+  /* j=(j+1) & (~1) (see the cephes sources) */
+  emm2 = _mm_add_epi32(emm2, p4i_1);
+  emm2 = _mm_and_si128(emm2, p4i_not1);
+  y = _mm_cvtepi32_ps(emm2);
+
+  emm2 = _mm_sub_epi32(emm2, p4i_2);
+
+  /* get the swap sign flag */
+  emm0 = _mm_andnot_si128(emm2, p4i_4);
+  emm0 = _mm_slli_epi32(emm0, 29);
+  /* get the polynom selection mask */
+  emm2 = _mm_and_si128(emm2, p4i_2);
+  emm2 = _mm_cmpeq_epi32(emm2, _mm_setzero_si128());
+
+  Packet4f sign_bit = _mm_castsi128_ps(emm0);
+  Packet4f poly_mask = _mm_castsi128_ps(emm2);
+
+  /* The magic pass: "Extended precision modular arithmetic"
+     x = ((x - y * DP1) - y * DP2) - y * DP3; */
+  xmm1 = pmul(y, p4f_minus_cephes_DP1);
+  xmm2 = pmul(y, p4f_minus_cephes_DP2);
+  xmm3 = pmul(y, p4f_minus_cephes_DP3);
+  x = padd(x, xmm1);
+  x = padd(x, xmm2);
+  x = padd(x, xmm3);
+
+  /* Evaluate the first polynom  (0 <= x <= Pi/4) */
+  y = p4f_coscof_p0;
+  Packet4f z = pmul(x,x);
+
+  y = pmadd(y,z,p4f_coscof_p1);
+  y = pmadd(y,z,p4f_coscof_p2);
+  y = pmul(y, z);
+  y = pmul(y, z);
+  Packet4f tmp = _mm_mul_ps(z, p4f_half);
+  y = psub(y, tmp);
+  y = padd(y, p4f_1);
+
+  /* Evaluate the second polynom  (Pi/4 <= x <= 0) */
+  Packet4f y2 = p4f_sincof_p0;
+  y2 = pmadd(y2, z, p4f_sincof_p1);
+  y2 = pmadd(y2, z, p4f_sincof_p2);
+  y2 = pmul(y2, z);
+  y2 = pmadd(y2, x, x);
+
+  /* select the correct result from the two polynoms */
+  y2 = _mm_and_ps(poly_mask, y2);
+  y  = _mm_andnot_ps(poly_mask, y);
+  y  = _mm_or_ps(y,y2);
+
+  /* update the sign */
+  return _mm_xor_ps(y, sign_bit);
+}
+
+// This is based on Quake3's fast inverse square root.
+// For detail see here: http://www.beyond3d.com/content/articles/8/
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psqrt<Packet4f>(const Packet4f& _x)
+{
+  Packet4f half = pmul(_x, pset1<Packet4f>(.5f));
+
+  /* select only the inverse sqrt of non-zero inputs */
+  Packet4f non_zero_mask = _mm_cmpgt_ps(_x, pset1<Packet4f>(std::numeric_limits<float>::epsilon()));
+  Packet4f x = _mm_and_ps(non_zero_mask, _mm_rsqrt_ps(_x));
+
+  x = pmul(x, psub(pset1<Packet4f>(1.5f), pmul(half, pmul(x,x))));
+  return pmul(_x,x);
+}
+
+} // end namespace internal
+
+#endif // EIGEN_MATH_FUNCTIONS_SSE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/PacketMath.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/PacketMath.h
new file mode 100755
index 0000000..908e273
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/arch/SSE/PacketMath.h
@@ -0,0 +1,634 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PACKET_MATH_SSE_H
+#define EIGEN_PACKET_MATH_SSE_H
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#endif
+
+typedef __m128  Packet4f;
+typedef __m128i Packet4i;
+typedef __m128d Packet2d;
+
+template<> struct is_arithmetic<__m128>  { enum { value = true }; };
+template<> struct is_arithmetic<__m128i> { enum { value = true }; };
+template<> struct is_arithmetic<__m128d> { enum { value = true }; };
+
+#define vec4f_swizzle1(v,p,q,r,s) \
+  (_mm_castsi128_ps(_mm_shuffle_epi32( _mm_castps_si128(v), ((s)<<6|(r)<<4|(q)<<2|(p)))))
+
+#define vec4i_swizzle1(v,p,q,r,s) \
+  (_mm_shuffle_epi32( v, ((s)<<6|(r)<<4|(q)<<2|(p))))
+
+#define vec2d_swizzle1(v,p,q) \
+  (_mm_castsi128_pd(_mm_shuffle_epi32( _mm_castpd_si128(v), ((q*2+1)<<6|(q*2)<<4|(p*2+1)<<2|(p*2)))))
+  
+#define vec4f_swizzle2(a,b,p,q,r,s) \
+  (_mm_shuffle_ps( (a), (b), ((s)<<6|(r)<<4|(q)<<2|(p))))
+
+#define vec4i_swizzle2(a,b,p,q,r,s) \
+  (_mm_castps_si128( (_mm_shuffle_ps( _mm_castsi128_ps(a), _mm_castsi128_ps(b), ((s)<<6|(r)<<4|(q)<<2|(p))))))
+
+#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
+  const Packet4f p4f_##NAME = pset1<Packet4f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+  const Packet4f p4f_##NAME = _mm_castsi128_ps(pset1<Packet4i>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+  const Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet4f type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+
+    HasDiv    = 1,
+    HasSin  = EIGEN_FAST_MATH,
+    HasCos  = EIGEN_FAST_MATH,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1
+  };
+};
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet2d type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+
+    HasDiv    = 1
+  };
+};
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet4i type;
+  enum {
+    // FIXME check the Has*
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4
+  };
+};
+
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2}; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return _mm_set1_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set1_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from) { return _mm_set1_epi32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a) { return _mm_add_ps(pset1<Packet4f>(a), _mm_set_ps(3,2,1,0)); }
+template<> EIGEN_STRONG_INLINE Packet2d plset<double>(const double& a) { return _mm_add_pd(pset1<Packet2d>(a),_mm_set_pd(1,0)); }
+template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a) { return _mm_add_epi32(pset1<Packet4i>(a),_mm_set_epi32(3,2,1,0)); }
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_add_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_add_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_add_epi32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_sub_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_sub_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_sub_epi32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
+{
+  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x80000000,0x80000000,0x80000000));
+  return _mm_xor_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a)
+{
+  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x80000000,0x0,0x80000000));
+  return _mm_xor_pd(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a)
+{
+  return psub(_mm_setr_epi32(0,0,0,0), a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_mul_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_mul_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_mullo_epi32(a,b);
+#else
+  // this version is slightly faster than 4 scalar products
+  return vec4i_swizzle1(
+            vec4i_swizzle2(
+              _mm_mul_epu32(a,b),
+              _mm_mul_epu32(vec4i_swizzle1(a,1,0,3,2),
+                            vec4i_swizzle1(b,1,0,3,2)),
+              0,2,0,2),
+            0,2,1,3);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_div_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_div_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by SSE");
+  return pset1<Packet4i>(0);
+}
+
+// for some weird raisons, it has to be overloaded for packet of integers
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_min_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_min_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+  // after some bench, this version *is* faster than a scalar implementation
+  Packet4i mask = _mm_cmplt_epi32(a,b);
+  return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_max_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_max_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+  // after some bench, this version *is* faster than a scalar implementation
+  Packet4i mask = _mm_cmpgt_epi32(a,b);
+  return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_and_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_and_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_and_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_or_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_or_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_or_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_xor_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_xor_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_xor_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_andnot_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_andnot_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_andnot_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double*  from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_si128(reinterpret_cast<const Packet4i*>(from)); }
+
+#if defined(_MSC_VER)
+  template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*  from) {
+    EIGEN_DEBUG_UNALIGNED_LOAD
+    #if (_MSC_VER==1600)
+    // NOTE Some version of MSVC10 generates bad code when using _mm_loadu_ps
+    // (i.e., it does not generate an unaligned load!!
+    // TODO On most architectures this version should also be faster than a single _mm_loadu_ps
+    // so we could also enable it for MSVC08 but first we have to make this later does not generate crap when doing so...
+    __m128 res = _mm_loadl_pi(_mm_set1_ps(0.0f), (const __m64*)(from));
+    res = _mm_loadh_pi(res, (const __m64*)(from+2));
+    return res;
+    #else
+    return _mm_loadu_ps(from);
+    #endif
+  }
+  template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_pd(from); }
+  template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int*    from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_si128(reinterpret_cast<const Packet4i*>(from)); }
+#else
+// Fast unaligned loads. Note that here we cannot directly use intrinsics: this would
+// require pointer casting to incompatible pointer types and leads to invalid code
+// because of the strict aliasing rule. The "dummy" stuff are required to enforce
+// a correct instruction dependency.
+// TODO: do the same for MSVC (ICC is compatible)
+// NOTE: with the code below, MSVC's compiler crashes!
+
+#if defined(__GNUC__) && defined(__i386__)
+  // bug 195: gcc/i386 emits weird x87 fldl/fstpl instructions for _mm_load_sd
+  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1
+#elif defined(__clang__)
+  // bug 201: Segfaults in __mm_loadh_pd with clang 2.8
+  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1
+#else
+  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 0
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
+  return _mm_loadu_ps(from);
+#else
+  __m128d res;
+  res =  _mm_load_sd((const double*)(from)) ;
+  res =  _mm_loadh_pd(res, (const double*)(from+2)) ;
+  return _mm_castpd_ps(res);
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
+  return _mm_loadu_pd(from);
+#else
+  __m128d res;
+  res = _mm_load_sd(from) ;
+  res = _mm_loadh_pd(res,from+1);
+  return res;
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
+  return _mm_loadu_si128(reinterpret_cast<const Packet4i*>(from));
+#else
+  __m128d res;
+  res =  _mm_load_sd((const double*)(from)) ;
+  res =  _mm_loadh_pd(res, (const double*)(from+2)) ;
+  return _mm_castpd_si128(res);
+#endif
+}
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
+{
+  return vec4f_swizzle1(_mm_castpd_ps(_mm_load_sd((const double*)from)), 0, 0, 1, 1);
+}
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*  from)
+{ return pset1<Packet2d>(from[0]); }
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
+{
+  Packet4i tmp;
+  tmp = _mm_loadl_epi64(reinterpret_cast<const Packet4i*>(from));
+  return vec4i_swizzle1(tmp, 0, 0, 1, 1);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<Packet4i*>(to), from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE
+  _mm_storel_pd((to), from);
+  _mm_storeh_pd((to+1), from);
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, _mm_castps_pd(from)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, _mm_castsi128_pd(from)); }
+
+// some compilers might be tempted to perform multiple moves instead of using a vector path.
+template<> EIGEN_STRONG_INLINE void pstore1<Packet4f>(float* to, const float& a)
+{
+  Packet4f pa = _mm_set_ss(a);
+  pstore(to, vec4f_swizzle1(pa,0,0,0,0));
+}
+// some compilers might be tempted to perform multiple moves instead of using a vector path.
+template<> EIGEN_STRONG_INLINE void pstore1<Packet2d>(double* to, const double& a)
+{
+  Packet2d pa = _mm_set_sd(a);
+  pstore(to, vec2d_swizzle1(pa,0,0));
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+
+#if defined(_MSC_VER) && defined(_WIN64) && !defined(__INTEL_COMPILER)
+// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
+// Direct of the struct members fixed bug #62.
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { return a.m128_f32[0]; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return a.m128d_f64[0]; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
+#elif defined(_MSC_VER) && !defined(__INTEL_COMPILER)
+// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float x = _mm_cvtss_f32(a); return x; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double x = _mm_cvtsd_f64(a); return x; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
+#else
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { return _mm_cvtss_f32(a); }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return _mm_cvtsd_f64(a); }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { return _mm_cvtsi128_si32(a); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{ return _mm_shuffle_ps(a,a,0x1B); }
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
+{ return _mm_shuffle_pd(a,a,0x1); }
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
+{ return _mm_shuffle_epi32(a,0x1B); }
+
+
+template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a)
+{
+  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
+  return _mm_and_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a)
+{
+  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF));
+  return _mm_and_pd(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a)
+{
+  #ifdef EIGEN_VECTORIZE_SSSE3
+  return _mm_abs_epi32(a);
+  #else
+  Packet4i aux = _mm_srai_epi32(a,31);
+  return _mm_sub_epi32(_mm_xor_si128(a,aux),aux);
+  #endif
+}
+
+EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
+{
+  vecs[1] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x55));
+  vecs[2] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xAA));
+  vecs[3] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xFF));
+  vecs[0] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x00));
+}
+
+#ifdef EIGEN_VECTORIZE_SSE3
+// TODO implement SSE2 versions as well as integer versions
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  return _mm_hadd_ps(_mm_hadd_ps(vecs[0], vecs[1]),_mm_hadd_ps(vecs[2], vecs[3]));
+}
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  return _mm_hadd_pd(vecs[0], vecs[1]);
+}
+// SSSE3 version:
+// EIGEN_STRONG_INLINE Packet4i preduxp(const Packet4i* vecs)
+// {
+//   return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
+// }
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp0 = _mm_hadd_ps(a,a);
+  return pfirst(_mm_hadd_ps(tmp0, tmp0));
+}
+
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return pfirst(_mm_hadd_pd(a, a)); }
+
+// SSSE3 version:
+// EIGEN_STRONG_INLINE float predux(const Packet4i& a)
+// {
+//   Packet4i tmp0 = _mm_hadd_epi32(a,a);
+//   return pfirst(_mm_hadd_epi32(tmp0, tmp0));
+// }
+#else
+// SSE2 versions
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  Packet4f tmp0, tmp1, tmp2;
+  tmp0 = _mm_unpacklo_ps(vecs[0], vecs[1]);
+  tmp1 = _mm_unpackhi_ps(vecs[0], vecs[1]);
+  tmp2 = _mm_unpackhi_ps(vecs[2], vecs[3]);
+  tmp0 = _mm_add_ps(tmp0, tmp1);
+  tmp1 = _mm_unpacklo_ps(vecs[2], vecs[3]);
+  tmp1 = _mm_add_ps(tmp1, tmp2);
+  tmp2 = _mm_movehl_ps(tmp1, tmp0);
+  tmp0 = _mm_movelh_ps(tmp0, tmp1);
+  return _mm_add_ps(tmp0, tmp2);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  return _mm_add_pd(_mm_unpacklo_pd(vecs[0], vecs[1]), _mm_unpackhi_pd(vecs[0], vecs[1]));
+}
+#endif  // SSE3
+
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  Packet4i tmp = _mm_add_epi32(a, _mm_unpackhi_epi64(a,a));
+  return pfirst(tmp) + pfirst(_mm_shuffle_epi32(tmp, 1));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  Packet4i tmp0, tmp1, tmp2;
+  tmp0 = _mm_unpacklo_epi32(vecs[0], vecs[1]);
+  tmp1 = _mm_unpackhi_epi32(vecs[0], vecs[1]);
+  tmp2 = _mm_unpackhi_epi32(vecs[2], vecs[3]);
+  tmp0 = _mm_add_epi32(tmp0, tmp1);
+  tmp1 = _mm_unpacklo_epi32(vecs[2], vecs[3]);
+  tmp1 = _mm_add_epi32(tmp1, tmp2);
+  tmp2 = _mm_unpacklo_epi64(tmp0, tmp1);
+  tmp0 = _mm_unpackhi_epi64(tmp0, tmp1);
+  return _mm_add_epi32(tmp0, tmp2);
+}
+
+// Other reduction functions:
+
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_mul_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_mul_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_mul_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+{
+  // after some experiments, it is seems this is the fastest way to implement it
+  // for GCC (eg., reusing pmul is very slow !)
+  // TODO try to call _mm_mul_epu32 directly
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  return  (aux[0] * aux[1]) * (aux[2] * aux[3]);;
+}
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_min_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_min_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_min_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+  // after some experiments, it is seems this is the fastest way to implement it
+  // for GCC (eg., it does not like using std::min after the pstore !!)
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  register int aux0 = aux[0]<aux[1] ? aux[0] : aux[1];
+  register int aux2 = aux[2]<aux[3] ? aux[2] : aux[3];
+  return aux0<aux2 ? aux0 : aux2;
+}
+
+// max
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  Packet4f tmp = _mm_max_ps(a, _mm_movehl_ps(a,a));
+  return pfirst(_mm_max_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
+{
+  return pfirst(_mm_max_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+  // after some experiments, it is seems this is the fastest way to implement it
+  // for GCC (eg., it does not like using std::min after the pstore !!)
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  register int aux0 = aux[0]>aux[1] ? aux[0] : aux[1];
+  register int aux2 = aux[2]>aux[3] ? aux[2] : aux[3];
+  return aux0>aux2 ? aux0 : aux2;
+}
+
+#if (defined __GNUC__)
+// template <> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f&  a, const Packet4f&  b, const Packet4f&  c)
+// {
+//   Packet4f res = b;
+//   asm("mulps %[a], %[b] \n\taddps %[c], %[b]" : [b] "+x" (res) : [a] "x" (a), [c] "x" (c));
+//   return res;
+// }
+// EIGEN_STRONG_INLINE Packet4i _mm_alignr_epi8(const Packet4i&  a, const Packet4i&  b, const int i)
+// {
+//   Packet4i res = a;
+//   asm("palignr %[i], %[a], %[b] " : [b] "+x" (res) : [a] "x" (a), [i] "i" (i));
+//   return res;
+// }
+#endif
+
+#ifdef EIGEN_VECTORIZE_SSSE3
+// SSSE3 versions
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4f& first, const Packet4f& second)
+  {
+    if (Offset!=0)
+      first = _mm_castsi128_ps(_mm_alignr_epi8(_mm_castps_si128(second), _mm_castps_si128(first), Offset*4));
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4i& first, const Packet4i& second)
+  {
+    if (Offset!=0)
+      first = _mm_alignr_epi8(second,first, Offset*4);
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+  EIGEN_STRONG_INLINE static void run(Packet2d& first, const Packet2d& second)
+  {
+    if (Offset==1)
+      first = _mm_castsi128_pd(_mm_alignr_epi8(_mm_castpd_si128(second), _mm_castpd_si128(first), 8));
+  }
+};
+#else
+// SSE2 versions
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4f& first, const Packet4f& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm_move_ss(first,second);
+      first = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(first),0x39));
+    }
+    else if (Offset==2)
+    {
+      first = _mm_movehl_ps(first,first);
+      first = _mm_movelh_ps(first,second);
+    }
+    else if (Offset==3)
+    {
+      first = _mm_move_ss(first,second);
+      first = _mm_shuffle_ps(first,second,0x93);
+    }
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  EIGEN_STRONG_INLINE static void run(Packet4i& first, const Packet4i& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+      first = _mm_shuffle_epi32(first,0x39);
+    }
+    else if (Offset==2)
+    {
+      first = _mm_castps_si128(_mm_movehl_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(first)));
+      first = _mm_castps_si128(_mm_movelh_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+    }
+    else if (Offset==3)
+    {
+      first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+      first = _mm_castps_si128(_mm_shuffle_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second),0x93));
+    }
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+  EIGEN_STRONG_INLINE static void run(Packet2d& first, const Packet2d& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm_castps_pd(_mm_movehl_ps(_mm_castpd_ps(first),_mm_castpd_ps(first)));
+      first = _mm_castps_pd(_mm_movelh_ps(_mm_castpd_ps(first),_mm_castpd_ps(second)));
+    }
+  }
+};
+#endif
+
+} // end namespace internal
+
+#endif // EIGEN_PACKET_MATH_SSE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/CMakeLists.txt
new file mode 100755
index 0000000..21fc94a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Core_Product_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Core_Product_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/products COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/CoeffBasedProduct.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/CoeffBasedProduct.h
new file mode 100755
index 0000000..dc20f7e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/CoeffBasedProduct.h
@@ -0,0 +1,452 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COEFFBASED_PRODUCT_H
+#define EIGEN_COEFFBASED_PRODUCT_H
+
+namespace internal {
+
+/*********************************************************************************
+*  Coefficient based product implementation.
+*  It is designed for the following use cases:
+*  - small fixed sizes
+*  - lazy products
+*********************************************************************************/
+
+/* Since the all the dimensions of the product are small, here we can rely
+ * on the generic Assign mechanism to evaluate the product per coeff (or packet).
+ *
+ * Note that here the inner-loops should always be unrolled.
+ */
+
+template<int Traversal, int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl;
+
+template<int StorageOrder, int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl;
+
+template<typename LhsNested, typename RhsNested, int NestingFlags>
+struct traits<CoeffBasedProduct<LhsNested,RhsNested,NestingFlags> >
+{
+  typedef MatrixXpr XprKind;
+  typedef typename remove_all<LhsNested>::type _LhsNested;
+  typedef typename remove_all<RhsNested>::type _RhsNested;
+  typedef typename scalar_product_traits<typename _LhsNested::Scalar, typename _RhsNested::Scalar>::ReturnType Scalar;
+  typedef typename promote_storage_type<typename traits<_LhsNested>::StorageKind,
+                                           typename traits<_RhsNested>::StorageKind>::ret StorageKind;
+  typedef typename promote_index_type<typename traits<_LhsNested>::Index,
+                                         typename traits<_RhsNested>::Index>::type Index;
+
+  enum {
+      LhsCoeffReadCost = _LhsNested::CoeffReadCost,
+      RhsCoeffReadCost = _RhsNested::CoeffReadCost,
+      LhsFlags = _LhsNested::Flags,
+      RhsFlags = _RhsNested::Flags,
+
+      RowsAtCompileTime = _LhsNested::RowsAtCompileTime,
+      ColsAtCompileTime = _RhsNested::ColsAtCompileTime,
+      InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
+
+      MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
+
+      LhsRowMajor = LhsFlags & RowMajorBit,
+      RhsRowMajor = RhsFlags & RowMajorBit,
+
+      SameType = is_same<typename _LhsNested::Scalar,typename _RhsNested::Scalar>::value,
+
+      CanVectorizeRhs = RhsRowMajor && (RhsFlags & PacketAccessBit)
+                      && (ColsAtCompileTime == Dynamic
+                          || ( (ColsAtCompileTime % packet_traits<Scalar>::size) == 0
+                              && (RhsFlags&AlignedBit)
+                             )
+                         ),
+
+      CanVectorizeLhs = (!LhsRowMajor) && (LhsFlags & PacketAccessBit)
+                      && (RowsAtCompileTime == Dynamic
+                          || ( (RowsAtCompileTime % packet_traits<Scalar>::size) == 0
+                              && (LhsFlags&AlignedBit)
+                             )
+                         ),
+
+      EvalToRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+                     : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+                     : (RhsRowMajor && !CanVectorizeLhs),
+
+      Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & ~RowMajorBit)
+            | (EvalToRowMajor ? RowMajorBit : 0)
+            | NestingFlags
+            | (LhsFlags & RhsFlags & AlignedBit)
+            // TODO enable vectorization for mixed types
+            | (SameType && (CanVectorizeLhs || CanVectorizeRhs) ? PacketAccessBit : 0),
+
+      CoeffReadCost = InnerSize == Dynamic ? Dynamic
+                    : InnerSize * (NumTraits<Scalar>::MulCost + LhsCoeffReadCost + RhsCoeffReadCost)
+                      + (InnerSize - 1) * NumTraits<Scalar>::AddCost,
+
+      /* CanVectorizeInner deserves special explanation. It does not affect the product flags. It is not used outside
+      * of Product. If the Product itself is not a packet-access expression, there is still a chance that the inner
+      * loop of the product might be vectorized. This is the meaning of CanVectorizeInner. Since it doesn't affect
+      * the Flags, it is safe to make this value depend on ActualPacketAccessBit, that doesn't affect the ABI.
+      */
+      CanVectorizeInner =    SameType
+                          && LhsRowMajor
+                          && (!RhsRowMajor)
+                          && (LhsFlags & RhsFlags & ActualPacketAccessBit)
+                          && (LhsFlags & RhsFlags & AlignedBit)
+                          && (InnerSize % packet_traits<Scalar>::size == 0)
+    };
+};
+
+} // end namespace internal
+
+template<typename LhsNested, typename RhsNested, int NestingFlags>
+class CoeffBasedProduct
+  : internal::no_assignment_operator,
+    public MatrixBase<CoeffBasedProduct<LhsNested, RhsNested, NestingFlags> >
+{
+  public:
+
+    typedef MatrixBase<CoeffBasedProduct> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(CoeffBasedProduct)
+    typedef typename Base::PlainObject PlainObject;
+
+  private:
+
+    typedef typename internal::traits<CoeffBasedProduct>::_LhsNested _LhsNested;
+    typedef typename internal::traits<CoeffBasedProduct>::_RhsNested _RhsNested;
+
+    enum {
+      PacketSize = internal::packet_traits<Scalar>::size,
+      InnerSize  = internal::traits<CoeffBasedProduct>::InnerSize,
+      Unroll = CoeffReadCost != Dynamic && CoeffReadCost <= EIGEN_UNROLLING_LIMIT,
+      CanVectorizeInner = internal::traits<CoeffBasedProduct>::CanVectorizeInner
+    };
+
+    typedef internal::product_coeff_impl<CanVectorizeInner ? InnerVectorizedTraversal : DefaultTraversal,
+                                   Unroll ? InnerSize-1 : Dynamic,
+                                   _LhsNested, _RhsNested, Scalar> ScalarCoeffImpl;
+
+    typedef CoeffBasedProduct<LhsNested,RhsNested,NestByRefBit> LazyCoeffBasedProductType;
+
+  public:
+
+    inline CoeffBasedProduct(const CoeffBasedProduct& other)
+      : Base(), m_lhs(other.m_lhs), m_rhs(other.m_rhs)
+    {}
+
+    template<typename Lhs, typename Rhs>
+    inline CoeffBasedProduct(const Lhs& lhs, const Rhs& rhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      // we don't allow taking products of matrices of different real types, as that wouldn't be vectorizable.
+      // We still allow to mix T and complex<T>.
+      EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::RealScalar, typename Rhs::RealScalar>::value),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+      eigen_assert(lhs.cols() == rhs.rows()
+        && "invalid matrix product"
+        && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
+
+    EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+    {
+      Scalar res;
+      ScalarCoeffImpl::run(row, col, m_lhs, m_rhs, res);
+      return res;
+    }
+
+    /* Allow index-based non-packet access. It is impossible though to allow index-based packed access,
+     * which is why we don't set the LinearAccessBit.
+     */
+    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
+    {
+      Scalar res;
+      const Index row = RowsAtCompileTime == 1 ? 0 : index;
+      const Index col = RowsAtCompileTime == 1 ? index : 0;
+      ScalarCoeffImpl::run(row, col, m_lhs, m_rhs, res);
+      return res;
+    }
+
+    template<int LoadMode>
+    EIGEN_STRONG_INLINE const PacketScalar packet(Index row, Index col) const
+    {
+      PacketScalar res;
+      internal::product_packet_impl<Flags&RowMajorBit ? RowMajor : ColMajor,
+                              Unroll ? InnerSize-1 : Dynamic,
+                              _LhsNested, _RhsNested, PacketScalar, LoadMode>
+        ::run(row, col, m_lhs, m_rhs, res);
+      return res;
+    }
+
+    // Implicit conversion to the nested type (trigger the evaluation of the product)
+    EIGEN_STRONG_INLINE operator const PlainObject& () const
+    {
+      m_result.lazyAssign(*this);
+      return m_result;
+    }
+
+    const _LhsNested& lhs() const { return m_lhs; }
+    const _RhsNested& rhs() const { return m_rhs; }
+
+    const Diagonal<const LazyCoeffBasedProductType,0> diagonal() const
+    { return reinterpret_cast<const LazyCoeffBasedProductType&>(*this); }
+
+    template<int DiagonalIndex>
+    const Diagonal<const LazyCoeffBasedProductType,DiagonalIndex> diagonal() const
+    { return reinterpret_cast<const LazyCoeffBasedProductType&>(*this); }
+
+    const Diagonal<const LazyCoeffBasedProductType,Dynamic> diagonal(Index index) const
+    { return reinterpret_cast<const LazyCoeffBasedProductType&>(*this).diagonal(index); }
+
+  protected:
+    const LhsNested m_lhs;
+    const RhsNested m_rhs;
+
+    mutable PlainObject m_result;
+};
+
+namespace internal {
+
+// here we need to overload the nested rule for products
+// such that the nested type is a const reference to a plain matrix
+template<typename Lhs, typename Rhs, int N, typename PlainObject>
+struct nested<CoeffBasedProduct<Lhs,Rhs,EvalBeforeNestingBit|EvalBeforeAssigningBit>, N, PlainObject>
+{
+  typedef PlainObject const& type;
+};
+
+/***************************************************************************
+* Normal product .coeff() implementation (with meta-unrolling)
+***************************************************************************/
+
+/**************************************
+*** Scalar path  - no vectorization ***
+**************************************/
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl<DefaultTraversal, UnrollingIndex, Lhs, Rhs, RetScalar>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
+  {
+    product_coeff_impl<DefaultTraversal, UnrollingIndex-1, Lhs, Rhs, RetScalar>::run(row, col, lhs, rhs, res);
+    res += lhs.coeff(row, UnrollingIndex) * rhs.coeff(UnrollingIndex, col);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl<DefaultTraversal, 0, Lhs, Rhs, RetScalar>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
+  {
+    res = lhs.coeff(row, 0) * rhs.coeff(0, col);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl<DefaultTraversal, Dynamic, Lhs, Rhs, RetScalar>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar& res)
+  {
+    eigen_assert(lhs.cols()>0 && "you are using a non initialized matrix");
+    res = lhs.coeff(row, 0) * rhs.coeff(0, col);
+      for(Index i = 1; i < lhs.cols(); ++i)
+        res += lhs.coeff(row, i) * rhs.coeff(i, col);
+  }
+};
+
+/*******************************************
+*** Scalar path with inner vectorization ***
+*******************************************/
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet>
+struct product_coeff_vectorized_unroller
+{
+  typedef typename Lhs::Index Index;
+  enum { PacketSize = packet_traits<typename Lhs::Scalar>::size };
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::PacketScalar &pres)
+  {
+    product_coeff_vectorized_unroller<UnrollingIndex-PacketSize, Lhs, Rhs, Packet>::run(row, col, lhs, rhs, pres);
+    pres = padd(pres, pmul( lhs.template packet<Aligned>(row, UnrollingIndex) , rhs.template packet<Aligned>(UnrollingIndex, col) ));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet>
+struct product_coeff_vectorized_unroller<0, Lhs, Rhs, Packet>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::PacketScalar &pres)
+  {
+    pres = pmul(lhs.template packet<Aligned>(row, 0) , rhs.template packet<Aligned>(0, col));
+  }
+};
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl<InnerVectorizedTraversal, UnrollingIndex, Lhs, Rhs, RetScalar>
+{
+  typedef typename Lhs::PacketScalar Packet;
+  typedef typename Lhs::Index Index;
+  enum { PacketSize = packet_traits<typename Lhs::Scalar>::size };
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
+  {
+    Packet pres;
+    product_coeff_vectorized_unroller<UnrollingIndex+1-PacketSize, Lhs, Rhs, Packet>::run(row, col, lhs, rhs, pres);
+    product_coeff_impl<DefaultTraversal,UnrollingIndex,Lhs,Rhs,RetScalar>::run(row, col, lhs, rhs, res);
+    res = predux(pres);
+  }
+};
+
+template<typename Lhs, typename Rhs, int LhsRows = Lhs::RowsAtCompileTime, int RhsCols = Rhs::ColsAtCompileTime>
+struct product_coeff_vectorized_dyn_selector
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
+  {
+    res = lhs.row(row).transpose().cwiseProduct(rhs.col(col)).sum();
+  }
+};
+
+// NOTE the 3 following specializations are because taking .col(0) on a vector is a bit slower
+// NOTE maybe they are now useless since we have a specialization for Block<Matrix>
+template<typename Lhs, typename Rhs, int RhsCols>
+struct product_coeff_vectorized_dyn_selector<Lhs,Rhs,1,RhsCols>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index /*row*/, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
+  {
+    res = lhs.transpose().cwiseProduct(rhs.col(col)).sum();
+  }
+};
+
+template<typename Lhs, typename Rhs, int LhsRows>
+struct product_coeff_vectorized_dyn_selector<Lhs,Rhs,LhsRows,1>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index /*col*/, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
+  {
+    res = lhs.row(row).transpose().cwiseProduct(rhs).sum();
+  }
+};
+
+template<typename Lhs, typename Rhs>
+struct product_coeff_vectorized_dyn_selector<Lhs,Rhs,1,1>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index /*row*/, Index /*col*/, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
+  {
+    res = lhs.transpose().cwiseProduct(rhs).sum();
+  }
+};
+
+template<typename Lhs, typename Rhs, typename RetScalar>
+struct product_coeff_impl<InnerVectorizedTraversal, Dynamic, Lhs, Rhs, RetScalar>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
+  {
+    product_coeff_vectorized_dyn_selector<Lhs,Rhs>::run(row, col, lhs, rhs, res);
+  }
+};
+
+/*******************
+*** Packet path  ***
+*******************/
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<RowMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
+  {
+    product_packet_impl<RowMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, res);
+    res =  pmadd(pset1<Packet>(lhs.coeff(row, UnrollingIndex)), rhs.template packet<LoadMode>(UnrollingIndex, col), res);
+  }
+};
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<ColMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
+  {
+    product_packet_impl<ColMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, res);
+    res =  pmadd(lhs.template packet<LoadMode>(row, UnrollingIndex), pset1<Packet>(rhs.coeff(UnrollingIndex, col)), res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<RowMajor, 0, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
+  {
+    res = pmul(pset1<Packet>(lhs.coeff(row, 0)),rhs.template packet<LoadMode>(0, col));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<ColMajor, 0, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
+  {
+    res = pmul(lhs.template packet<LoadMode>(row, 0), pset1<Packet>(rhs.coeff(0, col)));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<RowMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet& res)
+  {
+    eigen_assert(lhs.cols()>0 && "you are using a non initialized matrix");
+    res = pmul(pset1<Packet>(lhs.coeff(row, 0)),rhs.template packet<LoadMode>(0, col));
+      for(Index i = 1; i < lhs.cols(); ++i)
+        res =  pmadd(pset1<Packet>(lhs.coeff(row, i)), rhs.template packet<LoadMode>(i, col), res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct product_packet_impl<ColMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
+{
+  typedef typename Lhs::Index Index;
+  EIGEN_STRONG_INLINE static void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet& res)
+  {
+    eigen_assert(lhs.cols()>0 && "you are using a non initialized matrix");
+    res = pmul(lhs.template packet<LoadMode>(row, 0), pset1<Packet>(rhs.coeff(0, col)));
+      for(Index i = 1; i < lhs.cols(); ++i)
+        res =  pmadd(lhs.template packet<LoadMode>(row, i), pset1<Packet>(rhs.coeff(i, col)), res);
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_COEFFBASED_PRODUCT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralBlockPanelKernel.h
new file mode 100755
index 0000000..2116dcc
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralBlockPanelKernel.h
@@ -0,0 +1,1285 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERAL_BLOCK_PANEL_H
+#define EIGEN_GENERAL_BLOCK_PANEL_H
+
+namespace internal {
+
+template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs=false, bool _ConjRhs=false>
+class gebp_traits;
+
+/** \internal */
+inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1=0, std::ptrdiff_t* l2=0)
+{
+  static std::ptrdiff_t m_l1CacheSize = 0;
+  static std::ptrdiff_t m_l2CacheSize = 0;
+  if(m_l1CacheSize==0)
+  {
+    m_l1CacheSize = queryL1CacheSize();
+    m_l2CacheSize = queryTopLevelCacheSize();
+
+    if(m_l1CacheSize<=0) m_l1CacheSize = 8 * 1024;
+    if(m_l2CacheSize<=0) m_l2CacheSize = 1 * 1024 * 1024;
+  }
+
+  if(action==SetAction)
+  {
+    // set the cpu cache size and cache all block sizes from a global cache size in byte
+    eigen_internal_assert(l1!=0 && l2!=0);
+    m_l1CacheSize = *l1;
+    m_l2CacheSize = *l2;
+  }
+  else if(action==GetAction)
+  {
+    eigen_internal_assert(l1!=0 && l2!=0);
+    *l1 = m_l1CacheSize;
+    *l2 = m_l2CacheSize;
+  }
+  else
+  {
+    eigen_internal_assert(false);
+  }
+}
+
+/** \brief Computes the blocking parameters for a m x k times k x n matrix product
+  *
+  * \param[in,out] k Input: the third dimension of the product. Output: the blocking size along the same dimension.
+  * \param[in,out] m Input: the number of rows of the left hand side. Output: the blocking size along the same dimension.
+  * \param[in,out] n Input: the number of columns of the right hand side. Output: the blocking size along the same dimension.
+  *
+  * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
+  * this function computes the blocking size parameters along the respective dimensions
+  * for matrix products and related algorithms. The blocking sizes depends on various
+  * parameters:
+  * - the L1 and L2 cache sizes,
+  * - the register level blocking sizes defined by gebp_traits,
+  * - the number of scalars that fit into a packet (when vectorization is enabled).
+  *
+  * \sa setCpuCacheSizes */
+template<typename LhsScalar, typename RhsScalar, int KcFactor>
+void computeProductBlockingSizes(std::ptrdiff_t& k, std::ptrdiff_t& m, std::ptrdiff_t& n)
+{
+  // Explanations:
+  // Let's recall the product algorithms form kc x nc horizontal panels B' on the rhs and
+  // mc x kc blocks A' on the lhs. A' has to fit into L2 cache. Moreover, B' is processed
+  // per kc x nr vertical small panels where nr is the blocking size along the n dimension
+  // at the register level. For vectorization purpose, these small vertical panels are unpacked,
+  // e.g., each coefficient is replicated to fit a packet. This small vertical panel has to
+  // stay in L1 cache.
+  std::ptrdiff_t l1, l2;
+
+  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+  enum {
+    kdiv = KcFactor * 2 * Traits::nr
+         * Traits::RhsProgress * sizeof(RhsScalar),
+    mr = gebp_traits<LhsScalar,RhsScalar>::mr,
+    mr_mask = (0xffffffff/mr)*mr
+  };
+
+  manage_caching_sizes(GetAction, &l1, &l2);
+  k = std::min<std::ptrdiff_t>(k, l1/kdiv);
+  std::ptrdiff_t _m = k>0 ? l2/(4 * sizeof(LhsScalar) * k) : 0;
+  if(_m<m) m = _m & mr_mask;
+  n = n;
+}
+
+template<typename LhsScalar, typename RhsScalar>
+inline void computeProductBlockingSizes(std::ptrdiff_t& k, std::ptrdiff_t& m, std::ptrdiff_t& n)
+{
+  computeProductBlockingSizes<LhsScalar,RhsScalar,1>(k, m, n);
+}
+
+#ifdef EIGEN_HAS_FUSE_CJMADD
+  #define MADD(CJ,A,B,C,T)  C = CJ.pmadd(A,B,C);
+#else
+
+  // FIXME (a bit overkill maybe ?)
+
+  template<typename CJ, typename A, typename B, typename C, typename T> struct gebp_madd_selector {
+    EIGEN_STRONG_INLINE EIGEN_ALWAYS_INLINE_ATTRIB static void run(const CJ& cj, A& a, B& b, C& c, T& /*t*/)
+    {
+      c = cj.pmadd(a,b,c);
+    }
+  };
+
+  template<typename CJ, typename T> struct gebp_madd_selector<CJ,T,T,T,T> {
+    EIGEN_STRONG_INLINE EIGEN_ALWAYS_INLINE_ATTRIB static void run(const CJ& cj, T& a, T& b, T& c, T& t)
+    {
+      t = b; t = cj.pmul(a,t); c = padd(c,t);
+    }
+  };
+
+  template<typename CJ, typename A, typename B, typename C, typename T>
+  EIGEN_STRONG_INLINE void gebp_madd(const CJ& cj, A& a, B& b, C& c, T& t)
+  {
+    gebp_madd_selector<CJ,A,B,C,T>::run(cj,a,b,c,t);
+  }
+
+  #define MADD(CJ,A,B,C,T)  gebp_madd(CJ,A,B,C,T);
+//   #define MADD(CJ,A,B,C,T)  T = B; T = CJ.pmul(A,T); C = padd(C,T);
+#endif
+
+/* Vectorization logic
+ *  real*real: unpack rhs to constant packets, ...
+ * 
+ *  cd*cd : unpack rhs to (b_r,b_r), (b_i,b_i), mul to get (a_r b_r,a_i b_r) (a_r b_i,a_i b_i),
+ *          storing each res packet into two packets (2x2),
+ *          at the end combine them: swap the second and addsub them 
+ *  cf*cf : same but with 2x4 blocks
+ *  cplx*real : unpack rhs to constant packets, ...
+ *  real*cplx : load lhs as (a0,a0,a1,a1), and mul as usual
+ */
+template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs, bool _ConjRhs>
+class gebp_traits
+{
+public:
+  typedef _LhsScalar LhsScalar;
+  typedef _RhsScalar RhsScalar;
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+  enum {
+    ConjLhs = _ConjLhs,
+    ConjRhs = _ConjRhs,
+    Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable,
+    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+    ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
+    
+    NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+
+    // register block size along the N direction (must be either 2 or 4)
+    nr = NumberOfRegisters/4,
+
+    // register block size along the M direction (currently, this one cannot be modified)
+    mr = 2 * LhsPacketSize,
+    
+    WorkSpaceFactor = nr * RhsPacketSize,
+
+    LhsProgress = LhsPacketSize,
+    RhsProgress = RhsPacketSize
+  };
+
+  typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
+  typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
+  typedef typename packet_traits<ResScalar>::type  _ResPacket;
+
+  typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+  typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+  typedef ResPacket AccPacket;
+  
+  EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
+  {
+    p = pset1<ResPacket>(ResScalar(0));
+  }
+
+  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
+  {
+    for(DenseIndex k=0; k<n; k++)
+      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = pload<RhsPacket>(b);
+  }
+
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = pload<LhsPacket>(a);
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, AccPacket& tmp) const
+  {
+    tmp = b; tmp = pmul(a,tmp); c = padd(c,tmp);
+  }
+
+  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+  {
+    r = pmadd(c,alpha,r);
+  }
+
+protected:
+//   conj_helper<LhsScalar,RhsScalar,ConjLhs,ConjRhs> cj;
+//   conj_helper<LhsPacket,RhsPacket,ConjLhs,ConjRhs> pcj;
+};
+
+template<typename RealScalar, bool _ConjLhs>
+class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false>
+{
+public:
+  typedef std::complex<RealScalar> LhsScalar;
+  typedef RealScalar RhsScalar;
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+  enum {
+    ConjLhs = _ConjLhs,
+    ConjRhs = false,
+    Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable,
+    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+    ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
+    
+    NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+    nr = NumberOfRegisters/4,
+    mr = 2 * LhsPacketSize,
+    WorkSpaceFactor = nr*RhsPacketSize,
+
+    LhsProgress = LhsPacketSize,
+    RhsProgress = RhsPacketSize
+  };
+
+  typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
+  typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
+  typedef typename packet_traits<ResScalar>::type  _ResPacket;
+
+  typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+  typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+  typedef ResPacket AccPacket;
+
+  EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
+  {
+    p = pset1<ResPacket>(ResScalar(0));
+  }
+
+  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
+  {
+    for(DenseIndex k=0; k<n; k++)
+      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = pload<RhsPacket>(b);
+  }
+
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = pload<LhsPacket>(a);
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
+  {
+    madd_impl(a, b, c, tmp, typename conditional<Vectorizable,true_type,false_type>::type());
+  }
+
+  EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
+  {
+    tmp = b; tmp = pmul(a.v,tmp); c.v = padd(c.v,tmp);
+  }
+
+  EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
+  {
+    c += a * b;
+  }
+
+  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+  {
+    r = cj.pmadd(c,alpha,r);
+  }
+
+protected:
+  conj_helper<ResPacket,ResPacket,ConjLhs,false> cj;
+};
+
+template<typename RealScalar, bool _ConjLhs, bool _ConjRhs>
+class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs, _ConjRhs >
+{
+public:
+  typedef std::complex<RealScalar>  Scalar;
+  typedef std::complex<RealScalar>  LhsScalar;
+  typedef std::complex<RealScalar>  RhsScalar;
+  typedef std::complex<RealScalar>  ResScalar;
+  
+  enum {
+    ConjLhs = _ConjLhs,
+    ConjRhs = _ConjRhs,
+    Vectorizable = packet_traits<RealScalar>::Vectorizable
+                && packet_traits<Scalar>::Vectorizable,
+    RealPacketSize  = Vectorizable ? packet_traits<RealScalar>::size : 1,
+    ResPacketSize   = Vectorizable ? packet_traits<ResScalar>::size : 1,
+    
+    nr = 2,
+    mr = 2 * ResPacketSize,
+    WorkSpaceFactor = Vectorizable ? 2*nr*RealPacketSize : nr,
+
+    LhsProgress = ResPacketSize,
+    RhsProgress = Vectorizable ? 2*ResPacketSize : 1
+  };
+  
+  typedef typename packet_traits<RealScalar>::type RealPacket;
+  typedef typename packet_traits<Scalar>::type     ScalarPacket;
+  struct DoublePacket
+  {
+    RealPacket first;
+    RealPacket second;
+  };
+
+  typedef typename conditional<Vectorizable,RealPacket,  Scalar>::type LhsPacket;
+  typedef typename conditional<Vectorizable,DoublePacket,Scalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,ScalarPacket,Scalar>::type ResPacket;
+  typedef typename conditional<Vectorizable,DoublePacket,Scalar>::type AccPacket;
+  
+  EIGEN_STRONG_INLINE void initAcc(Scalar& p) { p = Scalar(0); }
+
+  EIGEN_STRONG_INLINE void initAcc(DoublePacket& p)
+  {
+    p.first   = pset1<RealPacket>(RealScalar(0));
+    p.second  = pset1<RealPacket>(RealScalar(0));
+  }
+
+  /* Unpack the rhs coeff such that each complex coefficient is spread into
+   * two packects containing respectively the real and imaginary coefficient
+   * duplicated as many time as needed: (x+iy) => [x, ..., x] [y, ..., y]
+   */
+  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const Scalar* rhs, Scalar* b)
+  {
+    for(DenseIndex k=0; k<n; k++)
+    {
+      if(Vectorizable)
+      {
+        pstore1<RealPacket>((RealScalar*)&b[k*ResPacketSize*2+0],             real(rhs[k]));
+        pstore1<RealPacket>((RealScalar*)&b[k*ResPacketSize*2+ResPacketSize], imag(rhs[k]));
+      }
+      else
+        b[k] = rhs[k];
+    }
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, ResPacket& dest) const { dest = *b; }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, DoublePacket& dest) const
+  {
+    dest.first  = pload<RealPacket>((const RealScalar*)b);
+    dest.second = pload<RealPacket>((const RealScalar*)(b+ResPacketSize));
+  }
+
+  // nothing special here
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = pload<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, DoublePacket& c, RhsPacket& /*tmp*/) const
+  {
+    c.first   = padd(pmul(a,b.first), c.first);
+    c.second  = padd(pmul(a,b.second),c.second);
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, ResPacket& c, RhsPacket& /*tmp*/) const
+  {
+    c = cj.pmadd(a,b,c);
+  }
+  
+  EIGEN_STRONG_INLINE void acc(const Scalar& c, const Scalar& alpha, Scalar& r) const { r += alpha * c; }
+  
+  EIGEN_STRONG_INLINE void acc(const DoublePacket& c, const ResPacket& alpha, ResPacket& r) const
+  {
+    // assemble c
+    ResPacket tmp;
+    if((!ConjLhs)&&(!ConjRhs))
+    {
+      tmp = pcplxflip(pconj(ResPacket(c.second)));
+      tmp = padd(ResPacket(c.first),tmp);
+    }
+    else if((!ConjLhs)&&(ConjRhs))
+    {
+      tmp = pconj(pcplxflip(ResPacket(c.second)));
+      tmp = padd(ResPacket(c.first),tmp);
+    }
+    else if((ConjLhs)&&(!ConjRhs))
+    {
+      tmp = pcplxflip(ResPacket(c.second));
+      tmp = padd(pconj(ResPacket(c.first)),tmp);
+    }
+    else if((ConjLhs)&&(ConjRhs))
+    {
+      tmp = pcplxflip(ResPacket(c.second));
+      tmp = psub(pconj(ResPacket(c.first)),tmp);
+    }
+    
+    r = pmadd(tmp,alpha,r);
+  }
+
+protected:
+  conj_helper<LhsScalar,RhsScalar,ConjLhs,ConjRhs> cj;
+};
+
+template<typename RealScalar, bool _ConjRhs>
+class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
+{
+public:
+  typedef std::complex<RealScalar>  Scalar;
+  typedef RealScalar  LhsScalar;
+  typedef Scalar      RhsScalar;
+  typedef Scalar      ResScalar;
+
+  enum {
+    ConjLhs = false,
+    ConjRhs = _ConjRhs,
+    Vectorizable = packet_traits<RealScalar>::Vectorizable
+                && packet_traits<Scalar>::Vectorizable,
+    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+    ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
+    
+    NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+    nr = 4,
+    mr = 2*ResPacketSize,
+    WorkSpaceFactor = nr*RhsPacketSize,
+
+    LhsProgress = ResPacketSize,
+    RhsProgress = ResPacketSize
+  };
+
+  typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
+  typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
+  typedef typename packet_traits<ResScalar>::type  _ResPacket;
+
+  typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+  typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+  typedef ResPacket AccPacket;
+
+  EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
+  {
+    p = pset1<ResPacket>(ResScalar(0));
+  }
+
+  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
+  {
+    for(DenseIndex k=0; k<n; k++)
+      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = pload<RhsPacket>(b);
+  }
+
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = ploaddup<LhsPacket>(a);
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
+  {
+    madd_impl(a, b, c, tmp, typename conditional<Vectorizable,true_type,false_type>::type());
+  }
+
+  EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
+  {
+    tmp = b; tmp.v = pmul(a,tmp.v); c = padd(c,tmp);
+  }
+
+  EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
+  {
+    c += a * b;
+  }
+
+  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+  {
+    r = cj.pmadd(alpha,c,r);
+  }
+
+protected:
+  conj_helper<ResPacket,ResPacket,false,ConjRhs> cj;
+};
+
+/* optimized GEneral packed Block * packed Panel product kernel
+ *
+ * Mixing type logic: C += A * B
+ *  |  A  |  B  | comments
+ *  |real |cplx | no vectorization yet, would require to pack A with duplication
+ *  |cplx |real | easy vectorization
+ */
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel
+{
+  typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> Traits;
+  typedef typename Traits::ResScalar ResScalar;
+  typedef typename Traits::LhsPacket LhsPacket;
+  typedef typename Traits::RhsPacket RhsPacket;
+  typedef typename Traits::ResPacket ResPacket;
+  typedef typename Traits::AccPacket AccPacket;
+
+  enum {
+    Vectorizable  = Traits::Vectorizable,
+    LhsProgress   = Traits::LhsProgress,
+    RhsProgress   = Traits::RhsProgress,
+    ResPacketSize = Traits::ResPacketSize
+  };
+
+  EIGEN_FLATTEN_ATTRIB
+  void operator()(ResScalar* res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index rows, Index depth, Index cols, ResScalar alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0, RhsScalar* unpackedB = 0)
+  {
+    Traits traits;
+    
+    if(strideA==-1) strideA = depth;
+    if(strideB==-1) strideB = depth;
+    conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
+//     conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
+    Index packet_cols = (cols/nr) * nr;
+    const Index peeled_mc = (rows/mr)*mr;
+    // FIXME:
+    const Index peeled_mc2 = peeled_mc + (rows-peeled_mc >= LhsProgress ? LhsProgress : 0);
+    const Index peeled_kc = (depth/4)*4;
+
+    if(unpackedB==0)
+      unpackedB = const_cast<RhsScalar*>(blockB - strideB * nr * RhsProgress);
+
+    // loops on each micro vertical panel of rhs (depth x nr)
+    for(Index j2=0; j2<packet_cols; j2+=nr)
+    {
+      traits.unpackRhs(depth*nr,&blockB[j2*strideB+offsetB*nr],unpackedB); 
+
+      // loops on each largest micro horizontal panel of lhs (mr x depth)
+      // => we select a mr x nr micro block of res which is entirely
+      //    stored into mr/packet_size x nr registers.
+      for(Index i=0; i<peeled_mc; i+=mr)
+      {
+        const LhsScalar* blA = &blockA[i*strideA+offsetA*mr];
+        prefetch(&blA[0]);
+
+        // gets res block as register
+        AccPacket C0, C1, C2, C3, C4, C5, C6, C7;
+                  traits.initAcc(C0);
+                  traits.initAcc(C1);
+        if(nr==4) traits.initAcc(C2);
+        if(nr==4) traits.initAcc(C3);
+                  traits.initAcc(C4);
+                  traits.initAcc(C5);
+        if(nr==4) traits.initAcc(C6);
+        if(nr==4) traits.initAcc(C7);
+
+        ResScalar* r0 = &res[(j2+0)*resStride + i];
+        ResScalar* r1 = r0 + resStride;
+        ResScalar* r2 = r1 + resStride;
+        ResScalar* r3 = r2 + resStride;
+
+        prefetch(r0+16);
+        prefetch(r1+16);
+        prefetch(r2+16);
+        prefetch(r3+16);
+
+        // performs "inner" product
+        // TODO let's check wether the folowing peeled loop could not be
+        //      optimized via optimal prefetching from one loop to the other
+        const RhsScalar* blB = unpackedB;
+        for(Index k=0; k<peeled_kc; k+=4)
+        {
+          if(nr==2)
+          {
+            LhsPacket A0, A1;
+            RhsPacket B0;
+            RhsPacket T0;
+            
+EIGEN_ASM_COMMENT("mybegin2");
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadLhs(&blA[1*LhsProgress], A1);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[1*RhsProgress], B0);
+            traits.madd(A0,B0,C1,T0);
+            traits.madd(A1,B0,C5,B0);
+
+            traits.loadLhs(&blA[2*LhsProgress], A0);
+            traits.loadLhs(&blA[3*LhsProgress], A1);
+            traits.loadRhs(&blB[2*RhsProgress], B0);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[3*RhsProgress], B0);
+            traits.madd(A0,B0,C1,T0);
+            traits.madd(A1,B0,C5,B0);
+
+            traits.loadLhs(&blA[4*LhsProgress], A0);
+            traits.loadLhs(&blA[5*LhsProgress], A1);
+            traits.loadRhs(&blB[4*RhsProgress], B0);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[5*RhsProgress], B0);
+            traits.madd(A0,B0,C1,T0);
+            traits.madd(A1,B0,C5,B0);
+
+            traits.loadLhs(&blA[6*LhsProgress], A0);
+            traits.loadLhs(&blA[7*LhsProgress], A1);
+            traits.loadRhs(&blB[6*RhsProgress], B0);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[7*RhsProgress], B0);
+            traits.madd(A0,B0,C1,T0);
+            traits.madd(A1,B0,C5,B0);
+EIGEN_ASM_COMMENT("myend");
+          }
+          else
+          {
+EIGEN_ASM_COMMENT("mybegin4");
+            LhsPacket A0, A1;
+            RhsPacket B0, B1, B2, B3;
+            RhsPacket T0;
+            
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadLhs(&blA[1*LhsProgress], A1);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+
+            traits.madd(A0,B0,C0,T0);
+            traits.loadRhs(&blB[2*RhsProgress], B2);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[3*RhsProgress], B3);
+            traits.loadRhs(&blB[4*RhsProgress], B0);
+            traits.madd(A0,B1,C1,T0);
+            traits.madd(A1,B1,C5,B1);
+            traits.loadRhs(&blB[5*RhsProgress], B1);
+            traits.madd(A0,B2,C2,T0);
+            traits.madd(A1,B2,C6,B2);
+            traits.loadRhs(&blB[6*RhsProgress], B2);
+            traits.madd(A0,B3,C3,T0);
+            traits.loadLhs(&blA[2*LhsProgress], A0);
+            traits.madd(A1,B3,C7,B3);
+            traits.loadLhs(&blA[3*LhsProgress], A1);
+            traits.loadRhs(&blB[7*RhsProgress], B3);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[8*RhsProgress], B0);
+            traits.madd(A0,B1,C1,T0);
+            traits.madd(A1,B1,C5,B1);
+            traits.loadRhs(&blB[9*RhsProgress], B1);
+            traits.madd(A0,B2,C2,T0);
+            traits.madd(A1,B2,C6,B2);
+            traits.loadRhs(&blB[10*RhsProgress], B2);
+            traits.madd(A0,B3,C3,T0);
+            traits.loadLhs(&blA[4*LhsProgress], A0);
+            traits.madd(A1,B3,C7,B3);
+            traits.loadLhs(&blA[5*LhsProgress], A1);
+            traits.loadRhs(&blB[11*RhsProgress], B3);
+
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[12*RhsProgress], B0);
+            traits.madd(A0,B1,C1,T0);
+            traits.madd(A1,B1,C5,B1);
+            traits.loadRhs(&blB[13*RhsProgress], B1);
+            traits.madd(A0,B2,C2,T0);
+            traits.madd(A1,B2,C6,B2);
+            traits.loadRhs(&blB[14*RhsProgress], B2);
+            traits.madd(A0,B3,C3,T0);
+            traits.loadLhs(&blA[6*LhsProgress], A0);
+            traits.madd(A1,B3,C7,B3);
+            traits.loadLhs(&blA[7*LhsProgress], A1);
+            traits.loadRhs(&blB[15*RhsProgress], B3);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.madd(A0,B1,C1,T0);
+            traits.madd(A1,B1,C5,B1);
+            traits.madd(A0,B2,C2,T0);
+            traits.madd(A1,B2,C6,B2);
+            traits.madd(A0,B3,C3,T0);
+            traits.madd(A1,B3,C7,B3);
+          }
+
+          blB += 4*nr*RhsProgress;
+          blA += 4*mr;
+        }
+        // process remaining peeled loop
+        for(Index k=peeled_kc; k<depth; k++)
+        {
+          if(nr==2)
+          {
+            LhsPacket A0, A1;
+            RhsPacket B0;
+            RhsPacket T0;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadLhs(&blA[1*LhsProgress], A1);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.madd(A0,B0,C0,T0);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[1*RhsProgress], B0);
+            traits.madd(A0,B0,C1,T0);
+            traits.madd(A1,B0,C5,B0);
+          }
+          else
+          {
+            LhsPacket A0, A1;
+            RhsPacket B0, B1, B2, B3;
+            RhsPacket T0;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadLhs(&blA[1*LhsProgress], A1);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+
+            traits.madd(A0,B0,C0,T0);
+            traits.loadRhs(&blB[2*RhsProgress], B2);
+            traits.madd(A1,B0,C4,B0);
+            traits.loadRhs(&blB[3*RhsProgress], B3);
+            traits.madd(A0,B1,C1,T0);
+            traits.madd(A1,B1,C5,B1);
+            traits.madd(A0,B2,C2,T0);
+            traits.madd(A1,B2,C6,B2);
+            traits.madd(A0,B3,C3,T0);
+            traits.madd(A1,B3,C7,B3);
+          }
+
+          blB += nr*RhsProgress;
+          blA += mr;
+        }
+
+        if(nr==4)
+        {
+          ResPacket R0, R1, R2, R3, R4, R5, R6;
+          ResPacket alphav = pset1<ResPacket>(alpha);
+
+          R0 = ploadu<ResPacket>(r0);
+          R1 = ploadu<ResPacket>(r1);
+          R2 = ploadu<ResPacket>(r2);
+          R3 = ploadu<ResPacket>(r3);
+          R4 = ploadu<ResPacket>(r0 + ResPacketSize);
+          R5 = ploadu<ResPacket>(r1 + ResPacketSize);
+          R6 = ploadu<ResPacket>(r2 + ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          pstoreu(r0, R0);
+          R0 = ploadu<ResPacket>(r3 + ResPacketSize);
+
+          traits.acc(C1, alphav, R1);
+          traits.acc(C2, alphav, R2);
+          traits.acc(C3, alphav, R3);
+          traits.acc(C4, alphav, R4);
+          traits.acc(C5, alphav, R5);
+          traits.acc(C6, alphav, R6);
+          traits.acc(C7, alphav, R0);
+          
+          pstoreu(r1, R1);
+          pstoreu(r2, R2);
+          pstoreu(r3, R3);
+          pstoreu(r0 + ResPacketSize, R4);
+          pstoreu(r1 + ResPacketSize, R5);
+          pstoreu(r2 + ResPacketSize, R6);
+          pstoreu(r3 + ResPacketSize, R0);
+        }
+        else
+        {
+          ResPacket R0, R1, R4;
+          ResPacket alphav = pset1<ResPacket>(alpha);
+
+          R0 = ploadu<ResPacket>(r0);
+          R1 = ploadu<ResPacket>(r1);
+          R4 = ploadu<ResPacket>(r0 + ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          pstoreu(r0, R0);
+          R0 = ploadu<ResPacket>(r1 + ResPacketSize);
+          traits.acc(C1, alphav, R1);
+          traits.acc(C4, alphav, R4);
+          traits.acc(C5, alphav, R0);
+          pstoreu(r1, R1);
+          pstoreu(r0 + ResPacketSize, R4);
+          pstoreu(r1 + ResPacketSize, R0);
+        }
+        
+      }
+      
+      if(rows-peeled_mc>=LhsProgress)
+      {
+        Index i = peeled_mc;
+        const LhsScalar* blA = &blockA[i*strideA+offsetA*LhsProgress];
+        prefetch(&blA[0]);
+
+        // gets res block as register
+        AccPacket C0, C1, C2, C3;
+                  traits.initAcc(C0);
+                  traits.initAcc(C1);
+        if(nr==4) traits.initAcc(C2);
+        if(nr==4) traits.initAcc(C3);
+
+        // performs "inner" product
+        const RhsScalar* blB = unpackedB;
+        for(Index k=0; k<peeled_kc; k+=4)
+        {
+          if(nr==2)
+          {
+            LhsPacket A0;
+            RhsPacket B0, B1;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[2*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadLhs(&blA[1*LhsProgress], A0);
+            traits.loadRhs(&blB[3*RhsProgress], B1);
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[4*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadLhs(&blA[2*LhsProgress], A0);
+            traits.loadRhs(&blB[5*RhsProgress], B1);
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[6*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadLhs(&blA[3*LhsProgress], A0);
+            traits.loadRhs(&blB[7*RhsProgress], B1);
+            traits.madd(A0,B0,C0,B0);
+            traits.madd(A0,B1,C1,B1);
+          }
+          else
+          {
+            LhsPacket A0;
+            RhsPacket B0, B1, B2, B3;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[2*RhsProgress], B2);
+            traits.loadRhs(&blB[3*RhsProgress], B3);
+            traits.loadRhs(&blB[4*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadRhs(&blB[5*RhsProgress], B1);
+            traits.madd(A0,B2,C2,B2);
+            traits.loadRhs(&blB[6*RhsProgress], B2);
+            traits.madd(A0,B3,C3,B3);
+            traits.loadLhs(&blA[1*LhsProgress], A0);
+            traits.loadRhs(&blB[7*RhsProgress], B3);
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[8*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadRhs(&blB[9*RhsProgress], B1);
+            traits.madd(A0,B2,C2,B2);
+            traits.loadRhs(&blB[10*RhsProgress], B2);
+            traits.madd(A0,B3,C3,B3);
+            traits.loadLhs(&blA[2*LhsProgress], A0);
+            traits.loadRhs(&blB[11*RhsProgress], B3);
+
+            traits.madd(A0,B0,C0,B0);
+            traits.loadRhs(&blB[12*RhsProgress], B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.loadRhs(&blB[13*RhsProgress], B1);
+            traits.madd(A0,B2,C2,B2);
+            traits.loadRhs(&blB[14*RhsProgress], B2);
+            traits.madd(A0,B3,C3,B3);
+
+            traits.loadLhs(&blA[3*LhsProgress], A0);
+            traits.loadRhs(&blB[15*RhsProgress], B3);
+            traits.madd(A0,B0,C0,B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.madd(A0,B2,C2,B2);
+            traits.madd(A0,B3,C3,B3);
+          }
+
+          blB += nr*4*RhsProgress;
+          blA += 4*LhsProgress;
+        }
+        // process remaining peeled loop
+        for(Index k=peeled_kc; k<depth; k++)
+        {
+          if(nr==2)
+          {
+            LhsPacket A0;
+            RhsPacket B0, B1;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+            traits.madd(A0,B0,C0,B0);
+            traits.madd(A0,B1,C1,B1);
+          }
+          else
+          {
+            LhsPacket A0;
+            RhsPacket B0, B1, B2, B3;
+
+            traits.loadLhs(&blA[0*LhsProgress], A0);
+            traits.loadRhs(&blB[0*RhsProgress], B0);
+            traits.loadRhs(&blB[1*RhsProgress], B1);
+            traits.loadRhs(&blB[2*RhsProgress], B2);
+            traits.loadRhs(&blB[3*RhsProgress], B3);
+
+            traits.madd(A0,B0,C0,B0);
+            traits.madd(A0,B1,C1,B1);
+            traits.madd(A0,B2,C2,B2);
+            traits.madd(A0,B3,C3,B3);
+          }
+
+          blB += nr*RhsProgress;
+          blA += LhsProgress;
+        }
+
+        ResPacket R0, R1, R2, R3;
+        ResPacket alphav = pset1<ResPacket>(alpha);
+
+        ResScalar* r0 = &res[(j2+0)*resStride + i];
+        ResScalar* r1 = r0 + resStride;
+        ResScalar* r2 = r1 + resStride;
+        ResScalar* r3 = r2 + resStride;
+
+                  R0 = ploadu<ResPacket>(r0);
+                  R1 = ploadu<ResPacket>(r1);
+        if(nr==4) R2 = ploadu<ResPacket>(r2);
+        if(nr==4) R3 = ploadu<ResPacket>(r3);
+
+                  traits.acc(C0, alphav, R0);
+                  traits.acc(C1, alphav, R1);
+        if(nr==4) traits.acc(C2, alphav, R2);
+        if(nr==4) traits.acc(C3, alphav, R3);
+
+                  pstoreu(r0, R0);
+                  pstoreu(r1, R1);
+        if(nr==4) pstoreu(r2, R2);
+        if(nr==4) pstoreu(r3, R3);
+      }
+      for(Index i=peeled_mc2; i<rows; i++)
+      {
+        const LhsScalar* blA = &blockA[i*strideA+offsetA];
+        prefetch(&blA[0]);
+
+        // gets a 1 x nr res block as registers
+        ResScalar C0(0), C1(0), C2(0), C3(0);
+        // TODO directly use blockB ???
+        const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+        for(Index k=0; k<depth; k++)
+        {
+          if(nr==2)
+          {
+            LhsScalar A0;
+            RhsScalar B0, B1;
+
+            A0 = blA[k];
+            B0 = blB[0];
+            B1 = blB[1];
+            MADD(cj,A0,B0,C0,B0);
+            MADD(cj,A0,B1,C1,B1);
+          }
+          else
+          {
+            LhsScalar A0;
+            RhsScalar B0, B1, B2, B3;
+
+            A0 = blA[k];
+            B0 = blB[0];
+            B1 = blB[1];
+            B2 = blB[2];
+            B3 = blB[3];
+
+            MADD(cj,A0,B0,C0,B0);
+            MADD(cj,A0,B1,C1,B1);
+            MADD(cj,A0,B2,C2,B2);
+            MADD(cj,A0,B3,C3,B3);
+          }
+
+          blB += nr;
+        }
+                  res[(j2+0)*resStride + i] += alpha*C0;
+                  res[(j2+1)*resStride + i] += alpha*C1;
+        if(nr==4) res[(j2+2)*resStride + i] += alpha*C2;
+        if(nr==4) res[(j2+3)*resStride + i] += alpha*C3;
+      }
+    }
+    // process remaining rhs/res columns one at a time
+    // => do the same but with nr==1
+    for(Index j2=packet_cols; j2<cols; j2++)
+    {
+      // unpack B
+      traits.unpackRhs(depth, &blockB[j2*strideB+offsetB], unpackedB);
+
+      for(Index i=0; i<peeled_mc; i+=mr)
+      {
+        const LhsScalar* blA = &blockA[i*strideA+offsetA*mr];
+        prefetch(&blA[0]);
+
+        // TODO move the res loads to the stores
+
+        // get res block as registers
+        AccPacket C0, C4;
+        traits.initAcc(C0);
+        traits.initAcc(C4);
+
+        const RhsScalar* blB = unpackedB;
+        for(Index k=0; k<depth; k++)
+        {
+          LhsPacket A0, A1;
+          RhsPacket B0;
+          RhsPacket T0;
+
+          traits.loadLhs(&blA[0*LhsProgress], A0);
+          traits.loadLhs(&blA[1*LhsProgress], A1);
+          traits.loadRhs(&blB[0*RhsProgress], B0);
+          traits.madd(A0,B0,C0,T0);
+          traits.madd(A1,B0,C4,B0);
+
+          blB += RhsProgress;
+          blA += 2*LhsProgress;
+        }
+        ResPacket R0, R4;
+        ResPacket alphav = pset1<ResPacket>(alpha);
+
+        ResScalar* r0 = &res[(j2+0)*resStride + i];
+
+        R0 = ploadu<ResPacket>(r0);
+        R4 = ploadu<ResPacket>(r0+ResPacketSize);
+
+        traits.acc(C0, alphav, R0);
+        traits.acc(C4, alphav, R4);
+
+        pstoreu(r0,               R0);
+        pstoreu(r0+ResPacketSize, R4);
+      }
+      if(rows-peeled_mc>=LhsProgress)
+      {
+        Index i = peeled_mc;
+        const LhsScalar* blA = &blockA[i*strideA+offsetA*LhsProgress];
+        prefetch(&blA[0]);
+
+        AccPacket C0;
+        traits.initAcc(C0);
+
+        const RhsScalar* blB = unpackedB;
+        for(Index k=0; k<depth; k++)
+        {
+          LhsPacket A0;
+          RhsPacket B0;
+          traits.loadLhs(blA, A0);
+          traits.loadRhs(blB, B0);
+          traits.madd(A0, B0, C0, B0);
+          blB += RhsProgress;
+          blA += LhsProgress;
+        }
+
+        ResPacket alphav = pset1<ResPacket>(alpha);
+        ResPacket R0 = ploadu<ResPacket>(&res[(j2+0)*resStride + i]);
+        traits.acc(C0, alphav, R0);
+        pstoreu(&res[(j2+0)*resStride + i], R0);
+      }
+      for(Index i=peeled_mc2; i<rows; i++)
+      {
+        const LhsScalar* blA = &blockA[i*strideA+offsetA];
+        prefetch(&blA[0]);
+
+        // gets a 1 x 1 res block as registers
+        ResScalar C0(0);
+        // FIXME directly use blockB ??
+        const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+        for(Index k=0; k<depth; k++)
+        {
+          LhsScalar A0 = blA[k];
+          RhsScalar B0 = blB[k];
+          MADD(cj, A0, B0, C0, B0);
+        }
+        res[(j2+0)*resStride + i] += alpha*C0;
+      }
+    }
+  }
+};
+
+#undef CJMADD
+
+// pack a block of the lhs
+// The travesal is as follow (mr==4):
+//   0  4  8 12 ...
+//   1  5  9 13 ...
+//   2  6 10 14 ...
+//   3  7 11 15 ...
+//
+//  16 20 24 28 ...
+//  17 21 25 29 ...
+//  18 22 26 30 ...
+//  19 23 27 31 ...
+//
+//  32 33 34 35 ...
+//  36 36 38 39 ...
+template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs
+{
+  void operator()(Scalar* blockA, const Scalar* EIGEN_RESTRICT _lhs, Index lhsStride, Index depth, Index rows,
+                  Index stride=0, Index offset=0)
+  {
+//     enum { PacketSize = packet_traits<Scalar>::size };
+    eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+    conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+    const_blas_data_mapper<Scalar, Index, StorageOrder> lhs(_lhs,lhsStride);
+    Index count = 0;
+    Index peeled_mc = (rows/Pack1)*Pack1;
+    for(Index i=0; i<peeled_mc; i+=Pack1)
+    {
+      if(PanelMode) count += Pack1 * offset;
+      for(Index k=0; k<depth; k++)
+        for(Index w=0; w<Pack1; w++)
+          blockA[count++] = cj(lhs(i+w, k));
+      if(PanelMode) count += Pack1 * (stride-offset-depth);
+    }
+    if(rows-peeled_mc>=Pack2)
+    {
+      if(PanelMode) count += Pack2*offset;
+      for(Index k=0; k<depth; k++)
+        for(Index w=0; w<Pack2; w++)
+          blockA[count++] = cj(lhs(peeled_mc+w, k));
+      if(PanelMode) count += Pack2 * (stride-offset-depth);
+      peeled_mc += Pack2;
+    }
+    for(Index i=peeled_mc; i<rows; i++)
+    {
+      if(PanelMode) count += offset;
+      for(Index k=0; k<depth; k++)
+        blockA[count++] = cj(lhs(i, k));
+      if(PanelMode) count += (stride-offset-depth);
+    }
+  }
+};
+
+// copy a complete panel of the rhs
+// this version is optimized for column major matrices
+// The traversal order is as follow: (nr==4):
+//  0  1  2  3   12 13 14 15   24 27
+//  4  5  6  7   16 17 18 19   25 28
+//  8  9 10 11   20 21 22 23   26 29
+//  .  .  .  .    .  .  .  .    .  .
+template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<Scalar, Index, nr, ColMajor, Conjugate, PanelMode>
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  enum { PacketSize = packet_traits<Scalar>::size };
+  void operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols,
+                  Index stride=0, Index offset=0)
+  {
+    eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+    conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+    Index packet_cols = (cols/nr) * nr;
+    Index count = 0;
+    for(Index j2=0; j2<packet_cols; j2+=nr)
+    {
+      // skip what we have before
+      if(PanelMode) count += nr * offset;
+      const Scalar* b0 = &rhs[(j2+0)*rhsStride];
+      const Scalar* b1 = &rhs[(j2+1)*rhsStride];
+      const Scalar* b2 = &rhs[(j2+2)*rhsStride];
+      const Scalar* b3 = &rhs[(j2+3)*rhsStride];
+      for(Index k=0; k<depth; k++)
+      {
+                  blockB[count+0] = cj(b0[k]);
+                  blockB[count+1] = cj(b1[k]);
+        if(nr==4) blockB[count+2] = cj(b2[k]);
+        if(nr==4) blockB[count+3] = cj(b3[k]);
+        count += nr;
+      }
+      // skip what we have after
+      if(PanelMode) count += nr * (stride-offset-depth);
+    }
+
+    // copy the remaining columns one at a time (nr==1)
+    for(Index j2=packet_cols; j2<cols; ++j2)
+    {
+      if(PanelMode) count += offset;
+      const Scalar* b0 = &rhs[(j2+0)*rhsStride];
+      for(Index k=0; k<depth; k++)
+      {
+        blockB[count] = cj(b0[k]);
+        count += 1;
+      }
+      if(PanelMode) count += (stride-offset-depth);
+    }
+  }
+};
+
+// this version is optimized for row major matrices
+template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<Scalar, Index, nr, RowMajor, Conjugate, PanelMode>
+{
+  enum { PacketSize = packet_traits<Scalar>::size };
+  void operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols,
+                  Index stride=0, Index offset=0)
+  {
+    eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+    conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+    Index packet_cols = (cols/nr) * nr;
+    Index count = 0;
+    for(Index j2=0; j2<packet_cols; j2+=nr)
+    {
+      // skip what we have before
+      if(PanelMode) count += nr * offset;
+      for(Index k=0; k<depth; k++)
+      {
+        const Scalar* b0 = &rhs[k*rhsStride + j2];
+                  blockB[count+0] = cj(b0[0]);
+                  blockB[count+1] = cj(b0[1]);
+        if(nr==4) blockB[count+2] = cj(b0[2]);
+        if(nr==4) blockB[count+3] = cj(b0[3]);
+        count += nr;
+      }
+      // skip what we have after
+      if(PanelMode) count += nr * (stride-offset-depth);
+    }
+    // copy the remaining columns one at a time (nr==1)
+    for(Index j2=packet_cols; j2<cols; ++j2)
+    {
+      if(PanelMode) count += offset;
+      const Scalar* b0 = &rhs[j2];
+      for(Index k=0; k<depth; k++)
+      {
+        blockB[count] = cj(b0[k*rhsStride]);
+        count += 1;
+      }
+      if(PanelMode) count += stride-offset-depth;
+    }
+  }
+};
+
+} // end namespace internal
+
+/** \returns the currently set level 1 cpu cache size (in bytes) used to estimate the ideal blocking size parameters.
+  * \sa setCpuCacheSize */
+inline std::ptrdiff_t l1CacheSize()
+{
+  std::ptrdiff_t l1, l2;
+  internal::manage_caching_sizes(GetAction, &l1, &l2);
+  return l1;
+}
+
+/** \returns the currently set level 2 cpu cache size (in bytes) used to estimate the ideal blocking size parameters.
+  * \sa setCpuCacheSize */
+inline std::ptrdiff_t l2CacheSize()
+{
+  std::ptrdiff_t l1, l2;
+  internal::manage_caching_sizes(GetAction, &l1, &l2);
+  return l2;
+}
+
+/** Set the cpu L1 and L2 cache sizes (in bytes).
+  * These values are use to adjust the size of the blocks
+  * for the algorithms working per blocks.
+  *
+  * \sa computeProductBlockingSizes */
+inline void setCpuCacheSizes(std::ptrdiff_t l1, std::ptrdiff_t l2)
+{
+  internal::manage_caching_sizes(SetAction, &l1, &l2);
+}
+
+#endif // EIGEN_GENERAL_BLOCK_PANEL_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralMatrixMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralMatrixMatrix.h
new file mode 100755
index 0000000..7736a4b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralMatrixMatrix.h
@@ -0,0 +1,444 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERAL_MATRIX_MATRIX_H
+#define EIGEN_GENERAL_MATRIX_MATRIX_H
+
+namespace internal {
+
+template<typename _LhsScalar, typename _RhsScalar> class level3_blocking;
+
+/* Specialization for a row-major destination matrix => simple transposition of the product */
+template<
+  typename Index,
+  typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs>
+struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor>
+{
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  static EIGEN_STRONG_INLINE void run(
+    Index rows, Index cols, Index depth,
+    const LhsScalar* lhs, Index lhsStride,
+    const RhsScalar* rhs, Index rhsStride,
+    ResScalar* res, Index resStride,
+    ResScalar alpha,
+    level3_blocking<RhsScalar,LhsScalar>& blocking,
+    GemmParallelInfo<Index>* info = 0)
+  {
+    // transpose the product such that the result is column major
+    general_matrix_matrix_product<Index,
+      RhsScalar, RhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateRhs,
+      LhsScalar, LhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateLhs,
+      ColMajor>
+    ::run(cols,rows,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha,blocking,info);
+  }
+};
+
+/*  Specialization for a col-major destination matrix
+ *    => Blocking algorithm following Goto's paper */
+template<
+  typename Index,
+  typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs>
+struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor>
+{
+typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+static void run(Index rows, Index cols, Index depth,
+  const LhsScalar* _lhs, Index lhsStride,
+  const RhsScalar* _rhs, Index rhsStride,
+  ResScalar* res, Index resStride,
+  ResScalar alpha,
+  level3_blocking<LhsScalar,RhsScalar>& blocking,
+  GemmParallelInfo<Index>* info = 0)
+{
+  const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+  const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+
+  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+  Index kc = blocking.kc();                 // cache block size along the K direction
+  Index mc = std::min(rows,blocking.mc());  // cache block size along the M direction
+  //Index nc = blocking.nc(); // cache block size along the N direction
+
+  gemm_pack_lhs<LhsScalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+  gemm_pack_rhs<RhsScalar, Index, Traits::nr, RhsStorageOrder> pack_rhs;
+  gebp_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
+
+#ifdef EIGEN_HAS_OPENMP
+  if(info)
+  {
+    // this is the parallel version!
+    Index tid = omp_get_thread_num();
+    Index threads = omp_get_num_threads();
+    
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    LhsScalar* blockA = ei_aligned_stack_new(LhsScalar, sizeA);
+    RhsScalar* w = ei_aligned_stack_new(RhsScalar, sizeW);
+    RhsScalar* blockB = blocking.blockB();
+    eigen_internal_assert(blockB!=0);
+
+    // For each horizontal panel of the rhs, and corresponding vertical panel of the lhs...
+    for(Index k=0; k<depth; k+=kc)
+    {
+      const Index actual_kc = std::min(k+kc,depth)-k; // => rows of B', and cols of the A'
+
+      // In order to reduce the chance that a thread has to wait for the other,
+      // let's start by packing A'.
+      pack_lhs(blockA, &lhs(0,k), lhsStride, actual_kc, mc);
+
+      // Pack B_k to B' in a parallel fashion:
+      // each thread packs the sub block B_k,j to B'_j where j is the thread id.
+
+      // However, before copying to B'_j, we have to make sure that no other thread is still using it,
+      // i.e., we test that info[tid].users equals 0.
+      // Then, we set info[tid].users to the number of threads to mark that all other threads are going to use it.
+      while(info[tid].users!=0) {}
+      info[tid].users += threads;
+
+      pack_rhs(blockB+info[tid].rhs_start*actual_kc, &rhs(k,info[tid].rhs_start), rhsStride, actual_kc, info[tid].rhs_length);
+
+      // Notify the other threads that the part B'_j is ready to go.
+      info[tid].sync = k;
+
+      // Computes C_i += A' * B' per B'_j
+      for(Index shift=0; shift<threads; ++shift)
+      {
+        Index j = (tid+shift)%threads;
+
+        // At this point we have to make sure that B'_j has been updated by the thread j,
+        // we use testAndSetOrdered to mimic a volatile access.
+        // However, no need to wait for the B' part which has been updated by the current thread!
+        if(shift>0)
+          while(info[j].sync!=k) {}
+
+        gebp(res+info[j].rhs_start*resStride, resStride, blockA, blockB+info[j].rhs_start*actual_kc, mc, actual_kc, info[j].rhs_length, alpha, -1,-1,0,0, w);
+      }
+
+      // Then keep going as usual with the remaining A'
+      for(Index i=mc; i<rows; i+=mc)
+      {
+        const Index actual_mc = std::min(i+mc,rows)-i;
+
+        // pack A_i,k to A'
+        pack_lhs(blockA, &lhs(i,k), lhsStride, actual_kc, actual_mc);
+
+        // C_i += A' * B'
+        gebp(res+i, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1,-1,0,0, w);
+      }
+
+      // Release all the sub blocks B'_j of B' for the current thread,
+      // i.e., we simply decrement the number of users by 1
+      for(Index j=0; j<threads; ++j)
+        #pragma omp atomic
+        --(info[j].users);
+    }
+
+    ei_aligned_stack_delete(LhsScalar, blockA, kc*mc);
+    ei_aligned_stack_delete(RhsScalar, w, sizeW);
+  }
+  else
+#endif // EIGEN_HAS_OPENMP
+  {
+    EIGEN_UNUSED_VARIABLE(info);
+
+    // this is the sequential version!
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeB = kc*cols;
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    LhsScalar *blockA = blocking.blockA()==0 ? ei_aligned_stack_new(LhsScalar, sizeA) : blocking.blockA();
+    RhsScalar *blockB = blocking.blockB()==0 ? ei_aligned_stack_new(RhsScalar, sizeB) : blocking.blockB();
+    RhsScalar *blockW = blocking.blockW()==0 ? ei_aligned_stack_new(RhsScalar, sizeW) : blocking.blockW();
+
+    // For each horizontal panel of the rhs, and corresponding panel of the lhs...
+    // (==GEMM_VAR1)
+    for(Index k2=0; k2<depth; k2+=kc)
+    {
+      const Index actual_kc = std::min(k2+kc,depth)-k2;
+
+      // OK, here we have selected one horizontal panel of rhs and one vertical panel of lhs.
+      // => Pack rhs's panel into a sequential chunk of memory (L2 caching)
+      // Note that this panel will be read as many times as the number of blocks in the lhs's
+      // vertical panel which is, in practice, a very low number.
+      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, cols);
+
+
+      // For each mc x kc block of the lhs's vertical panel...
+      // (==GEPP_VAR1)
+      for(Index i2=0; i2<rows; i2+=mc)
+      {
+        const Index actual_mc = std::min(i2+mc,rows)-i2;
+
+        // We pack the lhs's block into a sequential chunk of memory (L1 caching)
+        // Note that this block will be read a very high number of times, which is equal to the number of
+        // micro vertical panel of the large rhs's panel (e.g., cols/4 times).
+        pack_lhs(blockA, &lhs(i2,k2), lhsStride, actual_kc, actual_mc);
+
+        // Everything is packed, we can now call the block * panel kernel:
+        gebp(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1, -1, 0, 0, blockW);
+
+      }
+    }
+
+    if(blocking.blockA()==0) ei_aligned_stack_delete(LhsScalar, blockA, sizeA);
+    if(blocking.blockB()==0) ei_aligned_stack_delete(RhsScalar, blockB, sizeB);
+    if(blocking.blockW()==0) ei_aligned_stack_delete(RhsScalar, blockW, sizeW);
+  }
+}
+
+};
+
+/*********************************************************************************
+*  Specialization of GeneralProduct<> for "large" GEMM, i.e.,
+*  implementation of the high level wrapper to general_matrix_matrix_product
+**********************************************************************************/
+
+template<typename Lhs, typename Rhs>
+struct traits<GeneralProduct<Lhs,Rhs,GemmProduct> >
+ : traits<ProductBase<GeneralProduct<Lhs,Rhs,GemmProduct>, Lhs, Rhs> >
+{};
+
+template<typename Scalar, typename Index, typename Gemm, typename Lhs, typename Rhs, typename Dest, typename BlockingType>
+struct gemm_functor
+{
+  gemm_functor(const Lhs& lhs, const Rhs& rhs, Dest& dest, Scalar actualAlpha,
+                  BlockingType& blocking)
+    : m_lhs(lhs), m_rhs(rhs), m_dest(dest), m_actualAlpha(actualAlpha), m_blocking(blocking)
+  {}
+
+  void initParallelSession() const
+  {
+    m_blocking.allocateB();
+  }
+
+  void operator() (Index row, Index rows, Index col=0, Index cols=-1, GemmParallelInfo<Index>* info=0) const
+  {
+    if(cols==-1)
+      cols = m_rhs.cols();
+
+    Gemm::run(rows, cols, m_lhs.cols(),
+              /*(const Scalar*)*/&m_lhs.coeffRef(row,0), m_lhs.outerStride(),
+              /*(const Scalar*)*/&m_rhs.coeffRef(0,col), m_rhs.outerStride(),
+              (Scalar*)&(m_dest.coeffRef(row,col)), m_dest.outerStride(),
+              m_actualAlpha, m_blocking, info);
+  }
+
+  protected:
+    const Lhs& m_lhs;
+    const Rhs& m_rhs;
+    Dest& m_dest;
+    Scalar m_actualAlpha;
+    BlockingType& m_blocking;
+};
+
+template<int StorageOrder, typename LhsScalar, typename RhsScalar, int MaxRows, int MaxCols, int MaxDepth,
+bool FiniteAtCompileTime = MaxRows!=Dynamic && MaxCols!=Dynamic && MaxDepth != Dynamic> class gemm_blocking_space;
+
+template<typename _LhsScalar, typename _RhsScalar>
+class level3_blocking
+{
+    typedef _LhsScalar LhsScalar;
+    typedef _RhsScalar RhsScalar;
+
+  protected:
+    LhsScalar* m_blockA;
+    RhsScalar* m_blockB;
+    RhsScalar* m_blockW;
+
+    DenseIndex m_mc;
+    DenseIndex m_nc;
+    DenseIndex m_kc;
+
+  public:
+
+    level3_blocking()
+      : m_blockA(0), m_blockB(0), m_blockW(0), m_mc(0), m_nc(0), m_kc(0)
+    {}
+
+    inline DenseIndex mc() const { return m_mc; }
+    inline DenseIndex nc() const { return m_nc; }
+    inline DenseIndex kc() const { return m_kc; }
+
+    inline LhsScalar* blockA() { return m_blockA; }
+    inline RhsScalar* blockB() { return m_blockB; }
+    inline RhsScalar* blockW() { return m_blockW; }
+};
+
+template<int StorageOrder, typename _LhsScalar, typename _RhsScalar, int MaxRows, int MaxCols, int MaxDepth>
+class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, true>
+  : public level3_blocking<
+      typename conditional<StorageOrder==RowMajor,_RhsScalar,_LhsScalar>::type,
+      typename conditional<StorageOrder==RowMajor,_LhsScalar,_RhsScalar>::type>
+{
+    enum {
+      Transpose = StorageOrder==RowMajor,
+      ActualRows = Transpose ? MaxCols : MaxRows,
+      ActualCols = Transpose ? MaxRows : MaxCols
+    };
+    typedef typename conditional<Transpose,_RhsScalar,_LhsScalar>::type LhsScalar;
+    typedef typename conditional<Transpose,_LhsScalar,_RhsScalar>::type RhsScalar;
+    typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+    enum {
+      SizeA = ActualRows * MaxDepth,
+      SizeB = ActualCols * MaxDepth,
+      SizeW = MaxDepth * Traits::WorkSpaceFactor
+    };
+
+    EIGEN_ALIGN16 LhsScalar m_staticA[SizeA];
+    EIGEN_ALIGN16 RhsScalar m_staticB[SizeB];
+    EIGEN_ALIGN16 RhsScalar m_staticW[SizeW];
+
+  public:
+
+    gemm_blocking_space(DenseIndex /*rows*/, DenseIndex /*cols*/, DenseIndex /*depth*/)
+    {
+      this->m_mc = ActualRows;
+      this->m_nc = ActualCols;
+      this->m_kc = MaxDepth;
+      this->m_blockA = m_staticA;
+      this->m_blockB = m_staticB;
+      this->m_blockW = m_staticW;
+    }
+
+    inline void allocateA() {}
+    inline void allocateB() {}
+    inline void allocateW() {}
+    inline void allocateAll() {}
+};
+
+template<int StorageOrder, typename _LhsScalar, typename _RhsScalar, int MaxRows, int MaxCols, int MaxDepth>
+class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, false>
+  : public level3_blocking<
+      typename conditional<StorageOrder==RowMajor,_RhsScalar,_LhsScalar>::type,
+      typename conditional<StorageOrder==RowMajor,_LhsScalar,_RhsScalar>::type>
+{
+    enum {
+      Transpose = StorageOrder==RowMajor
+    };
+    typedef typename conditional<Transpose,_RhsScalar,_LhsScalar>::type LhsScalar;
+    typedef typename conditional<Transpose,_LhsScalar,_RhsScalar>::type RhsScalar;
+    typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+    DenseIndex m_sizeA;
+    DenseIndex m_sizeB;
+    DenseIndex m_sizeW;
+
+  public:
+
+    gemm_blocking_space(DenseIndex rows, DenseIndex cols, DenseIndex depth)
+    {
+      this->m_mc = Transpose ? cols : rows;
+      this->m_nc = Transpose ? rows : cols;
+      this->m_kc = depth;
+
+      computeProductBlockingSizes<LhsScalar,RhsScalar>(this->m_kc, this->m_mc, this->m_nc);
+      m_sizeA = this->m_mc * this->m_kc;
+      m_sizeB = this->m_kc * this->m_nc;
+      m_sizeW = this->m_kc*Traits::WorkSpaceFactor;
+    }
+
+    void allocateA()
+    {
+      if(this->m_blockA==0)
+        this->m_blockA = aligned_new<LhsScalar>(m_sizeA);
+    }
+
+    void allocateB()
+    {
+      if(this->m_blockB==0)
+        this->m_blockB = aligned_new<RhsScalar>(m_sizeB);
+    }
+
+    void allocateW()
+    {
+      if(this->m_blockW==0)
+        this->m_blockW = aligned_new<RhsScalar>(m_sizeW);
+    }
+
+    void allocateAll()
+    {
+      allocateA();
+      allocateB();
+      allocateW();
+    }
+
+    ~gemm_blocking_space()
+    {
+      aligned_delete(this->m_blockA, m_sizeA);
+      aligned_delete(this->m_blockB, m_sizeB);
+      aligned_delete(this->m_blockW, m_sizeW);
+    }
+};
+
+} // end namespace internal
+
+template<typename Lhs, typename Rhs>
+class GeneralProduct<Lhs, Rhs, GemmProduct>
+  : public ProductBase<GeneralProduct<Lhs,Rhs,GemmProduct>, Lhs, Rhs>
+{
+    enum {
+      MaxDepthAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(Lhs::MaxColsAtCompileTime,Rhs::MaxRowsAtCompileTime)
+    };
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
+    
+    typedef typename  Lhs::Scalar LhsScalar;
+    typedef typename  Rhs::Scalar RhsScalar;
+    typedef           Scalar      ResScalar;
+
+    GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {
+      typedef internal::scalar_product_op<LhsScalar,RhsScalar> BinOp;
+      EIGEN_CHECK_BINARY_COMPATIBILIY(BinOp,LhsScalar,RhsScalar);
+    }
+
+    template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+    {
+      eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+
+      const ActualLhsType lhs = LhsBlasTraits::extract(m_lhs);
+      const ActualRhsType rhs = RhsBlasTraits::extract(m_rhs);
+
+      Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
+                                 * RhsBlasTraits::extractScalarFactor(m_rhs);
+
+      typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,LhsScalar,RhsScalar,
+              Dest::MaxRowsAtCompileTime,Dest::MaxColsAtCompileTime,MaxDepthAtCompileTime> BlockingType;
+
+      typedef internal::gemm_functor<
+        Scalar, Index,
+        internal::general_matrix_matrix_product<
+          Index,
+          LhsScalar, (_ActualLhsType::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(LhsBlasTraits::NeedToConjugate),
+          RhsScalar, (_ActualRhsType::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(RhsBlasTraits::NeedToConjugate),
+          (Dest::Flags&RowMajorBit) ? RowMajor : ColMajor>,
+        _ActualLhsType, _ActualRhsType, Dest, BlockingType> GemmFunctor;
+
+      BlockingType blocking(dst.rows(), dst.cols(), lhs.cols());
+
+      internal::parallelize_gemm<(Dest::MaxRowsAtCompileTime>32 || Dest::MaxRowsAtCompileTime==Dynamic)>(GemmFunctor(lhs, rhs, dst, actualAlpha, blocking), this->rows(), this->cols(), Dest::Flags&RowMajorBit);
+    }
+};
+
+#endif // EIGEN_GENERAL_MATRIX_MATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
new file mode 100755
index 0000000..39495c1
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
@@ -0,0 +1,227 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
+#define EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
+
+namespace internal {
+
+/**********************************************************************
+* This file implements a general A * B product while
+* evaluating only one triangular part of the product.
+* This is more general version of self adjoint product (C += A A^T)
+* as the level 3 SYRK Blas routine.
+**********************************************************************/
+
+// forward declarations (defined at the end of this file)
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjLhs, bool ConjRhs, int UpLo>
+struct tribb_kernel;
+  
+/* Optimized matrix-matrix product evaluating only one triangular half */
+template <typename Index,
+          typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
+                              int ResStorageOrder, int  UpLo>
+struct general_matrix_matrix_triangular_product;
+
+// as usual if the result is row major => we transpose the product
+template <typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+                          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo>
+struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor,UpLo>
+{  
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* lhs, Index lhsStride,
+                                      const RhsScalar* rhs, Index rhsStride, ResScalar* res, Index resStride, ResScalar alpha)
+  {
+    general_matrix_matrix_triangular_product<Index,
+        RhsScalar, RhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateRhs,
+        LhsScalar, LhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateLhs,
+        ColMajor, UpLo==Lower?Upper:Lower>
+      ::run(size,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha);
+  }
+};
+
+template <typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+                          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo>
+struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo>
+{
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* _lhs, Index lhsStride,
+                                      const RhsScalar* _rhs, Index rhsStride, ResScalar* res, Index resStride, ResScalar alpha)
+  {
+    const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+    const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+
+    typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+    Index kc = depth; // cache block size along the K direction
+    Index mc = size;  // cache block size along the M direction
+    Index nc = size;  // cache block size along the N direction
+    computeProductBlockingSizes<LhsScalar,RhsScalar>(kc, mc, nc);
+    // !!! mc must be a multiple of nr:
+    if(mc > Traits::nr)
+      mc = (mc/Traits::nr)*Traits::nr;
+
+    LhsScalar* blockA = ei_aligned_stack_new(LhsScalar, kc*mc);
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*size;
+    RhsScalar* allocatedBlockB = ei_aligned_stack_new(RhsScalar, sizeB);
+    RhsScalar* blockB = allocatedBlockB + sizeW;
+    
+    gemm_pack_lhs<LhsScalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<RhsScalar, Index, Traits::nr, RhsStorageOrder> pack_rhs;
+    gebp_kernel <LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
+    tribb_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs, UpLo> sybb;
+
+    for(Index k2=0; k2<depth; k2+=kc)
+    {
+      const Index actual_kc = std::min(k2+kc,depth)-k2;
+
+      // note that the actual rhs is the transpose/adjoint of mat
+      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, size);
+
+      for(Index i2=0; i2<size; i2+=mc)
+      {
+        const Index actual_mc = std::min(i2+mc,size)-i2;
+
+        pack_lhs(blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+
+        // the selected actual_mc * size panel of res is split into three different part:
+        //  1 - before the diagonal => processed with gebp or skipped
+        //  2 - the actual_mc x actual_mc symmetric block => processed with a special kernel
+        //  3 - after the diagonal => processed with gebp or skipped
+        if (UpLo==Lower)
+          gebp(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, std::min(size,i2), alpha,
+               -1, -1, 0, 0, allocatedBlockB);
+
+        sybb(res+resStride*i2 + i2, resStride, blockA, blockB + actual_kc*i2, actual_mc, actual_kc, alpha, allocatedBlockB);
+
+        if (UpLo==Upper)
+        {
+          Index j2 = i2+actual_mc;
+          gebp(res+resStride*j2+i2, resStride, blockA, blockB+actual_kc*j2, actual_mc, actual_kc, std::max(Index(0), size-j2), alpha,
+               -1, -1, 0, 0, allocatedBlockB);
+        }
+      }
+    }
+    ei_aligned_stack_delete(LhsScalar, blockA, kc*mc);
+    ei_aligned_stack_delete(RhsScalar, allocatedBlockB, sizeB);
+  }
+};
+
+// Optimized packed Block * packed Block product kernel evaluating only one given triangular part
+// This kernel is built on top of the gebp kernel:
+// - the current destination block is processed per panel of actual_mc x BlockSize
+//   where BlockSize is set to the minimal value allowing gebp to be as fast as possible
+// - then, as usual, each panel is split into three parts along the diagonal,
+//   the sub blocks above and below the diagonal are processed as usual,
+//   while the triangular block overlapping the diagonal is evaluated into a
+//   small temporary buffer which is then accumulated into the result using a
+//   triangular traversal.
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjLhs, bool ConjRhs, int UpLo>
+struct tribb_kernel
+{
+  typedef gebp_traits<LhsScalar,RhsScalar,ConjLhs,ConjRhs> Traits;
+  typedef typename Traits::ResScalar ResScalar;
+  
+  enum {
+    BlockSize  = EIGEN_PLAIN_ENUM_MAX(mr,nr)
+  };
+  void operator()(ResScalar* res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index size, Index depth, ResScalar alpha, RhsScalar* workspace)
+  {
+    gebp_kernel<LhsScalar, RhsScalar, Index, mr, nr, ConjLhs, ConjRhs> gebp_kernel;
+    Matrix<ResScalar,BlockSize,BlockSize,ColMajor> buffer;
+
+    // let's process the block per panel of actual_mc x BlockSize,
+    // again, each is split into three parts, etc.
+    for (Index j=0; j<size; j+=BlockSize)
+    {
+      Index actualBlockSize = std::min<Index>(BlockSize,size - j);
+      const RhsScalar* actual_b = blockB+j*depth;
+
+      if(UpLo==Upper)
+        gebp_kernel(res+j*resStride, resStride, blockA, actual_b, j, depth, actualBlockSize, alpha,
+                    -1, -1, 0, 0, workspace);
+
+      // selfadjoint micro block
+      {
+        Index i = j;
+        buffer.setZero();
+        // 1 - apply the kernel on the temporary buffer
+        gebp_kernel(buffer.data(), BlockSize, blockA+depth*i, actual_b, actualBlockSize, depth, actualBlockSize, alpha,
+                    -1, -1, 0, 0, workspace);
+        // 2 - triangular accumulation
+        for(Index j1=0; j1<actualBlockSize; ++j1)
+        {
+          ResScalar* r = res + (j+j1)*resStride + i;
+          for(Index i1=UpLo==Lower ? j1 : 0;
+              UpLo==Lower ? i1<actualBlockSize : i1<=j1; ++i1)
+            r[i1] += buffer(i1,j1);
+        }
+      }
+
+      if(UpLo==Lower)
+      {
+        Index i = j+actualBlockSize;
+        gebp_kernel(res+j*resStride+i, resStride, blockA+depth*i, actual_b, size-i, depth, actualBlockSize, alpha,
+                    -1, -1, 0, 0, workspace);
+      }
+    }
+  }
+};
+
+} // end namespace internal
+
+// high level API
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename ProductDerived, typename _Lhs, typename _Rhs>
+TriangularView<MatrixType,UpLo>& TriangularView<MatrixType,UpLo>::assignProduct(const ProductBase<ProductDerived, _Lhs,_Rhs>& prod, const Scalar& alpha)
+{
+  typedef typename internal::remove_all<typename ProductDerived::LhsNested>::type Lhs;
+  typedef internal::blas_traits<Lhs> LhsBlasTraits;
+  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhs;
+  typedef typename internal::remove_all<ActualLhs>::type _ActualLhs;
+  const ActualLhs actualLhs = LhsBlasTraits::extract(prod.lhs());
+  
+  typedef typename internal::remove_all<typename ProductDerived::RhsNested>::type Rhs;
+  typedef internal::blas_traits<Rhs> RhsBlasTraits;
+  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhs;
+  typedef typename internal::remove_all<ActualRhs>::type _ActualRhs;
+  const ActualRhs actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+  typename ProductDerived::Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs().derived()) * RhsBlasTraits::extractScalarFactor(prod.rhs().derived());
+
+  internal::general_matrix_matrix_triangular_product<Index,
+    typename Lhs::Scalar, _ActualLhs::Flags&RowMajorBit ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
+    typename Rhs::Scalar, _ActualRhs::Flags&RowMajorBit ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
+    MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor, UpLo>
+    ::run(m_matrix.cols(), actualLhs.cols(),
+          &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &actualRhs.coeffRef(0,0), actualRhs.outerStride(),
+          const_cast<Scalar*>(m_matrix.data()), m_matrix.outerStride(), actualAlpha);
+  
+  return *this;
+}
+
+#endif // EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralMatrixVector.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralMatrixVector.h
new file mode 100755
index 0000000..540638b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/GeneralMatrixVector.h
@@ -0,0 +1,559 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERAL_MATRIX_VECTOR_H
+#define EIGEN_GENERAL_MATRIX_VECTOR_H
+
+namespace internal {
+
+/* Optimized col-major matrix * vector product:
+ * This algorithm processes 4 columns at onces that allows to both reduce
+ * the number of load/stores of the result by a factor 4 and to reduce
+ * the instruction dependency. Moreover, we know that all bands have the
+ * same alignment pattern.
+ *
+ * Mixing type logic: C += alpha * A * B
+ *  |  A  |  B  |alpha| comments
+ *  |real |cplx |cplx | no vectorization
+ *  |real |cplx |real | alpha is converted to a cplx when calling the run function, no vectorization
+ *  |cplx |real |cplx | invalid, the caller has to do tmp: = A * B; C += alpha*tmp
+ *  |cplx |real |real | optimal case, vectorization possible via real-cplx mul
+ */
+template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs>
+struct general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjugateLhs,RhsScalar,ConjugateRhs>
+{
+typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+enum {
+  Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
+              && int(packet_traits<LhsScalar>::size)==int(packet_traits<RhsScalar>::size),
+  LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+  RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+  ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1
+};
+
+typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
+typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
+typedef typename packet_traits<ResScalar>::type  _ResPacket;
+
+typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+EIGEN_DONT_INLINE static void run(
+  Index rows, Index cols,
+  const LhsScalar* lhs, Index lhsStride,
+  const RhsScalar* rhs, Index rhsIncr,
+  ResScalar* res, Index
+  #ifdef EIGEN_INTERNAL_DEBUGGING
+    resIncr
+  #endif
+  , RhsScalar alpha)
+{
+  eigen_internal_assert(resIncr==1);
+  #ifdef _EIGEN_ACCUMULATE_PACKETS
+  #error _EIGEN_ACCUMULATE_PACKETS has already been defined
+  #endif
+  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) \
+    pstore(&res[j], \
+      padd(pload<ResPacket>(&res[j]), \
+        padd( \
+          padd(pcj.pmul(EIGEN_CAT(ploa , A0)<LhsPacket>(&lhs0[j]),    ptmp0), \
+                  pcj.pmul(EIGEN_CAT(ploa , A13)<LhsPacket>(&lhs1[j]),   ptmp1)), \
+          padd(pcj.pmul(EIGEN_CAT(ploa , A2)<LhsPacket>(&lhs2[j]),    ptmp2), \
+                  pcj.pmul(EIGEN_CAT(ploa , A13)<LhsPacket>(&lhs3[j]),   ptmp3)) )))
+
+  conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
+  conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
+  if(ConjugateRhs)
+    alpha = conj(alpha);
+
+  enum { AllAligned = 0, EvenAligned, FirstAligned, NoneAligned };
+  const Index columnsAtOnce = 4;
+  const Index peels = 2;
+  const Index LhsPacketAlignedMask = LhsPacketSize-1;
+  const Index ResPacketAlignedMask = ResPacketSize-1;
+  const Index PeelAlignedMask = ResPacketSize*peels-1;
+  const Index size = rows;
+  
+  // How many coeffs of the result do we have to skip to be aligned.
+  // Here we assume data are at least aligned on the base scalar type.
+  Index alignedStart = first_aligned(res,size);
+  Index alignedSize = ResPacketSize>1 ? alignedStart + ((size-alignedStart) & ~ResPacketAlignedMask) : 0;
+  const Index peeledSize  = peels>1 ? alignedStart + ((alignedSize-alignedStart) & ~PeelAlignedMask) : alignedStart;
+
+  const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
+  Index alignmentPattern = alignmentStep==0 ? AllAligned
+                       : alignmentStep==(LhsPacketSize/2) ? EvenAligned
+                       : FirstAligned;
+
+  // we cannot assume the first element is aligned because of sub-matrices
+  const Index lhsAlignmentOffset = first_aligned(lhs,size);
+
+  // find how many columns do we have to skip to be aligned with the result (if possible)
+  Index skipColumns = 0;
+  // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
+  if( (size_t(lhs)%sizeof(LhsScalar)) || (size_t(res)%sizeof(ResScalar)) )
+  {
+    alignedSize = 0;
+    alignedStart = 0;
+  }
+  else if (LhsPacketSize>1)
+  {
+    eigen_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0 || size<LhsPacketSize);
+
+    while (skipColumns<LhsPacketSize &&
+          alignedStart != ((lhsAlignmentOffset + alignmentStep*skipColumns)%LhsPacketSize))
+      ++skipColumns;
+    if (skipColumns==LhsPacketSize)
+    {
+      // nothing can be aligned, no need to skip any column
+      alignmentPattern = NoneAligned;
+      skipColumns = 0;
+    }
+    else
+    {
+      skipColumns = std::min(skipColumns,cols);
+      // note that the skiped columns are processed later.
+    }
+
+    eigen_internal_assert(  (alignmentPattern==NoneAligned)
+                      || (skipColumns + columnsAtOnce >= cols)
+                      || LhsPacketSize > size
+                      || (size_t(lhs+alignedStart+lhsStride*skipColumns)%sizeof(LhsPacket))==0);
+  }
+  else if(Vectorizable)
+  {
+    alignedStart = 0;
+    alignedSize = size;
+    alignmentPattern = AllAligned;
+  }
+
+  Index offset1 = (FirstAligned && alignmentStep==1?3:1);
+  Index offset3 = (FirstAligned && alignmentStep==1?1:3);
+
+  Index columnBound = ((cols-skipColumns)/columnsAtOnce)*columnsAtOnce + skipColumns;
+  for (Index i=skipColumns; i<columnBound; i+=columnsAtOnce)
+  {
+    RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs[i*rhsIncr]),
+              ptmp1 = pset1<RhsPacket>(alpha*rhs[(i+offset1)*rhsIncr]),
+              ptmp2 = pset1<RhsPacket>(alpha*rhs[(i+2)*rhsIncr]),
+              ptmp3 = pset1<RhsPacket>(alpha*rhs[(i+offset3)*rhsIncr]);
+
+    // this helps a lot generating better binary code
+    const LhsScalar *lhs0 = lhs + i*lhsStride,     *lhs1 = lhs + (i+offset1)*lhsStride,
+                    *lhs2 = lhs + (i+2)*lhsStride, *lhs3 = lhs + (i+offset3)*lhsStride;
+
+    if (Vectorizable)
+    {
+      /* explicit vectorization */
+      // process initial unaligned coeffs
+      for (Index j=0; j<alignedStart; ++j)
+      {
+        res[j] = cj.pmadd(lhs0[j], pfirst(ptmp0), res[j]);
+        res[j] = cj.pmadd(lhs1[j], pfirst(ptmp1), res[j]);
+        res[j] = cj.pmadd(lhs2[j], pfirst(ptmp2), res[j]);
+        res[j] = cj.pmadd(lhs3[j], pfirst(ptmp3), res[j]);
+      }
+
+      if (alignedSize>alignedStart)
+      {
+        switch(alignmentPattern)
+        {
+          case AllAligned:
+            for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
+            break;
+          case EvenAligned:
+            for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
+            break;
+          case FirstAligned:
+            if(peels>1)
+            {
+              LhsPacket A00, A01, A02, A03, A10, A11, A12, A13;
+              ResPacket T0, T1;
+
+              A01 = pload<LhsPacket>(&lhs1[alignedStart-1]);
+              A02 = pload<LhsPacket>(&lhs2[alignedStart-2]);
+              A03 = pload<LhsPacket>(&lhs3[alignedStart-3]);
+
+              for (Index j = alignedStart; j<peeledSize; j+=peels*ResPacketSize)
+              {
+                A11 = pload<LhsPacket>(&lhs1[j-1+LhsPacketSize]);  palign<1>(A01,A11);
+                A12 = pload<LhsPacket>(&lhs2[j-2+LhsPacketSize]);  palign<2>(A02,A12);
+                A13 = pload<LhsPacket>(&lhs3[j-3+LhsPacketSize]);  palign<3>(A03,A13);
+
+                A00 = pload<LhsPacket>(&lhs0[j]);
+                A10 = pload<LhsPacket>(&lhs0[j+LhsPacketSize]);
+                T0  = pcj.pmadd(A00, ptmp0, pload<ResPacket>(&res[j]));
+                T1  = pcj.pmadd(A10, ptmp0, pload<ResPacket>(&res[j+ResPacketSize]));
+
+                T0  = pcj.pmadd(A01, ptmp1, T0);
+                A01 = pload<LhsPacket>(&lhs1[j-1+2*LhsPacketSize]);  palign<1>(A11,A01);
+                T0  = pcj.pmadd(A02, ptmp2, T0);
+                A02 = pload<LhsPacket>(&lhs2[j-2+2*LhsPacketSize]);  palign<2>(A12,A02);
+                T0  = pcj.pmadd(A03, ptmp3, T0);
+                pstore(&res[j],T0);
+                A03 = pload<LhsPacket>(&lhs3[j-3+2*LhsPacketSize]);  palign<3>(A13,A03);
+                T1  = pcj.pmadd(A11, ptmp1, T1);
+                T1  = pcj.pmadd(A12, ptmp2, T1);
+                T1  = pcj.pmadd(A13, ptmp3, T1);
+                pstore(&res[j+ResPacketSize],T1);
+              }
+            }
+            for (Index j = peeledSize; j<alignedSize; j+=ResPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
+            break;
+          default:
+            for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
+            break;
+        }
+      }
+    } // end explicit vectorization
+
+    /* process remaining coeffs (or all if there is no explicit vectorization) */
+    for (Index j=alignedSize; j<size; ++j)
+    {
+      res[j] = cj.pmadd(lhs0[j], pfirst(ptmp0), res[j]);
+      res[j] = cj.pmadd(lhs1[j], pfirst(ptmp1), res[j]);
+      res[j] = cj.pmadd(lhs2[j], pfirst(ptmp2), res[j]);
+      res[j] = cj.pmadd(lhs3[j], pfirst(ptmp3), res[j]);
+    }
+  }
+
+  // process remaining first and last columns (at most columnsAtOnce-1)
+  Index end = cols;
+  Index start = columnBound;
+  do
+  {
+    for (Index k=start; k<end; ++k)
+    {
+      RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs[k*rhsIncr]);
+      const LhsScalar* lhs0 = lhs + k*lhsStride;
+
+      if (Vectorizable)
+      {
+        /* explicit vectorization */
+        // process first unaligned result's coeffs
+        for (Index j=0; j<alignedStart; ++j)
+          res[j] += cj.pmul(lhs0[j], pfirst(ptmp0));
+        // process aligned result's coeffs
+        if ((size_t(lhs0+alignedStart)%sizeof(LhsPacket))==0)
+          for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
+            pstore(&res[i], pcj.pmadd(ploadu<LhsPacket>(&lhs0[i]), ptmp0, pload<ResPacket>(&res[i])));
+        else
+          for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
+            pstore(&res[i], pcj.pmadd(ploadu<LhsPacket>(&lhs0[i]), ptmp0, pload<ResPacket>(&res[i])));
+      }
+
+      // process remaining scalars (or all if no explicit vectorization)
+      for (Index i=alignedSize; i<size; ++i)
+        res[i] += cj.pmul(lhs0[i], pfirst(ptmp0));
+    }
+    if (skipColumns)
+    {
+      start = 0;
+      end = skipColumns;
+      skipColumns = 0;
+    }
+    else
+      break;
+  } while(Vectorizable);
+  #undef _EIGEN_ACCUMULATE_PACKETS
+}
+};
+
+/* Optimized row-major matrix * vector product:
+ * This algorithm processes 4 rows at onces that allows to both reduce
+ * the number of load/stores of the result by a factor 4 and to reduce
+ * the instruction dependency. Moreover, we know that all bands have the
+ * same alignment pattern.
+ *
+ * Mixing type logic:
+ *  - alpha is always a complex (or converted to a complex)
+ *  - no vectorization
+ */
+template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs>
+struct general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjugateLhs,RhsScalar,ConjugateRhs>
+{
+typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+enum {
+  Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
+              && int(packet_traits<LhsScalar>::size)==int(packet_traits<RhsScalar>::size),
+  LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+  RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+  ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1
+};
+
+typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
+typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
+typedef typename packet_traits<ResScalar>::type  _ResPacket;
+
+typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+  
+EIGEN_DONT_INLINE static void run(
+  Index rows, Index cols,
+  const LhsScalar* lhs, Index lhsStride,
+  const RhsScalar* rhs, Index rhsIncr,
+  ResScalar* res, Index resIncr,
+  ResScalar alpha)
+{
+  EIGEN_UNUSED_VARIABLE(rhsIncr);
+  eigen_internal_assert(rhsIncr==1);
+  #ifdef _EIGEN_ACCUMULATE_PACKETS
+  #error _EIGEN_ACCUMULATE_PACKETS has already been defined
+  #endif
+
+  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) {\
+    RhsPacket b = pload<RhsPacket>(&rhs[j]); \
+    ptmp0 = pcj.pmadd(EIGEN_CAT(ploa,A0) <LhsPacket>(&lhs0[j]), b, ptmp0); \
+    ptmp1 = pcj.pmadd(EIGEN_CAT(ploa,A13)<LhsPacket>(&lhs1[j]), b, ptmp1); \
+    ptmp2 = pcj.pmadd(EIGEN_CAT(ploa,A2) <LhsPacket>(&lhs2[j]), b, ptmp2); \
+    ptmp3 = pcj.pmadd(EIGEN_CAT(ploa,A13)<LhsPacket>(&lhs3[j]), b, ptmp3); }
+
+  conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
+  conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
+
+  enum { AllAligned=0, EvenAligned=1, FirstAligned=2, NoneAligned=3 };
+  const Index rowsAtOnce = 4;
+  const Index peels = 2;
+  const Index RhsPacketAlignedMask = RhsPacketSize-1;
+  const Index LhsPacketAlignedMask = LhsPacketSize-1;
+  const Index PeelAlignedMask = RhsPacketSize*peels-1;
+  const Index depth = cols;
+
+  // How many coeffs of the result do we have to skip to be aligned.
+  // Here we assume data are at least aligned on the base scalar type
+  // if that's not the case then vectorization is discarded, see below.
+  Index alignedStart = first_aligned(rhs, depth);
+  Index alignedSize = RhsPacketSize>1 ? alignedStart + ((depth-alignedStart) & ~RhsPacketAlignedMask) : 0;
+  const Index peeledSize  = peels>1 ? alignedStart + ((alignedSize-alignedStart) & ~PeelAlignedMask) : alignedStart;
+
+  const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
+  Index alignmentPattern = alignmentStep==0 ? AllAligned
+                         : alignmentStep==(LhsPacketSize/2) ? EvenAligned
+                         : FirstAligned;
+
+  // we cannot assume the first element is aligned because of sub-matrices
+  const Index lhsAlignmentOffset = first_aligned(lhs,depth);
+
+  // find how many rows do we have to skip to be aligned with rhs (if possible)
+  Index skipRows = 0;
+  // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
+  if( (sizeof(LhsScalar)!=sizeof(RhsScalar)) || (size_t(lhs)%sizeof(LhsScalar)) || (size_t(rhs)%sizeof(RhsScalar)) )
+  {
+    alignedSize = 0;
+    alignedStart = 0;
+  }
+  else if (LhsPacketSize>1)
+  {
+    eigen_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0  || depth<LhsPacketSize);
+
+    while (skipRows<LhsPacketSize &&
+           alignedStart != ((lhsAlignmentOffset + alignmentStep*skipRows)%LhsPacketSize))
+      ++skipRows;
+    if (skipRows==LhsPacketSize)
+    {
+      // nothing can be aligned, no need to skip any column
+      alignmentPattern = NoneAligned;
+      skipRows = 0;
+    }
+    else
+    {
+      skipRows = std::min(skipRows,Index(rows));
+      // note that the skiped columns are processed later.
+    }
+    eigen_internal_assert(  alignmentPattern==NoneAligned
+                      || LhsPacketSize==1
+                      || (skipRows + rowsAtOnce >= rows)
+                      || LhsPacketSize > depth
+                      || (size_t(lhs+alignedStart+lhsStride*skipRows)%sizeof(LhsPacket))==0);
+  }
+  else if(Vectorizable)
+  {
+    alignedStart = 0;
+    alignedSize = depth;
+    alignmentPattern = AllAligned;
+  }
+
+  Index offset1 = (FirstAligned && alignmentStep==1?3:1);
+  Index offset3 = (FirstAligned && alignmentStep==1?1:3);
+
+  Index rowBound = ((rows-skipRows)/rowsAtOnce)*rowsAtOnce + skipRows;
+  for (Index i=skipRows; i<rowBound; i+=rowsAtOnce)
+  {
+    EIGEN_ALIGN16 ResScalar tmp0 = ResScalar(0);
+    ResScalar tmp1 = ResScalar(0), tmp2 = ResScalar(0), tmp3 = ResScalar(0);
+
+    // this helps the compiler generating good binary code
+    const LhsScalar *lhs0 = lhs + i*lhsStride,     *lhs1 = lhs + (i+offset1)*lhsStride,
+                    *lhs2 = lhs + (i+2)*lhsStride, *lhs3 = lhs + (i+offset3)*lhsStride;
+
+    if (Vectorizable)
+    {
+      /* explicit vectorization */
+      ResPacket ptmp0 = pset1<ResPacket>(ResScalar(0)), ptmp1 = pset1<ResPacket>(ResScalar(0)),
+                ptmp2 = pset1<ResPacket>(ResScalar(0)), ptmp3 = pset1<ResPacket>(ResScalar(0));
+
+      // process initial unaligned coeffs
+      // FIXME this loop get vectorized by the compiler !
+      for (Index j=0; j<alignedStart; ++j)
+      {
+        RhsScalar b = rhs[j];
+        tmp0 += cj.pmul(lhs0[j],b); tmp1 += cj.pmul(lhs1[j],b);
+        tmp2 += cj.pmul(lhs2[j],b); tmp3 += cj.pmul(lhs3[j],b);
+      }
+
+      if (alignedSize>alignedStart)
+      {
+        switch(alignmentPattern)
+        {
+          case AllAligned:
+            for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
+            break;
+          case EvenAligned:
+            for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
+            break;
+          case FirstAligned:
+            if (peels>1)
+            {
+              /* Here we proccess 4 rows with with two peeled iterations to hide
+               * tghe overhead of unaligned loads. Moreover unaligned loads are handled
+               * using special shift/move operations between the two aligned packets
+               * overlaping the desired unaligned packet. This is *much* more efficient
+               * than basic unaligned loads.
+               */
+              LhsPacket A01, A02, A03, A11, A12, A13;
+              A01 = pload<LhsPacket>(&lhs1[alignedStart-1]);
+              A02 = pload<LhsPacket>(&lhs2[alignedStart-2]);
+              A03 = pload<LhsPacket>(&lhs3[alignedStart-3]);
+
+              for (Index j = alignedStart; j<peeledSize; j+=peels*RhsPacketSize)
+              {
+                RhsPacket b = pload<RhsPacket>(&rhs[j]);
+                A11 = pload<LhsPacket>(&lhs1[j-1+LhsPacketSize]);  palign<1>(A01,A11);
+                A12 = pload<LhsPacket>(&lhs2[j-2+LhsPacketSize]);  palign<2>(A02,A12);
+                A13 = pload<LhsPacket>(&lhs3[j-3+LhsPacketSize]);  palign<3>(A03,A13);
+
+                ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j]), b, ptmp0);
+                ptmp1 = pcj.pmadd(A01, b, ptmp1);
+                A01 = pload<LhsPacket>(&lhs1[j-1+2*LhsPacketSize]);  palign<1>(A11,A01);
+                ptmp2 = pcj.pmadd(A02, b, ptmp2);
+                A02 = pload<LhsPacket>(&lhs2[j-2+2*LhsPacketSize]);  palign<2>(A12,A02);
+                ptmp3 = pcj.pmadd(A03, b, ptmp3);
+                A03 = pload<LhsPacket>(&lhs3[j-3+2*LhsPacketSize]);  palign<3>(A13,A03);
+
+                b = pload<RhsPacket>(&rhs[j+RhsPacketSize]);
+                ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j+LhsPacketSize]), b, ptmp0);
+                ptmp1 = pcj.pmadd(A11, b, ptmp1);
+                ptmp2 = pcj.pmadd(A12, b, ptmp2);
+                ptmp3 = pcj.pmadd(A13, b, ptmp3);
+              }
+            }
+            for (Index j = peeledSize; j<alignedSize; j+=RhsPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
+            break;
+          default:
+            for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
+              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
+            break;
+        }
+        tmp0 += predux(ptmp0);
+        tmp1 += predux(ptmp1);
+        tmp2 += predux(ptmp2);
+        tmp3 += predux(ptmp3);
+      }
+    } // end explicit vectorization
+
+    // process remaining coeffs (or all if no explicit vectorization)
+    // FIXME this loop get vectorized by the compiler !
+    for (Index j=alignedSize; j<depth; ++j)
+    {
+      RhsScalar b = rhs[j];
+      tmp0 += cj.pmul(lhs0[j],b); tmp1 += cj.pmul(lhs1[j],b);
+      tmp2 += cj.pmul(lhs2[j],b); tmp3 += cj.pmul(lhs3[j],b);
+    }
+    res[i*resIncr]            += alpha*tmp0;
+    res[(i+offset1)*resIncr]  += alpha*tmp1;
+    res[(i+2)*resIncr]        += alpha*tmp2;
+    res[(i+offset3)*resIncr]  += alpha*tmp3;
+  }
+
+  // process remaining first and last rows (at most columnsAtOnce-1)
+  Index end = rows;
+  Index start = rowBound;
+  do
+  {
+    for (Index i=start; i<end; ++i)
+    {
+      EIGEN_ALIGN16 ResScalar tmp0 = ResScalar(0);
+      ResPacket ptmp0 = pset1<ResPacket>(tmp0);
+      const LhsScalar* lhs0 = lhs + i*lhsStride;
+      // process first unaligned result's coeffs
+      // FIXME this loop get vectorized by the compiler !
+      for (Index j=0; j<alignedStart; ++j)
+        tmp0 += cj.pmul(lhs0[j], rhs[j]);
+
+      if (alignedSize>alignedStart)
+      {
+        // process aligned rhs coeffs
+        if ((size_t(lhs0+alignedStart)%sizeof(LhsPacket))==0)
+          for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
+            ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j]), pload<RhsPacket>(&rhs[j]), ptmp0);
+        else
+          for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
+            ptmp0 = pcj.pmadd(ploadu<LhsPacket>(&lhs0[j]), pload<RhsPacket>(&rhs[j]), ptmp0);
+        tmp0 += predux(ptmp0);
+      }
+
+      // process remaining scalars
+      // FIXME this loop get vectorized by the compiler !
+      for (Index j=alignedSize; j<depth; ++j)
+        tmp0 += cj.pmul(lhs0[j], rhs[j]);
+      res[i*resIncr] += alpha*tmp0;
+    }
+    if (skipRows)
+    {
+      start = 0;
+      end = skipRows;
+      skipRows = 0;
+    }
+    else
+      break;
+  } while(Vectorizable);
+
+  #undef _EIGEN_ACCUMULATE_PACKETS
+}
+};
+
+} // end namespace internal
+
+#endif // EIGEN_GENERAL_MATRIX_VECTOR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/Parallelizer.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/Parallelizer.h
new file mode 100755
index 0000000..ecdedc3
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/Parallelizer.h
@@ -0,0 +1,154 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PARALLELIZER_H
+#define EIGEN_PARALLELIZER_H
+
+namespace internal {
+
+/** \internal */
+inline void manage_multi_threading(Action action, int* v)
+{
+  static EIGEN_UNUSED int m_maxThreads = -1;
+
+  if(action==SetAction)
+  {
+    eigen_internal_assert(v!=0);
+    m_maxThreads = *v;
+  }
+  else if(action==GetAction)
+  {
+    eigen_internal_assert(v!=0);
+    #ifdef EIGEN_HAS_OPENMP
+    if(m_maxThreads>0)
+      *v = m_maxThreads;
+    else
+      *v = omp_get_max_threads();
+    #else
+    *v = 1;
+    #endif
+  }
+  else
+  {
+    eigen_internal_assert(false);
+  }
+}
+
+/** \returns the max number of threads reserved for Eigen
+  * \sa setNbThreads */
+inline int nbThreads()
+{
+  int ret;
+  manage_multi_threading(GetAction, &ret);
+  return ret;
+}
+
+/** Sets the max number of threads reserved for Eigen
+  * \sa nbThreads */
+inline void setNbThreads(int v)
+{
+  manage_multi_threading(SetAction, &v);
+}
+
+template<typename Index> struct GemmParallelInfo
+{
+  GemmParallelInfo() : sync(-1), users(0), rhs_start(0), rhs_length(0) {}
+
+  int volatile sync;
+  int volatile users;
+
+  Index rhs_start;
+  Index rhs_length;
+};
+
+template<bool Condition, typename Functor, typename Index>
+void parallelize_gemm(const Functor& func, Index rows, Index cols, bool transpose)
+{
+#ifndef EIGEN_HAS_OPENMP
+  // FIXME the transpose variable is only needed to properly split
+  // the matrix product when multithreading is enabled. This is a temporary
+  // fix to support row-major destination matrices. This whole
+  // parallelizer mechanism has to be redisigned anyway.
+  EIGEN_UNUSED_VARIABLE(transpose);
+  func(0,rows, 0,cols);
+#else
+
+  // Dynamically check whether we should enable or disable OpenMP.
+  // The conditions are:
+  // - the max number of threads we can create is greater than 1
+  // - we are not already in a parallel code
+  // - the sizes are large enough
+
+  // 1- are we already in a parallel session?
+  // FIXME omp_get_num_threads()>1 only works for openmp, what if the user does not use openmp?
+  if((!Condition) || (omp_get_num_threads()>1))
+    return func(0,rows, 0,cols);
+
+  Index size = transpose ? cols : rows;
+
+  // 2- compute the maximal number of threads from the size of the product:
+  // FIXME this has to be fine tuned
+  Index max_threads = std::max<Index>(1,size / 32);
+
+  // 3 - compute the number of threads we are going to use
+  Index threads = std::min<Index>(nbThreads(), max_threads);
+
+  if(threads==1)
+    return func(0,rows, 0,cols);
+
+  func.initParallelSession();
+
+  if(transpose)
+    std::swap(rows,cols);
+
+  Index blockCols = (cols / threads) & ~Index(0x3);
+  Index blockRows = (rows / threads) & ~Index(0x7);
+  
+  GemmParallelInfo<Index>* info = new GemmParallelInfo<Index>[threads];
+
+  #pragma omp parallel for schedule(static,1) num_threads(threads)
+  for(Index i=0; i<threads; ++i)
+  {
+    Index r0 = i*blockRows;
+    Index actualBlockRows = (i+1==threads) ? rows-r0 : blockRows;
+
+    Index c0 = i*blockCols;
+    Index actualBlockCols = (i+1==threads) ? cols-c0 : blockCols;
+
+    info[i].rhs_start = c0;
+    info[i].rhs_length = actualBlockCols;
+
+    if(transpose)
+      func(0, cols, r0, actualBlockRows, info);
+    else
+      func(r0, actualBlockRows, 0,cols, info);
+  }
+
+  delete[] info;
+#endif
+}
+
+} // end namespace internal
+
+#endif // EIGEN_PARALLELIZER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointMatrixMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
new file mode 100755
index 0000000..cfebcf4
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
@@ -0,0 +1,434 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINT_MATRIX_MATRIX_H
+#define EIGEN_SELFADJOINT_MATRIX_MATRIX_H
+
+namespace internal {
+
+// pack a selfadjoint block diagonal for use with the gebp_kernel
+template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder>
+struct symm_pack_lhs
+{
+  template<int BlockRows> inline
+  void pack(Scalar* blockA, const const_blas_data_mapper<Scalar,Index,StorageOrder>& lhs, Index cols, Index i, Index& count)
+  {
+    // normal copy
+    for(Index k=0; k<i; k++)
+      for(Index w=0; w<BlockRows; w++)
+        blockA[count++] = lhs(i+w,k);           // normal
+    // symmetric copy
+    Index h = 0;
+    for(Index k=i; k<i+BlockRows; k++)
+    {
+      for(Index w=0; w<h; w++)
+        blockA[count++] = conj(lhs(k, i+w)); // transposed
+
+      blockA[count++] = real(lhs(k,k));   // real (diagonal)
+
+      for(Index w=h+1; w<BlockRows; w++)
+        blockA[count++] = lhs(i+w, k);          // normal
+      ++h;
+    }
+    // transposed copy
+    for(Index k=i+BlockRows; k<cols; k++)
+      for(Index w=0; w<BlockRows; w++)
+        blockA[count++] = conj(lhs(k, i+w)); // transposed
+  }
+  void operator()(Scalar* blockA, const Scalar* _lhs, Index lhsStride, Index cols, Index rows)
+  {
+    const_blas_data_mapper<Scalar,Index,StorageOrder> lhs(_lhs,lhsStride);
+    Index count = 0;
+    Index peeled_mc = (rows/Pack1)*Pack1;
+    for(Index i=0; i<peeled_mc; i+=Pack1)
+    {
+      pack<Pack1>(blockA, lhs, cols, i, count);
+    }
+
+    if(rows-peeled_mc>=Pack2)
+    {
+      pack<Pack2>(blockA, lhs, cols, peeled_mc, count);
+      peeled_mc += Pack2;
+    }
+
+    // do the same with mr==1
+    for(Index i=peeled_mc; i<rows; i++)
+    {
+      for(Index k=0; k<i; k++)
+        blockA[count++] = lhs(i, k);              // normal
+
+      blockA[count++] = real(lhs(i, i));       // real (diagonal)
+
+      for(Index k=i+1; k<cols; k++)
+        blockA[count++] = conj(lhs(k, i));     // transposed
+    }
+  }
+};
+
+template<typename Scalar, typename Index, int nr, int StorageOrder>
+struct symm_pack_rhs
+{
+  enum { PacketSize = packet_traits<Scalar>::size };
+  void operator()(Scalar* blockB, const Scalar* _rhs, Index rhsStride, Index rows, Index cols, Index k2)
+  {
+    Index end_k = k2 + rows;
+    Index count = 0;
+    const_blas_data_mapper<Scalar,Index,StorageOrder> rhs(_rhs,rhsStride);
+    Index packet_cols = (cols/nr)*nr;
+
+    // first part: normal case
+    for(Index j2=0; j2<k2; j2+=nr)
+    {
+      for(Index k=k2; k<end_k; k++)
+      {
+        blockB[count+0] = rhs(k,j2+0);
+        blockB[count+1] = rhs(k,j2+1);
+        if (nr==4)
+        {
+          blockB[count+2] = rhs(k,j2+2);
+          blockB[count+3] = rhs(k,j2+3);
+        }
+        count += nr;
+      }
+    }
+
+    // second part: diagonal block
+    for(Index j2=k2; j2<std::min(k2+rows,packet_cols); j2+=nr)
+    {
+      // again we can split vertically in three different parts (transpose, symmetric, normal)
+      // transpose
+      for(Index k=k2; k<j2; k++)
+      {
+        blockB[count+0] = conj(rhs(j2+0,k));
+        blockB[count+1] = conj(rhs(j2+1,k));
+        if (nr==4)
+        {
+          blockB[count+2] = conj(rhs(j2+2,k));
+          blockB[count+3] = conj(rhs(j2+3,k));
+        }
+        count += nr;
+      }
+      // symmetric
+      Index h = 0;
+      for(Index k=j2; k<j2+nr; k++)
+      {
+        // normal
+        for (Index w=0 ; w<h; ++w)
+          blockB[count+w] = rhs(k,j2+w);
+
+        blockB[count+h] = real(rhs(k,k));
+
+        // transpose
+        for (Index w=h+1 ; w<nr; ++w)
+          blockB[count+w] = conj(rhs(j2+w,k));
+        count += nr;
+        ++h;
+      }
+      // normal
+      for(Index k=j2+nr; k<end_k; k++)
+      {
+        blockB[count+0] = rhs(k,j2+0);
+        blockB[count+1] = rhs(k,j2+1);
+        if (nr==4)
+        {
+          blockB[count+2] = rhs(k,j2+2);
+          blockB[count+3] = rhs(k,j2+3);
+        }
+        count += nr;
+      }
+    }
+
+    // third part: transposed
+    for(Index j2=k2+rows; j2<packet_cols; j2+=nr)
+    {
+      for(Index k=k2; k<end_k; k++)
+      {
+        blockB[count+0] = conj(rhs(j2+0,k));
+        blockB[count+1] = conj(rhs(j2+1,k));
+        if (nr==4)
+        {
+          blockB[count+2] = conj(rhs(j2+2,k));
+          blockB[count+3] = conj(rhs(j2+3,k));
+        }
+        count += nr;
+      }
+    }
+
+    // copy the remaining columns one at a time (=> the same with nr==1)
+    for(Index j2=packet_cols; j2<cols; ++j2)
+    {
+      // transpose
+      Index half = std::min(end_k,j2);
+      for(Index k=k2; k<half; k++)
+      {
+        blockB[count] = conj(rhs(j2,k));
+        count += 1;
+      }
+
+      if(half==j2 && half<k2+rows)
+      {
+        blockB[count] = real(rhs(j2,j2));
+        count += 1;
+      }
+      else
+        half--;
+
+      // normal
+      for(Index k=half+1; k<k2+rows; k++)
+      {
+        blockB[count] = rhs(k,j2);
+        count += 1;
+      }
+    }
+  }
+};
+
+/* Optimized selfadjoint matrix * matrix (_SYMM) product built on top of
+ * the general matrix matrix product.
+ */
+template <typename Scalar, typename Index,
+          int LhsStorageOrder, bool LhsSelfAdjoint, bool ConjugateLhs,
+          int RhsStorageOrder, bool RhsSelfAdjoint, bool ConjugateRhs,
+          int ResStorageOrder>
+struct product_selfadjoint_matrix;
+
+template <typename Scalar, typename Index,
+          int LhsStorageOrder, bool LhsSelfAdjoint, bool ConjugateLhs,
+          int RhsStorageOrder, bool RhsSelfAdjoint, bool ConjugateRhs>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,LhsSelfAdjoint,ConjugateLhs, RhsStorageOrder,RhsSelfAdjoint,ConjugateRhs,RowMajor>
+{
+
+  static EIGEN_STRONG_INLINE void run(
+    Index rows, Index cols,
+    const Scalar* lhs, Index lhsStride,
+    const Scalar* rhs, Index rhsStride,
+    Scalar* res,       Index resStride,
+    Scalar alpha)
+  {
+    product_selfadjoint_matrix<Scalar, Index,
+      EIGEN_LOGICAL_XOR(RhsSelfAdjoint,RhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
+      RhsSelfAdjoint, NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(RhsSelfAdjoint,ConjugateRhs),
+      EIGEN_LOGICAL_XOR(LhsSelfAdjoint,LhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
+      LhsSelfAdjoint, NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsSelfAdjoint,ConjugateLhs),
+      ColMajor>
+      ::run(cols, rows,  rhs, rhsStride,  lhs, lhsStride,  res, resStride,  alpha);
+  }
+};
+
+template <typename Scalar, typename Index,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs, RhsStorageOrder,false,ConjugateRhs,ColMajor>
+{
+
+  static EIGEN_DONT_INLINE void run(
+    Index rows, Index cols,
+    const Scalar* _lhs, Index lhsStride,
+    const Scalar* _rhs, Index rhsStride,
+    Scalar* res,        Index resStride,
+    Scalar alpha)
+  {
+    Index size = rows;
+
+    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+
+    typedef gebp_traits<Scalar,Scalar> Traits;
+
+    Index kc = size;  // cache block size along the K direction
+    Index mc = rows;  // cache block size along the M direction
+    Index nc = cols;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar>(kc, mc, nc);
+    // kc must smaller than mc
+    kc = std::min(kc,mc);
+
+    Scalar* blockA = ei_aligned_stack_new(Scalar, kc*mc);
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*cols;
+    Scalar* allocatedBlockB = ei_aligned_stack_new(Scalar, sizeB);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    symm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder==RowMajor?ColMajor:RowMajor, true> pack_lhs_transposed;
+
+    for(Index k2=0; k2<size; k2+=kc)
+    {
+      const Index actual_kc = std::min(k2+kc,size)-k2;
+
+      // we have selected one row panel of rhs and one column panel of lhs
+      // pack rhs's panel into a sequential chunk of memory
+      // and expand each coeff to a constant packet for further reuse
+      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, cols);
+
+      // the select lhs's panel has to be split in three different parts:
+      //  1 - the transposed panel above the diagonal block => transposed packed copy
+      //  2 - the diagonal block => special packed copy
+      //  3 - the panel below the diagonal block => generic packed copy
+      for(Index i2=0; i2<k2; i2+=mc)
+      {
+        const Index actual_mc = std::min(i2+mc,k2)-i2;
+        // transposed packed copy
+        pack_lhs_transposed(blockA, &lhs(k2, i2), lhsStride, actual_kc, actual_mc);
+
+        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+      }
+      // the block diagonal
+      {
+        const Index actual_mc = std::min(k2+kc,size)-k2;
+        // symmetric packed copy
+        pack_lhs(blockA, &lhs(k2,k2), lhsStride, actual_kc, actual_mc);
+
+        gebp_kernel(res+k2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+      }
+
+      for(Index i2=k2+kc; i2<size; i2+=mc)
+      {
+        const Index actual_mc = std::min(i2+mc,size)-i2;
+        gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder,false>()
+          (blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+
+        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+      }
+    }
+
+    ei_aligned_stack_delete(Scalar, blockA, kc*mc);
+    ei_aligned_stack_delete(Scalar, allocatedBlockB, sizeB);
+  }
+};
+
+// matrix * selfadjoint product
+template <typename Scalar, typename Index,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLhs, RhsStorageOrder,true,ConjugateRhs,ColMajor>
+{
+
+  static EIGEN_DONT_INLINE void run(
+    Index rows, Index cols,
+    const Scalar* _lhs, Index lhsStride,
+    const Scalar* _rhs, Index rhsStride,
+    Scalar* res,        Index resStride,
+    Scalar alpha)
+  {
+    Index size = cols;
+
+    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+
+    typedef gebp_traits<Scalar,Scalar> Traits;
+
+    Index kc = size; // cache block size along the K direction
+    Index mc = rows;  // cache block size along the M direction
+    Index nc = cols;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar>(kc, mc, nc);
+
+    Scalar* blockA = ei_aligned_stack_new(Scalar, kc*mc);
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*cols;
+    Scalar* allocatedBlockB = ei_aligned_stack_new(Scalar, sizeB);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    symm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+
+    for(Index k2=0; k2<size; k2+=kc)
+    {
+      const Index actual_kc = std::min(k2+kc,size)-k2;
+
+      pack_rhs(blockB, _rhs, rhsStride, actual_kc, cols, k2);
+
+      // => GEPP
+      for(Index i2=0; i2<rows; i2+=mc)
+      {
+        const Index actual_mc = std::min(i2+mc,rows)-i2;
+        pack_lhs(blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+
+        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+      }
+    }
+
+    ei_aligned_stack_delete(Scalar, blockA, kc*mc);
+    ei_aligned_stack_delete(Scalar, allocatedBlockB, sizeB);
+  }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Wrapper to product_selfadjoint_matrix
+***************************************************************************/
+
+namespace internal {
+template<typename Lhs, int LhsMode, typename Rhs, int RhsMode>
+struct traits<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false> >
+  : traits<ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>, Lhs, Rhs> >
+{};
+}
+
+template<typename Lhs, int LhsMode, typename Rhs, int RhsMode>
+struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>
+  : public ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+
+  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  enum {
+    LhsIsUpper = (LhsMode&(Upper|Lower))==Upper,
+    LhsIsSelfAdjoint = (LhsMode&SelfAdjoint)==SelfAdjoint,
+    RhsIsUpper = (RhsMode&(Upper|Lower))==Upper,
+    RhsIsSelfAdjoint = (RhsMode&SelfAdjoint)==SelfAdjoint
+  };
+
+  template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+  {
+    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+
+    const ActualLhsType lhs = LhsBlasTraits::extract(m_lhs);
+    const ActualRhsType rhs = RhsBlasTraits::extract(m_rhs);
+
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
+                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+
+    internal::product_selfadjoint_matrix<Scalar, Index,
+      EIGEN_LOGICAL_XOR(LhsIsUpper,
+                        internal::traits<Lhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, LhsIsSelfAdjoint,
+      NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsIsUpper,bool(LhsBlasTraits::NeedToConjugate)),
+      EIGEN_LOGICAL_XOR(RhsIsUpper,
+                        internal::traits<Rhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, RhsIsSelfAdjoint,
+      NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(RhsIsUpper,bool(RhsBlasTraits::NeedToConjugate)),
+      internal::traits<Dest>::Flags&RowMajorBit  ? RowMajor : ColMajor>
+      ::run(
+        lhs.rows(), rhs.cols(),                 // sizes
+        &lhs.coeffRef(0,0),    lhs.outerStride(),  // lhs info
+        &rhs.coeffRef(0,0),    rhs.outerStride(),  // rhs info
+        &dst.coeffRef(0,0), dst.outerStride(),  // result info
+        actualAlpha                             // alpha
+      );
+  }
+};
+
+#endif // EIGEN_SELFADJOINT_MATRIX_MATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointMatrixVector.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointMatrixVector.h
new file mode 100755
index 0000000..1d433e1
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointMatrixVector.h
@@ -0,0 +1,299 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_H
+#define EIGEN_SELFADJOINT_MATRIX_VECTOR_H
+
+namespace internal {
+
+/* Optimized selfadjoint matrix * vector product:
+ * This algorithm processes 2 columns at onces that allows to both reduce
+ * the number of load/stores of the result by a factor 2 and to reduce
+ * the instruction dependency.
+ */
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs>
+static EIGEN_DONT_INLINE void product_selfadjoint_vector(
+  Index size,
+  const Scalar*  lhs, Index lhsStride,
+  const Scalar* _rhs, Index rhsIncr,
+  Scalar* res,
+  Scalar alpha)
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  const Index PacketSize = sizeof(Packet)/sizeof(Scalar);
+
+  enum {
+    IsRowMajor = StorageOrder==RowMajor ? 1 : 0,
+    IsLower = UpLo == Lower ? 1 : 0,
+    FirstTriangular = IsRowMajor == IsLower
+  };
+
+  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> cj0;
+  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> cj1;
+  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex, ConjugateRhs> cjd;
+
+  conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> pcj0;
+  conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> pcj1;
+
+  Scalar cjAlpha = ConjugateRhs ? conj(alpha) : alpha;
+
+  // FIXME this copy is now handled outside product_selfadjoint_vector, so it could probably be removed.
+  // if the rhs is not sequentially stored in memory we copy it to a temporary buffer,
+  // this is because we need to extract packets
+  const Scalar* EIGEN_RESTRICT rhs = _rhs;
+  if (rhsIncr!=1)
+  {
+    Scalar* r = ei_aligned_stack_new(Scalar, size);
+    const Scalar* it = _rhs;
+    for (Index i=0; i<size; ++i, it+=rhsIncr)
+      r[i] = *it;
+    rhs = r;
+  }
+
+  Index bound = std::max(Index(0),size-8) & 0xfffffffe;
+  if (FirstTriangular)
+    bound = size - bound;
+
+  for (Index j=FirstTriangular ? bound : 0;
+       j<(FirstTriangular ? size : bound);j+=2)
+  {
+    register const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
+    register const Scalar* EIGEN_RESTRICT A1 = lhs + (j+1)*lhsStride;
+
+    Scalar t0 = cjAlpha * rhs[j];
+    Packet ptmp0 = pset1<Packet>(t0);
+    Scalar t1 = cjAlpha * rhs[j+1];
+    Packet ptmp1 = pset1<Packet>(t1);
+
+    Scalar t2 = 0;
+    Packet ptmp2 = pset1<Packet>(t2);
+    Scalar t3 = 0;
+    Packet ptmp3 = pset1<Packet>(t3);
+
+    size_t starti = FirstTriangular ? 0 : j+2;
+    size_t endi   = FirstTriangular ? j : size;
+    size_t alignedStart = (starti) + first_aligned(&res[starti], endi-starti);
+    size_t alignedEnd = alignedStart + ((endi-alignedStart)/(PacketSize))*(PacketSize);
+
+    // TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
+    res[j]   += cjd.pmul(internal::real(A0[j]), t0);
+    res[j+1] += cjd.pmul(internal::real(A1[j+1]), t1);
+    if(FirstTriangular)
+    {
+      res[j]   += cj0.pmul(A1[j],   t1);
+      t3       += cj1.pmul(A1[j],   rhs[j]);
+    }
+    else
+    {
+      res[j+1] += cj0.pmul(A0[j+1],t0);
+      t2 += cj1.pmul(A0[j+1], rhs[j+1]);
+    }
+
+    for (size_t i=starti; i<alignedStart; ++i)
+    {
+      res[i] += t0 * A0[i] + t1 * A1[i];
+      t2 += conj(A0[i]) * rhs[i];
+      t3 += conj(A1[i]) * rhs[i];
+    }
+    // Yes this an optimization for gcc 4.3 and 4.4 (=> huge speed up)
+    // gcc 4.2 does this optimization automatically.
+    const Scalar* EIGEN_RESTRICT a0It  = A0  + alignedStart;
+    const Scalar* EIGEN_RESTRICT a1It  = A1  + alignedStart;
+    const Scalar* EIGEN_RESTRICT rhsIt = rhs + alignedStart;
+          Scalar* EIGEN_RESTRICT resIt = res + alignedStart;
+    for (size_t i=alignedStart; i<alignedEnd; i+=PacketSize)
+    {
+      Packet A0i = ploadu<Packet>(a0It);  a0It  += PacketSize;
+      Packet A1i = ploadu<Packet>(a1It);  a1It  += PacketSize;
+      Packet Bi  = ploadu<Packet>(rhsIt); rhsIt += PacketSize; // FIXME should be aligned in most cases
+      Packet Xi  = pload <Packet>(resIt);
+
+      Xi    = pcj0.pmadd(A0i,ptmp0, pcj0.pmadd(A1i,ptmp1,Xi));
+      ptmp2 = pcj1.pmadd(A0i,  Bi, ptmp2);
+      ptmp3 = pcj1.pmadd(A1i,  Bi, ptmp3);
+      pstore(resIt,Xi); resIt += PacketSize;
+    }
+    for (size_t i=alignedEnd; i<endi; i++)
+    {
+      res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
+      t2 += cj1.pmul(A0[i], rhs[i]);
+      t3 += cj1.pmul(A1[i], rhs[i]);
+    }
+
+    res[j]   += alpha * (t2 + predux(ptmp2));
+    res[j+1] += alpha * (t3 + predux(ptmp3));
+  }
+  for (Index j=FirstTriangular ? 0 : bound;j<(FirstTriangular ? bound : size);j++)
+  {
+    register const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
+
+    Scalar t1 = cjAlpha * rhs[j];
+    Scalar t2 = 0;
+    // TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
+    res[j] += cjd.pmul(internal::real(A0[j]), t1);
+    for (Index i=FirstTriangular ? 0 : j+1; i<(FirstTriangular ? j : size); i++)
+    {
+      res[i] += cj0.pmul(A0[i], t1);
+      t2 += cj1.pmul(A0[i], rhs[i]);
+    }
+    res[j] += alpha * t2;
+  }
+
+  if(rhsIncr!=1)
+    ei_aligned_stack_delete(Scalar, const_cast<Scalar*>(rhs), size);
+}
+
+} // end namespace internal 
+
+/***************************************************************************
+* Wrapper to product_selfadjoint_vector
+***************************************************************************/
+
+namespace internal {
+template<typename Lhs, int LhsMode, typename Rhs>
+struct traits<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true> >
+  : traits<ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs> >
+{};
+}
+
+template<typename Lhs, int LhsMode, typename Rhs>
+struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
+  : public ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+
+  enum {
+    LhsUpLo = LhsMode&(Upper|Lower)
+  };
+
+  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+  {
+    typedef typename Dest::Scalar ResScalar;
+    typedef typename Base::RhsScalar RhsScalar;
+    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+    
+    eigen_assert(dest.rows()==m_lhs.rows() && dest.cols()==m_rhs.cols());
+
+    const ActualLhsType lhs = LhsBlasTraits::extract(m_lhs);
+    const ActualRhsType rhs = RhsBlasTraits::extract(m_rhs);
+
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
+                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+
+    enum {
+      EvalToDest = (Dest::InnerStrideAtCompileTime==1),
+      UseRhs = (_ActualRhsType::InnerStrideAtCompileTime==1)
+    };
+    
+    internal::gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,!EvalToDest> static_dest;
+    internal::gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!UseRhs> static_rhs;
+    
+    bool freeDestPtr = false;
+    ResScalar* actualDestPtr;
+    if(EvalToDest)
+      actualDestPtr = dest.data();
+    else
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = dest.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      if((actualDestPtr=static_dest.data())==0)
+      {
+        freeDestPtr = true;
+        actualDestPtr = ei_aligned_stack_new(ResScalar,dest.size());
+      }
+      MappedDest(actualDestPtr, dest.size()) = dest;
+    }
+      
+    bool freeRhsPtr = false;
+    RhsScalar* actualRhsPtr;
+    if(UseRhs)
+      actualRhsPtr = const_cast<RhsScalar*>(rhs.data());
+    else
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = rhs.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      if((actualRhsPtr=static_rhs.data())==0)
+      {
+        freeRhsPtr = true;
+        actualRhsPtr = ei_aligned_stack_new(RhsScalar,rhs.size());
+      }
+      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, rhs.size()) = rhs;
+    }
+      
+      
+    internal::product_selfadjoint_vector<Scalar, Index, (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>
+      (
+        lhs.rows(),                             // size
+        &lhs.coeffRef(0,0),  lhs.outerStride(), // lhs info
+        actualRhsPtr, 1,                        // rhs info
+        actualDestPtr,                          // result info
+        actualAlpha                             // scale factor
+      );
+    
+    if(!EvalToDest)
+    {
+      dest = MappedDest(actualDestPtr, dest.size());
+      if(freeDestPtr) ei_aligned_stack_delete(ResScalar, actualDestPtr, dest.size());
+    }
+    if(freeRhsPtr) ei_aligned_stack_delete(RhsScalar, actualRhsPtr, rhs.size());
+  }
+};
+
+namespace internal {
+template<typename Lhs, typename Rhs, int RhsMode>
+struct traits<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false> >
+  : traits<ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs> >
+{};
+}
+
+template<typename Lhs, typename Rhs, int RhsMode>
+struct SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>
+  : public ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+
+  enum {
+    RhsUpLo = RhsMode&(Upper|Lower)
+  };
+
+  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+  {
+    // let's simply transpose the product
+    Transpose<Dest> destT(dest);
+    SelfadjointProductMatrix<Transpose<const Rhs>, int(RhsUpLo)==Upper ? Lower : Upper, false,
+                             Transpose<const Lhs>, 0, true>(m_rhs.transpose(), m_lhs.transpose()).scaleAndAddTo(destT, alpha);
+  }
+};
+
+
+#endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointProduct.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointProduct.h
new file mode 100755
index 0000000..da2e6ee
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointProduct.h
@@ -0,0 +1,146 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINT_PRODUCT_H
+#define EIGEN_SELFADJOINT_PRODUCT_H
+
+/**********************************************************************
+* This file implements a self adjoint product: C += A A^T updating only
+* half of the selfadjoint matrix C.
+* It corresponds to the level 3 SYRK and level 2 SYR Blas routines.
+**********************************************************************/
+
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjLhs, bool ConjRhs>
+struct selfadjoint_rank1_update;
+
+template<typename Scalar, typename Index, int UpLo, bool ConjLhs, bool ConjRhs>
+struct selfadjoint_rank1_update<Scalar,Index,ColMajor,UpLo,ConjLhs,ConjRhs>
+{
+  static void run(Index size, Scalar* mat, Index stride, const Scalar* vec, Scalar alpha)
+  {
+    internal::conj_if<ConjRhs> cj;
+    typedef Map<const Matrix<Scalar,Dynamic,1> > OtherMap;
+    typedef typename internal::conditional<ConjLhs,typename OtherMap::ConjugateReturnType,const OtherMap&>::type ConjRhsType;
+    for (Index i=0; i<size; ++i)
+    {
+      Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i+(UpLo==Lower ? i : 0), (UpLo==Lower ? size-i : (i+1)))
+          += (alpha * cj(vec[i])) * ConjRhsType(OtherMap(vec+(UpLo==Lower ? i : 0),UpLo==Lower ? size-i : (i+1)));
+    }
+  }
+};
+
+template<typename Scalar, typename Index, int UpLo, bool ConjLhs, bool ConjRhs>
+struct selfadjoint_rank1_update<Scalar,Index,RowMajor,UpLo,ConjLhs,ConjRhs>
+{
+  static void run(Index size, Scalar* mat, Index stride, const Scalar* vec, Scalar alpha)
+  {
+    selfadjoint_rank1_update<Scalar,Index,ColMajor,UpLo==Lower?Upper:Lower,ConjRhs,ConjLhs>::run(size,mat,stride,vec,alpha);
+  }
+};
+
+template<typename MatrixType, typename OtherType, int UpLo, bool OtherIsVector = OtherType::IsVectorAtCompileTime>
+struct selfadjoint_product_selector;
+
+template<typename MatrixType, typename OtherType, int UpLo>
+struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,true>
+{
+  static void run(MatrixType& mat, const OtherType& other, typename MatrixType::Scalar alpha)
+  {
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+    typedef internal::blas_traits<OtherType> OtherBlasTraits;
+    typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
+    typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
+    const ActualOtherType actualOther = OtherBlasTraits::extract(other.derived());
+
+    Scalar actualAlpha = alpha * OtherBlasTraits::extractScalarFactor(other.derived());
+
+    enum {
+      StorageOrder = (internal::traits<MatrixType>::Flags&RowMajorBit) ? RowMajor : ColMajor,
+      UseOtherDirectly = _ActualOtherType::InnerStrideAtCompileTime==1
+    };
+    internal::gemv_static_vector_if<Scalar,OtherType::SizeAtCompileTime,OtherType::MaxSizeAtCompileTime,!UseOtherDirectly> static_other;
+    
+    bool freeOtherPtr = false;
+    Scalar* actualOtherPtr;
+    if(UseOtherDirectly)
+      actualOtherPtr = const_cast<Scalar*>(actualOther.data());
+    else
+    {
+      if((actualOtherPtr=static_other.data())==0)
+      {
+        freeOtherPtr = true;
+        actualOtherPtr = ei_aligned_stack_new(Scalar,other.size());
+      }
+      Map<typename _ActualOtherType::PlainObject>(actualOtherPtr, actualOther.size()) = actualOther;
+    }
+    
+    selfadjoint_rank1_update<Scalar,Index,StorageOrder,UpLo,
+                              OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
+                            (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex>
+          ::run(other.size(), mat.data(), mat.outerStride(), actualOtherPtr, actualAlpha);
+    
+    if((!UseOtherDirectly) && freeOtherPtr) ei_aligned_stack_delete(Scalar, actualOtherPtr, other.size());
+  }
+};
+
+template<typename MatrixType, typename OtherType, int UpLo>
+struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,false>
+{
+  static void run(MatrixType& mat, const OtherType& other, typename MatrixType::Scalar alpha)
+  {
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+    typedef internal::blas_traits<OtherType> OtherBlasTraits;
+    typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
+    typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
+    const ActualOtherType actualOther = OtherBlasTraits::extract(other.derived());
+
+    Scalar actualAlpha = alpha * OtherBlasTraits::extractScalarFactor(other.derived());
+
+    enum { IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0 };
+    
+    internal::general_matrix_matrix_triangular_product<Index,
+      Scalar, _ActualOtherType::Flags&RowMajorBit ? RowMajor : ColMajor,   OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
+      Scalar, _ActualOtherType::Flags&RowMajorBit ? ColMajor : RowMajor, (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex,
+      MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor, UpLo>
+      ::run(mat.cols(), actualOther.cols(),
+            &actualOther.coeffRef(0,0), actualOther.outerStride(), &actualOther.coeffRef(0,0), actualOther.outerStride(),
+            mat.data(), mat.outerStride(), actualAlpha);
+  }
+};
+
+// high level API
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename DerivedU>
+SelfAdjointView<MatrixType,UpLo>& SelfAdjointView<MatrixType,UpLo>
+::rankUpdate(const MatrixBase<DerivedU>& u, Scalar alpha)
+{
+  selfadjoint_product_selector<MatrixType,DerivedU,UpLo>::run(_expression().const_cast_derived(), u.derived(), alpha);
+
+  return *this;
+}
+
+#endif // EIGEN_SELFADJOINT_PRODUCT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointRank2Update.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointRank2Update.h
new file mode 100755
index 0000000..9f8b843
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/SelfadjointRank2Update.h
@@ -0,0 +1,104 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINTRANK2UPTADE_H
+#define EIGEN_SELFADJOINTRANK2UPTADE_H
+
+namespace internal {
+
+/* Optimized selfadjoint matrix += alpha * uv' + conj(alpha)*vu'
+ * It corresponds to the Level2 syr2 BLAS routine
+ */
+
+template<typename Scalar, typename Index, typename UType, typename VType, int UpLo>
+struct selfadjoint_rank2_update_selector;
+
+template<typename Scalar, typename Index, typename UType, typename VType>
+struct selfadjoint_rank2_update_selector<Scalar,Index,UType,VType,Lower>
+{
+  static void run(Scalar* mat, Index stride, const UType& u, const VType& v, Scalar alpha)
+  {
+    const Index size = u.size();
+    for (Index i=0; i<size; ++i)
+    {
+      Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i+i, size-i) +=
+                        (conj(alpha)  * conj(u.coeff(i))) * v.tail(size-i)
+                      + (alpha * conj(v.coeff(i))) * u.tail(size-i);
+    }
+  }
+};
+
+template<typename Scalar, typename Index, typename UType, typename VType>
+struct selfadjoint_rank2_update_selector<Scalar,Index,UType,VType,Upper>
+{
+  static void run(Scalar* mat, Index stride, const UType& u, const VType& v, Scalar alpha)
+  {
+    const Index size = u.size();
+    for (Index i=0; i<size; ++i)
+      Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i, i+1) +=
+                        (conj(alpha)  * conj(u.coeff(i))) * v.head(i+1)
+                      + (alpha * conj(v.coeff(i))) * u.head(i+1);
+  }
+};
+
+template<bool Cond, typename T> struct conj_expr_if
+  : conditional<!Cond, const T&,
+      CwiseUnaryOp<scalar_conjugate_op<typename traits<T>::Scalar>,T> > {};
+
+} // end namespace internal
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename DerivedU, typename DerivedV>
+SelfAdjointView<MatrixType,UpLo>& SelfAdjointView<MatrixType,UpLo>
+::rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, Scalar alpha)
+{
+  typedef internal::blas_traits<DerivedU> UBlasTraits;
+  typedef typename UBlasTraits::DirectLinearAccessType ActualUType;
+  typedef typename internal::remove_all<ActualUType>::type _ActualUType;
+  const ActualUType actualU = UBlasTraits::extract(u.derived());
+
+  typedef internal::blas_traits<DerivedV> VBlasTraits;
+  typedef typename VBlasTraits::DirectLinearAccessType ActualVType;
+  typedef typename internal::remove_all<ActualVType>::type _ActualVType;
+  const ActualVType actualV = VBlasTraits::extract(v.derived());
+
+  // If MatrixType is row major, then we use the routine for lower triangular in the upper triangular case and
+  // vice versa, and take the complex conjugate of all coefficients and vector entries.
+
+  enum { IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0 };
+  Scalar actualAlpha = alpha * UBlasTraits::extractScalarFactor(u.derived())
+                             * internal::conj(VBlasTraits::extractScalarFactor(v.derived()));
+  if (IsRowMajor)
+    actualAlpha = internal::conj(actualAlpha);
+
+  internal::selfadjoint_rank2_update_selector<Scalar, Index,
+    typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ UBlasTraits::NeedToConjugate,_ActualUType>::type>::type,
+    typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ VBlasTraits::NeedToConjugate,_ActualVType>::type>::type,
+    (IsRowMajor ? int(UpLo==Upper ? Lower : Upper) : UpLo)>
+    ::run(_expression().const_cast_derived().data(),_expression().outerStride(),actualU,actualV,actualAlpha);
+
+  return *this;
+}
+
+#endif // EIGEN_SELFADJOINTRANK2UPTADE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularMatrixMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularMatrixMatrix.h
new file mode 100755
index 0000000..66a2515
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularMatrixMatrix.h
@@ -0,0 +1,399 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULAR_MATRIX_MATRIX_H
+#define EIGEN_TRIANGULAR_MATRIX_MATRIX_H
+
+namespace internal {
+
+// template<typename Scalar, int mr, int StorageOrder, bool Conjugate, int Mode>
+// struct gemm_pack_lhs_triangular
+// {
+//   Matrix<Scalar,mr,mr,
+//   void operator()(Scalar* blockA, const EIGEN_RESTRICT Scalar* _lhs, int lhsStride, int depth, int rows)
+//   {
+//     conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+//     const_blas_data_mapper<Scalar, StorageOrder> lhs(_lhs,lhsStride);
+//     int count = 0;
+//     const int peeled_mc = (rows/mr)*mr;
+//     for(int i=0; i<peeled_mc; i+=mr)
+//     {
+//       for(int k=0; k<depth; k++)
+//         for(int w=0; w<mr; w++)
+//           blockA[count++] = cj(lhs(i+w, k));
+//     }
+//     for(int i=peeled_mc; i<rows; i++)
+//     {
+//       for(int k=0; k<depth; k++)
+//         blockA[count++] = cj(lhs(i, k));
+//     }
+//   }
+// };
+
+/* Optimized triangular matrix * matrix (_TRMM++) product built on top of
+ * the general matrix matrix product.
+ */
+template <typename Scalar, typename Index,
+          int Mode, bool LhsIsTriangular,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResStorageOrder>
+struct product_triangular_matrix_matrix;
+
+template <typename Scalar, typename Index,
+          int Mode, bool LhsIsTriangular,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs>
+struct product_triangular_matrix_matrix<Scalar,Index,Mode,LhsIsTriangular,
+                                           LhsStorageOrder,ConjugateLhs,
+                                           RhsStorageOrder,ConjugateRhs,RowMajor>
+{
+  static EIGEN_STRONG_INLINE void run(
+    Index rows, Index cols, Index depth,
+    const Scalar* lhs, Index lhsStride,
+    const Scalar* rhs, Index rhsStride,
+    Scalar* res,       Index resStride,
+    Scalar alpha)
+  {
+    product_triangular_matrix_matrix<Scalar, Index,
+      (Mode&(UnitDiag|ZeroDiag)) | ((Mode&Upper) ? Lower : Upper),
+      (!LhsIsTriangular),
+      RhsStorageOrder==RowMajor ? ColMajor : RowMajor,
+      ConjugateRhs,
+      LhsStorageOrder==RowMajor ? ColMajor : RowMajor,
+      ConjugateLhs,
+      ColMajor>
+      ::run(cols, rows, depth, rhs, rhsStride, lhs, lhsStride, res, resStride, alpha);
+  }
+};
+
+// implements col-major += alpha * op(triangular) * op(general)
+template <typename Scalar, typename Index, int Mode,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs>
+struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
+                                           LhsStorageOrder,ConjugateLhs,
+                                           RhsStorageOrder,ConjugateRhs,ColMajor>
+{
+
+  static EIGEN_DONT_INLINE void run(
+    Index rows, Index cols, Index depth,
+    const Scalar* _lhs, Index lhsStride,
+    const Scalar* _rhs, Index rhsStride,
+    Scalar* res,        Index resStride,
+    Scalar alpha)
+  {
+    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+
+    typedef gebp_traits<Scalar,Scalar> Traits;
+    enum {
+      SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+      IsLower = (Mode&Lower) == Lower,
+      SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1
+    };
+
+    Index kc = depth; // cache block size along the K direction
+    Index mc = rows;  // cache block size along the M direction
+    Index nc = cols;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar,4>(kc, mc, nc);
+
+    Scalar* blockA = ei_aligned_stack_new(Scalar, kc*mc);
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*cols;
+    Scalar* allocatedBlockB = ei_aligned_stack_new(Scalar, sizeB);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,LhsStorageOrder> triangularBuffer;
+    triangularBuffer.setZero();
+    if((Mode&ZeroDiag)==ZeroDiag)
+      triangularBuffer.diagonal().setZero();
+    else
+      triangularBuffer.diagonal().setOnes();
+
+    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+
+    for(Index k2=IsLower ? depth : 0;
+        IsLower ? k2>0 : k2<depth;
+        IsLower ? k2-=kc : k2+=kc)
+    {
+      Index actual_kc = std::min(IsLower ? k2 : depth-k2, kc);
+      Index actual_k2 = IsLower ? k2-actual_kc : k2;
+
+      // align blocks with the end of the triangular part for trapezoidal lhs
+      if((!IsLower)&&(k2<rows)&&(k2+actual_kc>rows))
+      {
+        actual_kc = rows-k2;
+        k2 = k2+actual_kc-kc;
+      }
+
+      pack_rhs(blockB, &rhs(actual_k2,0), rhsStride, actual_kc, cols);
+
+      // the selected lhs's panel has to be split in three different parts:
+      //  1 - the part which is above the diagonal block => skip it
+      //  2 - the diagonal block => special kernel
+      //  3 - the panel below the diagonal block => GEPP
+      // the block diagonal, if any
+      if(IsLower || actual_k2<rows)
+      {
+        // for each small vertical panels of lhs
+        for (Index k1=0; k1<actual_kc; k1+=SmallPanelWidth)
+        {
+          Index actualPanelWidth = std::min<Index>(actual_kc-k1, SmallPanelWidth);
+          Index lengthTarget = IsLower ? actual_kc-k1-actualPanelWidth : k1;
+          Index startBlock   = actual_k2+k1;
+          Index blockBOffset = k1;
+
+          // => GEBP with the micro triangular block
+          // The trick is to pack this micro block while filling the opposite triangular part with zeros.
+          // To this end we do an extra triangular copy to a small temporary buffer
+          for (Index k=0;k<actualPanelWidth;++k)
+          {
+            if (SetDiag)
+              triangularBuffer.coeffRef(k,k) = lhs(startBlock+k,startBlock+k);
+            for (Index i=IsLower ? k+1 : 0; IsLower ? i<actualPanelWidth : i<k; ++i)
+              triangularBuffer.coeffRef(i,k) = lhs(startBlock+i,startBlock+k);
+          }
+          pack_lhs(blockA, triangularBuffer.data(), triangularBuffer.outerStride(), actualPanelWidth, actualPanelWidth);
+
+          gebp_kernel(res+startBlock, resStride, blockA, blockB, actualPanelWidth, actualPanelWidth, cols, alpha,
+                      actualPanelWidth, actual_kc, 0, blockBOffset);
+
+          // GEBP with remaining micro panel
+          if (lengthTarget>0)
+          {
+            Index startTarget  = IsLower ? actual_k2+k1+actualPanelWidth : actual_k2;
+
+            pack_lhs(blockA, &lhs(startTarget,startBlock), lhsStride, actualPanelWidth, lengthTarget);
+
+            gebp_kernel(res+startTarget, resStride, blockA, blockB, lengthTarget, actualPanelWidth, cols, alpha,
+                        actualPanelWidth, actual_kc, 0, blockBOffset);
+          }
+        }
+      }
+      // the part below the diagonal => GEPP
+      {
+        Index start = IsLower ? k2 : 0;
+        Index end   = IsLower ? rows : std::min(actual_k2,rows);
+        for(Index i2=start; i2<end; i2+=mc)
+        {
+          const Index actual_mc = std::min(i2+mc,end)-i2;
+          gemm_pack_lhs<Scalar, Index, Traits::mr,Traits::LhsProgress, LhsStorageOrder,false>()
+            (blockA, &lhs(i2, actual_k2), lhsStride, actual_kc, actual_mc);
+
+          gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+        }
+      }
+    }
+
+    ei_aligned_stack_delete(Scalar, blockA, kc*mc);
+    ei_aligned_stack_delete(Scalar, allocatedBlockB, sizeB);
+//     delete[] allocatedBlockB;
+  }
+};
+
+// implements col-major += alpha * op(general) * op(triangular)
+template <typename Scalar, typename Index, int Mode,
+          int LhsStorageOrder, bool ConjugateLhs,
+          int RhsStorageOrder, bool ConjugateRhs>
+struct product_triangular_matrix_matrix<Scalar,Index,Mode,false,
+                                           LhsStorageOrder,ConjugateLhs,
+                                           RhsStorageOrder,ConjugateRhs,ColMajor>
+{
+
+  static EIGEN_DONT_INLINE void run(
+    Index rows, Index cols, Index depth,
+    const Scalar* _lhs, Index lhsStride,
+    const Scalar* _rhs, Index rhsStride,
+    Scalar* res,        Index resStride,
+    Scalar alpha)
+  {
+    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
+    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+
+    typedef gebp_traits<Scalar,Scalar> Traits;
+    enum {
+      SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+      IsLower = (Mode&Lower) == Lower,
+      SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1
+    };
+
+    Index kc = depth; // cache block size along the K direction
+    Index mc = rows;  // cache block size along the M direction
+    Index nc = cols;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar,4>(kc, mc, nc);
+
+    Scalar* blockA = ei_aligned_stack_new(Scalar, kc*mc);
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*cols;
+    Scalar* allocatedBlockB = ei_aligned_stack_new(Scalar,sizeB);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,RhsStorageOrder> triangularBuffer;
+    triangularBuffer.setZero();
+    if((Mode&ZeroDiag)==ZeroDiag)
+      triangularBuffer.diagonal().setZero();
+    else
+      triangularBuffer.diagonal().setOnes();
+
+    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
+
+    for(Index k2=IsLower ? 0 : depth;
+        IsLower ? k2<depth  : k2>0;
+        IsLower ? k2+=kc   : k2-=kc)
+    {
+      Index actual_kc = std::min(IsLower ? depth-k2 : k2, kc);
+      Index actual_k2 = IsLower ? k2 : k2-actual_kc;
+
+      // align blocks with the end of the triangular part for trapezoidal rhs
+      if(IsLower && (k2<cols) && (actual_k2+actual_kc>cols))
+      {
+        actual_kc = cols-k2;
+        k2 = actual_k2 + actual_kc - kc;
+      }
+
+      // remaining size
+      Index rs = IsLower ? std::min(cols,actual_k2) : cols - k2;
+      // size of the triangular part
+      Index ts = (IsLower && actual_k2>=cols) ? 0 : actual_kc;
+
+      Scalar* geb = blockB+ts*ts;
+
+      pack_rhs(geb, &rhs(actual_k2,IsLower ? 0 : k2), rhsStride, actual_kc, rs);
+
+      // pack the triangular part of the rhs padding the unrolled blocks with zeros
+      if(ts>0)
+      {
+        for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
+        {
+          Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+          Index actual_j2 = actual_k2 + j2;
+          Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
+          Index panelLength = IsLower ? actual_kc-j2-actualPanelWidth : j2;
+          // general part
+          pack_rhs_panel(blockB+j2*actual_kc,
+                         &rhs(actual_k2+panelOffset, actual_j2), rhsStride,
+                         panelLength, actualPanelWidth,
+                         actual_kc, panelOffset);
+
+          // append the triangular part via a temporary buffer
+          for (Index j=0;j<actualPanelWidth;++j)
+          {
+            if (SetDiag)
+              triangularBuffer.coeffRef(j,j) = rhs(actual_j2+j,actual_j2+j);
+            for (Index k=IsLower ? j+1 : 0; IsLower ? k<actualPanelWidth : k<j; ++k)
+              triangularBuffer.coeffRef(k,j) = rhs(actual_j2+k,actual_j2+j);
+          }
+
+          pack_rhs_panel(blockB+j2*actual_kc,
+                         triangularBuffer.data(), triangularBuffer.outerStride(),
+                         actualPanelWidth, actualPanelWidth,
+                         actual_kc, j2);
+        }
+      }
+
+      for (Index i2=0; i2<rows; i2+=mc)
+      {
+        const Index actual_mc = std::min(mc,rows-i2);
+        pack_lhs(blockA, &lhs(i2, actual_k2), lhsStride, actual_kc, actual_mc);
+
+        // triangular kernel
+        if(ts>0)
+        {
+          for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
+          {
+            Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+            Index panelLength = IsLower ? actual_kc-j2 : j2+actualPanelWidth;
+            Index blockOffset = IsLower ? j2 : 0;
+
+            gebp_kernel(res+i2+(actual_k2+j2)*resStride, resStride,
+                        blockA, blockB+j2*actual_kc,
+                        actual_mc, panelLength, actualPanelWidth,
+                        alpha,
+                        actual_kc, actual_kc,  // strides
+                        blockOffset, blockOffset,// offsets
+                        allocatedBlockB); // workspace
+          }
+        }
+        gebp_kernel(res+i2+(IsLower ? 0 : k2)*resStride, resStride,
+                    blockA, geb, actual_mc, actual_kc, rs,
+                    alpha,
+                    -1, -1, 0, 0, allocatedBlockB);
+      }
+    }
+
+    ei_aligned_stack_delete(Scalar, blockA, kc*mc);
+    ei_aligned_stack_delete(Scalar, allocatedBlockB, sizeB);
+  }
+};
+
+/***************************************************************************
+* Wrapper to product_triangular_matrix_matrix
+***************************************************************************/
+
+template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
+struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false> >
+  : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>, Lhs, Rhs> >
+{};
+
+} // end namespace internal
+
+template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
+struct TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
+  : public ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
+
+  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+  {
+    const ActualLhsType lhs = LhsBlasTraits::extract(m_lhs);
+    const ActualRhsType rhs = RhsBlasTraits::extract(m_rhs);
+
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
+                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+
+    internal::product_triangular_matrix_matrix<Scalar, Index,
+      Mode, LhsIsTriangular,
+      (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
+      (internal::traits<_ActualRhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
+      (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor>
+      ::run(
+        lhs.rows(), rhs.cols(), lhs.cols(),// LhsIsTriangular ? rhs.cols() : lhs.rows(),           // sizes
+        &lhs.coeffRef(0,0),    lhs.outerStride(), // lhs info
+        &rhs.coeffRef(0,0),    rhs.outerStride(), // rhs info
+        &dst.coeffRef(0,0), dst.outerStride(), // result info
+        actualAlpha                            // alpha
+      );
+  }
+};
+
+
+#endif // EIGEN_TRIANGULAR_MATRIX_MATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularMatrixVector.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularMatrixVector.h
new file mode 100755
index 0000000..23aa52a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularMatrixVector.h
@@ -0,0 +1,350 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULARMATRIXVECTOR_H
+#define EIGEN_TRIANGULARMATRIXVECTOR_H
+
+namespace internal {
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int StorageOrder>
+struct product_triangular_matrix_vector;
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs>
+struct product_triangular_matrix_vector<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor>
+{
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  enum {
+    IsLower = ((Mode&Lower)==Lower),
+    HasUnitDiag = (Mode & UnitDiag)==UnitDiag
+  };
+  static EIGEN_DONT_INLINE  void run(Index rows, Index cols, const LhsScalar* _lhs, Index lhsStride,
+                                     const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, ResScalar alpha)
+  {
+    EIGEN_UNUSED_VARIABLE(resIncr);
+    eigen_assert(resIncr==1);
+    
+    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+
+    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
+    const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
+    typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
+    
+    typedef Map<const Matrix<RhsScalar,Dynamic,1>, 0, InnerStride<> > RhsMap;
+    const RhsMap rhs(_rhs,cols,InnerStride<>(rhsIncr));
+    typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
+
+    typedef Map<Matrix<ResScalar,Dynamic,1> > ResMap;
+    ResMap res(_res,rows);
+
+    for (Index pi=0; pi<cols; pi+=PanelWidth)
+    {
+      Index actualPanelWidth = std::min(PanelWidth, cols-pi);
+      for (Index k=0; k<actualPanelWidth; ++k)
+      {
+        Index i = pi + k;
+        Index s = IsLower ? (HasUnitDiag ? i+1 : i ) : pi;
+        Index r = IsLower ? actualPanelWidth-k : k+1;
+        if ((!HasUnitDiag) || (--r)>0)
+          res.segment(s,r) += (alpha * cjRhs.coeff(i)) * cjLhs.col(i).segment(s,r);
+        if (HasUnitDiag)
+          res.coeffRef(i) += alpha * cjRhs.coeff(i);
+      }
+      Index r = IsLower ? cols - pi - actualPanelWidth : pi;
+      if (r>0)
+      {
+        Index s = IsLower ? pi+actualPanelWidth : 0;
+        general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjLhs,RhsScalar,ConjRhs>::run(
+            r, actualPanelWidth,
+            &lhs.coeffRef(s,pi), lhsStride,
+            &rhs.coeffRef(pi), rhsIncr,
+            &res.coeffRef(s), resIncr, alpha);
+      }
+    }
+  }
+};
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs>
+struct product_triangular_matrix_vector<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor>
+{
+  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  enum {
+    IsLower = ((Mode&Lower)==Lower),
+    HasUnitDiag = (Mode & UnitDiag)==UnitDiag
+  };
+  static void run(Index rows, Index cols, const LhsScalar* _lhs, Index lhsStride,
+                  const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, ResScalar alpha)
+  {
+    eigen_assert(rhsIncr==1);
+    EIGEN_UNUSED_VARIABLE(rhsIncr);
+    
+    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+
+    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
+    const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
+    typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
+
+    typedef Map<const Matrix<RhsScalar,Dynamic,1> > RhsMap;
+    const RhsMap rhs(_rhs,cols);
+    typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
+
+    typedef Map<Matrix<ResScalar,Dynamic,1>, 0, InnerStride<> > ResMap;
+    ResMap res(_res,rows,InnerStride<>(resIncr));
+    
+    for (Index pi=0; pi<cols; pi+=PanelWidth)
+    {
+      Index actualPanelWidth = std::min(PanelWidth, cols-pi);
+      for (Index k=0; k<actualPanelWidth; ++k)
+      {
+        Index i = pi + k;
+        Index s = IsLower ? pi  : (HasUnitDiag ? i+1 : i);
+        Index r = IsLower ? k+1 : actualPanelWidth-k;
+        if ((!HasUnitDiag) || (--r)>0)
+          res.coeffRef(i) += alpha * (cjLhs.row(i).segment(s,r).cwiseProduct(cjRhs.segment(s,r).transpose())).sum();
+        if (HasUnitDiag)
+          res.coeffRef(i) += alpha * cjRhs.coeff(i);
+      }
+      Index r = IsLower ? pi : cols - pi - actualPanelWidth;
+      if (r>0)
+      {
+        Index s = IsLower ? 0 : pi + actualPanelWidth;
+        general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjLhs,RhsScalar,ConjRhs>::run(
+            actualPanelWidth, r,
+            &lhs.coeffRef(pi,s), lhsStride,
+            &rhs.coeffRef(s), rhsIncr,
+            &res.coeffRef(pi), resIncr, alpha);
+      }
+    }
+  }
+};
+
+/***************************************************************************
+* Wrapper to product_triangular_vector
+***************************************************************************/
+
+template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
+struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,true> >
+ : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,true>, Lhs, Rhs> >
+{};
+
+template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
+struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,true,Rhs,false> >
+ : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,true,Rhs,false>, Lhs, Rhs> >
+{};
+
+
+template<int StorageOrder>
+struct trmv_selector;
+
+} // end namespace internal
+
+template<int Mode, typename Lhs, typename Rhs>
+struct TriangularProduct<Mode,true,Lhs,false,Rhs,true>
+  : public ProductBase<TriangularProduct<Mode,true,Lhs,false,Rhs,true>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
+
+  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+  {
+    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+  
+    internal::trmv_selector<(int(internal::traits<Lhs>::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(*this, dst, alpha);
+  }
+};
+
+template<int Mode, typename Lhs, typename Rhs>
+struct TriangularProduct<Mode,false,Lhs,true,Rhs,false>
+  : public ProductBase<TriangularProduct<Mode,false,Lhs,true,Rhs,false>, Lhs, Rhs >
+{
+  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
+
+  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
+
+  template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
+  {
+    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+    
+    typedef TriangularProduct<(Mode & UnitDiag) | ((Mode & Lower) ? Upper : Lower),true,Transpose<const Rhs>,false,Transpose<const Lhs>,true> TriangularProductTranspose;
+    Transpose<Dest> dstT(dst);
+    internal::trmv_selector<(int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>::run(
+      TriangularProductTranspose(m_rhs.transpose(),m_lhs.transpose()), dstT, alpha);
+  }
+};
+
+namespace internal {
+
+// TODO: find a way to factorize this piece of code with gemv_selector since the logic is exactly the same.
+  
+template<> struct trmv_selector<ColMajor>
+{
+  template<int Mode, typename Lhs, typename Rhs, typename Dest>
+  static void run(const TriangularProduct<Mode,true,Lhs,false,Rhs,true>& prod, Dest& dest, typename TriangularProduct<Mode,true,Lhs,false,Rhs,true>::Scalar alpha)
+  {
+    typedef TriangularProduct<Mode,true,Lhs,false,Rhs,true> ProductType;
+    typedef typename ProductType::Index Index;
+    typedef typename ProductType::LhsScalar   LhsScalar;
+    typedef typename ProductType::RhsScalar   RhsScalar;
+    typedef typename ProductType::Scalar      ResScalar;
+    typedef typename ProductType::RealScalar  RealScalar;
+    typedef typename ProductType::ActualLhsType ActualLhsType;
+    typedef typename ProductType::ActualRhsType ActualRhsType;
+    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
+    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
+    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+
+    const ActualLhsType actualLhs = LhsBlasTraits::extract(prod.lhs());
+    const ActualRhsType actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
+                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+
+    enum {
+      // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
+      // on, the other hand it is good for the cache to pack the vector anyways...
+      EvalToDestAtCompileTime = Dest::InnerStrideAtCompileTime==1,
+      ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
+      MightCannotUseDest = (Dest::InnerStrideAtCompileTime!=1) || ComplexByReal
+    };
+
+    gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
+
+    bool alphaIsCompatible = (!ComplexByReal) || (imag(actualAlpha)==RealScalar(0));
+    bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
+    
+    RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
+
+    ResScalar* actualDestPtr;
+    bool freeDestPtr = false;
+    if (evalToDest)
+    {
+      actualDestPtr = dest.data();
+    }
+    else
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = dest.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      if((actualDestPtr = static_dest.data())==0)
+      {
+        freeDestPtr = true;
+        actualDestPtr = ei_aligned_stack_new(ResScalar,dest.size());
+      }
+      if(!alphaIsCompatible)
+      {
+        MappedDest(actualDestPtr, dest.size()).setZero();
+        compatibleAlpha = RhsScalar(1);
+      }
+      else
+        MappedDest(actualDestPtr, dest.size()) = dest;
+    }
+    
+    internal::product_triangular_matrix_vector
+      <Index,Mode,
+       LhsScalar, LhsBlasTraits::NeedToConjugate,
+       RhsScalar, RhsBlasTraits::NeedToConjugate,
+       ColMajor>
+      ::run(actualLhs.rows(),actualLhs.cols(),
+            actualLhs.data(),actualLhs.outerStride(),
+            actualRhs.data(),actualRhs.innerStride(),
+            actualDestPtr,1,compatibleAlpha);
+
+    if (!evalToDest)
+    {
+      if(!alphaIsCompatible)
+        dest += actualAlpha * MappedDest(actualDestPtr, dest.size());
+      else
+        dest = MappedDest(actualDestPtr, dest.size());
+      if(freeDestPtr) ei_aligned_stack_delete(ResScalar, actualDestPtr, dest.size());
+    }
+  }
+};
+
+template<> struct trmv_selector<RowMajor>
+{
+  template<int Mode, typename Lhs, typename Rhs, typename Dest>
+  static void run(const TriangularProduct<Mode,true,Lhs,false,Rhs,true>& prod, Dest& dest, typename TriangularProduct<Mode,true,Lhs,false,Rhs,true>::Scalar alpha)
+  {
+    typedef TriangularProduct<Mode,true,Lhs,false,Rhs,true> ProductType;
+    typedef typename ProductType::LhsScalar LhsScalar;
+    typedef typename ProductType::RhsScalar RhsScalar;
+    typedef typename ProductType::Scalar    ResScalar;
+    typedef typename ProductType::Index Index;
+    typedef typename ProductType::ActualLhsType ActualLhsType;
+    typedef typename ProductType::ActualRhsType ActualRhsType;
+    typedef typename ProductType::_ActualRhsType _ActualRhsType;
+    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
+    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
+
+    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
+    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
+                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+
+    enum {
+      DirectlyUseRhs = _ActualRhsType::InnerStrideAtCompileTime==1
+    };
+
+    gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
+
+    RhsScalar* actualRhsPtr;
+    bool freeRhsPtr = false;
+    if (DirectlyUseRhs)
+    {
+      actualRhsPtr = const_cast<RhsScalar*>(actualRhs.data());
+    }
+    else
+    {
+      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      int size = actualRhs.size();
+      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+      #endif
+      if((actualRhsPtr = static_rhs.data())==0)
+      {
+        freeRhsPtr = true;
+        actualRhsPtr = ei_aligned_stack_new(RhsScalar, actualRhs.size());
+      }
+      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+    }
+    
+    internal::product_triangular_matrix_vector
+      <Index,Mode,
+       LhsScalar, LhsBlasTraits::NeedToConjugate,
+       RhsScalar, RhsBlasTraits::NeedToConjugate,
+       RowMajor>
+      ::run(actualLhs.rows(),actualLhs.cols(),
+            actualLhs.data(),actualLhs.outerStride(),
+            actualRhsPtr,1,
+            dest.data(),dest.innerStride(),
+            actualAlpha);
+
+    if((!DirectlyUseRhs) && freeRhsPtr) ei_aligned_stack_delete(RhsScalar, actualRhsPtr, prod.rhs().size());
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_TRIANGULARMATRIXVECTOR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularSolverMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularSolverMatrix.h
new file mode 100755
index 0000000..8b9143c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularSolverMatrix.h
@@ -0,0 +1,325 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULAR_SOLVER_MATRIX_H
+#define EIGEN_TRIANGULAR_SOLVER_MATRIX_H
+
+namespace internal {
+
+// if the rhs is row major, let's transpose the product
+template <typename Scalar, typename Index, int Side, int Mode, bool Conjugate, int TriStorageOrder>
+struct triangular_solve_matrix<Scalar,Index,Side,Mode,Conjugate,TriStorageOrder,RowMajor>
+{
+  static EIGEN_DONT_INLINE void run(
+    Index size, Index cols,
+    const Scalar*  tri, Index triStride,
+    Scalar* _other, Index otherStride)
+  {
+    triangular_solve_matrix<
+      Scalar, Index, Side==OnTheLeft?OnTheRight:OnTheLeft,
+      (Mode&UnitDiag) | ((Mode&Upper) ? Lower : Upper),
+      NumTraits<Scalar>::IsComplex && Conjugate,
+      TriStorageOrder==RowMajor ? ColMajor : RowMajor, ColMajor>
+      ::run(size, cols, tri, triStride, _other, otherStride);
+  }
+};
+
+/* Optimized triangular solver with multiple right hand side and the triangular matrix on the left
+ */
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
+struct triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor>
+{
+  static EIGEN_DONT_INLINE void run(
+    Index size, Index otherSize,
+    const Scalar* _tri, Index triStride,
+    Scalar* _other, Index otherStride)
+  {
+    Index cols = otherSize;
+    const_blas_data_mapper<Scalar, Index, TriStorageOrder> tri(_tri,triStride);
+    blas_data_mapper<Scalar, Index, ColMajor> other(_other,otherStride);
+
+    typedef gebp_traits<Scalar,Scalar> Traits;
+    enum {
+      SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+      IsLower = (Mode&Lower) == Lower
+    };
+
+    Index kc = size; // cache block size along the K direction
+    Index mc = size;  // cache block size along the M direction
+    Index nc = cols;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar,4>(kc, mc, nc);
+
+    Scalar* blockA = ei_aligned_stack_new(Scalar, kc*mc);
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*cols;
+    Scalar* allocatedBlockB = ei_aligned_stack_new(Scalar, sizeB);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    conj_if<Conjugate> conj;
+    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, Conjugate, false> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, TriStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr, ColMajor, false, true> pack_rhs;
+
+    for(Index k2=IsLower ? 0 : size;
+        IsLower ? k2<size : k2>0;
+        IsLower ? k2+=kc : k2-=kc)
+    {
+      const Index actual_kc = std::min(IsLower ? size-k2 : k2, kc);
+
+      // We have selected and packed a big horizontal panel R1 of rhs. Let B be the packed copy of this panel,
+      // and R2 the remaining part of rhs. The corresponding vertical panel of lhs is split into
+      // A11 (the triangular part) and A21 the remaining rectangular part.
+      // Then the high level algorithm is:
+      //  - B = R1                    => general block copy (done during the next step)
+      //  - R1 = L1^-1 B              => tricky part
+      //  - update B from the new R1  => actually this has to be performed continuously during the above step
+      //  - R2 = L2 * B               => GEPP
+
+      // The tricky part: compute R1 = L1^-1 B while updating B from R1
+      // The idea is to split L1 into multiple small vertical panels.
+      // Each panel can be split into a small triangular part A1 which is processed without optimization,
+      // and the remaining small part A2 which is processed using gebp with appropriate block strides
+      {
+        // for each small vertical panels of lhs
+        for (Index k1=0; k1<actual_kc; k1+=SmallPanelWidth)
+        {
+          Index actualPanelWidth = std::min<Index>(actual_kc-k1, SmallPanelWidth);
+          // tr solve
+          for (Index k=0; k<actualPanelWidth; ++k)
+          {
+            // TODO write a small kernel handling this (can be shared with trsv)
+            Index i  = IsLower ? k2+k1+k : k2-k1-k-1;
+            Index s  = IsLower ? k2+k1 : i+1;
+            Index rs = actualPanelWidth - k - 1; // remaining size
+
+            Scalar a = (Mode & UnitDiag) ? Scalar(1) : Scalar(1)/conj(tri(i,i));
+            for (Index j=0; j<cols; ++j)
+            {
+              if (TriStorageOrder==RowMajor)
+              {
+                Scalar b = 0;
+                const Scalar* l = &tri(i,s);
+                Scalar* r = &other(s,j);
+                for (Index i3=0; i3<k; ++i3)
+                  b += conj(l[i3]) * r[i3];
+
+                other(i,j) = (other(i,j) - b)*a;
+              }
+              else
+              {
+                Index s = IsLower ? i+1 : i-rs;
+                Scalar b = (other(i,j) *= a);
+                Scalar* r = &other(s,j);
+                const Scalar* l = &tri(s,i);
+                for (Index i3=0;i3<rs;++i3)
+                  r[i3] -= b * conj(l[i3]);
+              }
+            }
+          }
+
+          Index lengthTarget = actual_kc-k1-actualPanelWidth;
+          Index startBlock   = IsLower ? k2+k1 : k2-k1-actualPanelWidth;
+          Index blockBOffset = IsLower ? k1 : lengthTarget;
+
+          // update the respective rows of B from other
+          pack_rhs(blockB, _other+startBlock, otherStride, actualPanelWidth, cols, actual_kc, blockBOffset);
+
+          // GEBP
+          if (lengthTarget>0)
+          {
+            Index startTarget  = IsLower ? k2+k1+actualPanelWidth : k2-actual_kc;
+
+            pack_lhs(blockA, &tri(startTarget,startBlock), triStride, actualPanelWidth, lengthTarget);
+
+            gebp_kernel(_other+startTarget, otherStride, blockA, blockB, lengthTarget, actualPanelWidth, cols, Scalar(-1),
+                        actualPanelWidth, actual_kc, 0, blockBOffset);
+          }
+        }
+      }
+
+      // R2 = A2 * B => GEPP
+      {
+        Index start = IsLower ? k2+kc : 0;
+        Index end   = IsLower ? size : k2-kc;
+        for(Index i2=start; i2<end; i2+=mc)
+        {
+          const Index actual_mc = std::min(mc,end-i2);
+          if (actual_mc>0)
+          {
+            pack_lhs(blockA, &tri(i2, IsLower ? k2 : k2-kc), triStride, actual_kc, actual_mc);
+
+            gebp_kernel(_other+i2, otherStride, blockA, blockB, actual_mc, actual_kc, cols, Scalar(-1));
+          }
+        }
+      }
+    }
+
+    ei_aligned_stack_delete(Scalar, blockA, kc*mc);
+    ei_aligned_stack_delete(Scalar, allocatedBlockB, sizeB);
+  }
+};
+
+/* Optimized triangular solver with multiple left hand sides and the trinagular matrix on the right
+ */
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
+struct triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor>
+{
+  static EIGEN_DONT_INLINE void run(
+    Index size, Index otherSize,
+    const Scalar* _tri, Index triStride,
+    Scalar* _other, Index otherStride)
+  {
+    Index rows = otherSize;
+    const_blas_data_mapper<Scalar, Index, TriStorageOrder> rhs(_tri,triStride);
+    blas_data_mapper<Scalar, Index, ColMajor> lhs(_other,otherStride);
+
+    typedef gebp_traits<Scalar,Scalar> Traits;
+    enum {
+      RhsStorageOrder   = TriStorageOrder,
+      SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+      IsLower = (Mode&Lower) == Lower
+    };
+
+//     Index kc = std::min<Index>(Traits::Max_kc/4,size); // cache block size along the K direction
+//     Index mc = std::min<Index>(Traits::Max_mc,size);   // cache block size along the M direction
+    // check that !!!!
+    Index kc = size; // cache block size along the K direction
+    Index mc = size;  // cache block size along the M direction
+    Index nc = rows;  // cache block size along the N direction
+    computeProductBlockingSizes<Scalar,Scalar,4>(kc, mc, nc);
+
+    Scalar* blockA = ei_aligned_stack_new(Scalar, kc*mc);
+    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = sizeW + kc*size;
+    Scalar* allocatedBlockB = ei_aligned_stack_new(Scalar, sizeB);
+    Scalar* blockB = allocatedBlockB + sizeW;
+
+    conj_if<Conjugate> conj;
+    gebp_kernel<Scalar,Scalar, Index, Traits::mr, Traits::nr, false, Conjugate> gebp_kernel;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
+    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, ColMajor, false, true> pack_lhs_panel;
+
+    for(Index k2=IsLower ? size : 0;
+        IsLower ? k2>0 : k2<size;
+        IsLower ? k2-=kc : k2+=kc)
+    {
+      const Index actual_kc = std::min(IsLower ? k2 : size-k2, kc);
+      Index actual_k2 = IsLower ? k2-actual_kc : k2 ;
+
+      Index startPanel = IsLower ? 0 : k2+actual_kc;
+      Index rs = IsLower ? actual_k2 : size - actual_k2 - actual_kc;
+      Scalar* geb = blockB+actual_kc*actual_kc;
+
+      if (rs>0) pack_rhs(geb, &rhs(actual_k2,startPanel), triStride, actual_kc, rs);
+
+      // triangular packing (we only pack the panels off the diagonal,
+      // neglecting the blocks overlapping the diagonal
+      {
+        for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
+        {
+          Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+          Index actual_j2 = actual_k2 + j2;
+          Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
+          Index panelLength = IsLower ? actual_kc-j2-actualPanelWidth : j2;
+
+          if (panelLength>0)
+          pack_rhs_panel(blockB+j2*actual_kc,
+                         &rhs(actual_k2+panelOffset, actual_j2), triStride,
+                         panelLength, actualPanelWidth,
+                         actual_kc, panelOffset);
+        }
+      }
+
+      for(Index i2=0; i2<rows; i2+=mc)
+      {
+        const Index actual_mc = std::min(mc,rows-i2);
+
+        // triangular solver kernel
+        {
+          // for each small block of the diagonal (=> vertical panels of rhs)
+          for (Index j2 = IsLower
+                      ? (actual_kc - ((actual_kc%SmallPanelWidth) ? Index(actual_kc%SmallPanelWidth)
+                                                                  : Index(SmallPanelWidth)))
+                      : 0;
+               IsLower ? j2>=0 : j2<actual_kc;
+               IsLower ? j2-=SmallPanelWidth : j2+=SmallPanelWidth)
+          {
+            Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+            Index absolute_j2 = actual_k2 + j2;
+            Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
+            Index panelLength = IsLower ? actual_kc - j2 - actualPanelWidth : j2;
+
+            // GEBP
+            if(panelLength>0)
+            {
+              gebp_kernel(&lhs(i2,absolute_j2), otherStride,
+                          blockA, blockB+j2*actual_kc,
+                          actual_mc, panelLength, actualPanelWidth,
+                          Scalar(-1),
+                          actual_kc, actual_kc, // strides
+                          panelOffset, panelOffset, // offsets
+                          allocatedBlockB);  // workspace
+            }
+
+            // unblocked triangular solve
+            for (Index k=0; k<actualPanelWidth; ++k)
+            {
+              Index j = IsLower ? absolute_j2+actualPanelWidth-k-1 : absolute_j2+k;
+
+              Scalar* r = &lhs(i2,j);
+              for (Index k3=0; k3<k; ++k3)
+              {
+                Scalar b = conj(rhs(IsLower ? j+1+k3 : absolute_j2+k3,j));
+                Scalar* a = &lhs(i2,IsLower ? j+1+k3 : absolute_j2+k3);
+                for (Index i=0; i<actual_mc; ++i)
+                  r[i] -= a[i] * b;
+              }
+              Scalar b = (Mode & UnitDiag) ? Scalar(1) : Scalar(1)/conj(rhs(j,j));
+              for (Index i=0; i<actual_mc; ++i)
+                r[i] *= b;
+            }
+
+            // pack the just computed part of lhs to A
+            pack_lhs_panel(blockA, _other+absolute_j2*otherStride+i2, otherStride,
+                           actualPanelWidth, actual_mc,
+                           actual_kc, j2);
+          }
+        }
+
+        if (rs>0)
+          gebp_kernel(_other+i2+startPanel*otherStride, otherStride, blockA, geb,
+                      actual_mc, actual_kc, rs, Scalar(-1),
+                      -1, -1, 0, 0, allocatedBlockB);
+      }
+    }
+
+    ei_aligned_stack_delete(Scalar, blockA, kc*mc);
+    ei_aligned_stack_delete(Scalar, allocatedBlockB, sizeB);
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_TRIANGULAR_SOLVER_MATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularSolverVector.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularSolverVector.h
new file mode 100755
index 0000000..e87f6fb
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/products/TriangularSolverVector.h
@@ -0,0 +1,150 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULAR_SOLVER_VECTOR_H
+#define EIGEN_TRIANGULAR_SOLVER_VECTOR_H
+
+namespace internal {
+
+template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate, int StorageOrder>
+struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheRight, Mode, Conjugate, StorageOrder>
+{
+  static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
+  {
+    triangular_solve_vector<LhsScalar,RhsScalar,Index,OnTheLeft,
+        ((Mode&Upper)==Upper ? Lower : Upper) | (Mode&UnitDiag),
+        Conjugate,StorageOrder==RowMajor?ColMajor:RowMajor
+      >::run(size, _lhs, lhsStride, rhs);
+  }
+};
+    
+// forward and backward substitution, row-major, rhs is a vector
+template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate>
+struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Conjugate, RowMajor>
+{
+  enum {
+    IsLower = ((Mode&Lower)==Lower)
+  };
+  static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
+  {
+    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
+    const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
+    typename internal::conditional<
+                          Conjugate,
+                          const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
+                          const LhsMap&>
+                        ::type cjLhs(lhs);
+    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+    for(Index pi=IsLower ? 0 : size;
+        IsLower ? pi<size : pi>0;
+        IsLower ? pi+=PanelWidth : pi-=PanelWidth)
+    {
+      Index actualPanelWidth = std::min(IsLower ? size - pi : pi, PanelWidth);
+
+      Index r = IsLower ? pi : size - pi; // remaining size
+      if (r > 0)
+      {
+        // let's directly call the low level product function because:
+        // 1 - it is faster to compile
+        // 2 - it is slighlty faster at runtime
+        Index startRow = IsLower ? pi : pi-actualPanelWidth;
+        Index startCol = IsLower ? 0 : pi;
+
+        general_matrix_vector_product<Index,LhsScalar,RowMajor,Conjugate,RhsScalar,false>::run(
+          actualPanelWidth, r,
+          &lhs.coeffRef(startRow,startCol), lhsStride,
+          rhs + startCol, 1,
+          rhs + startRow, 1,
+          RhsScalar(-1));
+      }
+
+      for(Index k=0; k<actualPanelWidth; ++k)
+      {
+        Index i = IsLower ? pi+k : pi-k-1;
+        Index s = IsLower ? pi   : i+1;
+        if (k>0)
+          rhs[i] -= (cjLhs.row(i).segment(s,k).transpose().cwiseProduct(Map<const Matrix<RhsScalar,Dynamic,1> >(rhs+s,k))).sum();
+        
+        if(!(Mode & UnitDiag))
+          rhs[i] /= cjLhs(i,i);
+      }
+    }
+  }
+};
+
+// forward and backward substitution, column-major, rhs is a vector
+template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate>
+struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Conjugate, ColMajor>
+{
+  enum {
+    IsLower = ((Mode&Lower)==Lower)
+  };
+  static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
+  {
+    typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
+    const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
+    typename internal::conditional<Conjugate,
+                                   const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
+                                   const LhsMap&
+                                  >::type cjLhs(lhs);
+    static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+
+    for(Index pi=IsLower ? 0 : size;
+        IsLower ? pi<size : pi>0;
+        IsLower ? pi+=PanelWidth : pi-=PanelWidth)
+    {
+      Index actualPanelWidth = std::min(IsLower ? size - pi : pi, PanelWidth);
+      Index startBlock = IsLower ? pi : pi-actualPanelWidth;
+      Index endBlock = IsLower ? pi + actualPanelWidth : 0;
+
+      for(Index k=0; k<actualPanelWidth; ++k)
+      {
+        Index i = IsLower ? pi+k : pi-k-1;
+        if(!(Mode & UnitDiag))
+          rhs[i] /= cjLhs.coeff(i,i);
+
+        Index r = actualPanelWidth - k - 1; // remaining size
+        Index s = IsLower ? i+1 : i-r;
+        if (r>0)
+          Map<Matrix<RhsScalar,Dynamic,1> >(rhs+s,r) -= rhs[i] * cjLhs.col(i).segment(s,r);
+      }
+      Index r = IsLower ? size - endBlock : startBlock; // remaining size
+      if (r > 0)
+      {
+        // let's directly call the low level product function because:
+        // 1 - it is faster to compile
+        // 2 - it is slighlty faster at runtime
+        general_matrix_vector_product<Index,LhsScalar,ColMajor,Conjugate,RhsScalar,false>::run(
+            r, actualPanelWidth,
+            &lhs.coeffRef(endBlock,startBlock), lhsStride,
+            rhs+startBlock, 1,
+            rhs+endBlock, 1, RhsScalar(-1));
+      }
+    }
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_TRIANGULAR_SOLVER_VECTOR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/BlasUtil.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/BlasUtil.h
new file mode 100755
index 0000000..f1d93d2
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/BlasUtil.h
@@ -0,0 +1,271 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BLASUTIL_H
+#define EIGEN_BLASUTIL_H
+
+// This file contains many lightweight helper classes used to
+// implement and control fast level 2 and level 3 BLAS-like routines.
+
+namespace internal {
+
+// forward declarations
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjugateLhs=false, bool ConjugateRhs=false>
+struct gebp_kernel;
+
+template<typename Scalar, typename Index, int nr, int StorageOrder, bool Conjugate = false, bool PanelMode=false>
+struct gemm_pack_rhs;
+
+template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder, bool Conjugate = false, bool PanelMode = false>
+struct gemm_pack_lhs;
+
+template<
+  typename Index,
+  typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
+  int ResStorageOrder>
+struct general_matrix_matrix_product;
+
+template<typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs>
+struct general_matrix_vector_product;
+
+
+template<bool Conjugate> struct conj_if;
+
+template<> struct conj_if<true> {
+  template<typename T>
+  inline T operator()(const T& x) { return conj(x); }
+};
+
+template<> struct conj_if<false> {
+  template<typename T>
+  inline const T& operator()(const T& x) { return x; }
+};
+
+template<typename Scalar> struct conj_helper<Scalar,Scalar,false,false>
+{
+  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const { return internal::pmadd(x,y,c); }
+  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const { return internal::pmul(x,y); }
+};
+
+template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, false,true>
+{
+  typedef std::complex<RealScalar> Scalar;
+  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
+  { return c + pmul(x,y); }
+
+  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
+  { return Scalar(real(x)*real(y) + imag(x)*imag(y), imag(x)*real(y) - real(x)*imag(y)); }
+};
+
+template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, true,false>
+{
+  typedef std::complex<RealScalar> Scalar;
+  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
+  { return c + pmul(x,y); }
+
+  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
+  { return Scalar(real(x)*real(y) + imag(x)*imag(y), real(x)*imag(y) - imag(x)*real(y)); }
+};
+
+template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, true,true>
+{
+  typedef std::complex<RealScalar> Scalar;
+  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
+  { return c + pmul(x,y); }
+
+  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
+  { return Scalar(real(x)*real(y) - imag(x)*imag(y), - real(x)*imag(y) - imag(x)*real(y)); }
+};
+
+template<typename RealScalar,bool Conj> struct conj_helper<std::complex<RealScalar>, RealScalar, Conj,false>
+{
+  typedef std::complex<RealScalar> Scalar;
+  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const RealScalar& y, const Scalar& c) const
+  { return padd(c, pmul(x,y)); }
+  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const RealScalar& y) const
+  { return conj_if<Conj>()(x)*y; }
+};
+
+template<typename RealScalar,bool Conj> struct conj_helper<RealScalar, std::complex<RealScalar>, false,Conj>
+{
+  typedef std::complex<RealScalar> Scalar;
+  EIGEN_STRONG_INLINE Scalar pmadd(const RealScalar& x, const Scalar& y, const Scalar& c) const
+  { return padd(c, pmul(x,y)); }
+  EIGEN_STRONG_INLINE Scalar pmul(const RealScalar& x, const Scalar& y) const
+  { return x*conj_if<Conj>()(y); }
+};
+
+template<typename From,typename To> struct get_factor {
+  EIGEN_STRONG_INLINE static To run(const From& x) { return x; }
+};
+
+template<typename Scalar> struct get_factor<Scalar,typename NumTraits<Scalar>::Real> {
+  EIGEN_STRONG_INLINE static typename NumTraits<Scalar>::Real run(const Scalar& x) { return real(x); }
+};
+
+// Lightweight helper class to access matrix coefficients.
+// Yes, this is somehow redundant with Map<>, but this version is much much lighter,
+// and so I hope better compilation performance (time and code quality).
+template<typename Scalar, typename Index, int StorageOrder>
+class blas_data_mapper
+{
+  public:
+    blas_data_mapper(Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
+    EIGEN_STRONG_INLINE Scalar& operator()(Index i, Index j)
+    { return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride]; }
+  protected:
+    Scalar* EIGEN_RESTRICT m_data;
+    Index m_stride;
+};
+
+// lightweight helper class to access matrix coefficients (const version)
+template<typename Scalar, typename Index, int StorageOrder>
+class const_blas_data_mapper
+{
+  public:
+    const_blas_data_mapper(const Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
+    EIGEN_STRONG_INLINE const Scalar& operator()(Index i, Index j) const
+    { return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride]; }
+  protected:
+    const Scalar* EIGEN_RESTRICT m_data;
+    Index m_stride;
+};
+
+
+/* Helper class to analyze the factors of a Product expression.
+ * In particular it allows to pop out operator-, scalar multiples,
+ * and conjugate */
+template<typename XprType> struct blas_traits
+{
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef const XprType& ExtractType;
+  typedef XprType _ExtractType;
+  enum {
+    IsComplex = NumTraits<Scalar>::IsComplex,
+    IsTransposed = false,
+    NeedToConjugate = false,
+    HasUsableDirectAccess = (    (int(XprType::Flags)&DirectAccessBit)
+                              && (   bool(XprType::IsVectorAtCompileTime)
+                                  || int(inner_stride_at_compile_time<XprType>::ret) == 1)
+                             ) ?  1 : 0
+  };
+  typedef typename conditional<bool(HasUsableDirectAccess),
+    ExtractType,
+    typename _ExtractType::PlainObject
+    >::type DirectLinearAccessType;
+  static inline const ExtractType extract(const XprType& x) { return x; }
+  static inline const Scalar extractScalarFactor(const XprType&) { return Scalar(1); }
+};
+
+// pop conjugate
+template<typename Scalar, typename NestedXpr>
+struct blas_traits<CwiseUnaryOp<scalar_conjugate_op<Scalar>, NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+  typedef blas_traits<NestedXpr> Base;
+  typedef CwiseUnaryOp<scalar_conjugate_op<Scalar>, NestedXpr> XprType;
+  typedef typename Base::ExtractType ExtractType;
+
+  enum {
+    IsComplex = NumTraits<Scalar>::IsComplex,
+    NeedToConjugate = Base::NeedToConjugate ? 0 : IsComplex
+  };
+  static inline const ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline Scalar extractScalarFactor(const XprType& x) { return conj(Base::extractScalarFactor(x.nestedExpression())); }
+};
+
+// pop scalar multiple
+template<typename Scalar, typename NestedXpr>
+struct blas_traits<CwiseUnaryOp<scalar_multiple_op<Scalar>, NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+  typedef blas_traits<NestedXpr> Base;
+  typedef CwiseUnaryOp<scalar_multiple_op<Scalar>, NestedXpr> XprType;
+  typedef typename Base::ExtractType ExtractType;
+  static inline const ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline Scalar extractScalarFactor(const XprType& x)
+  { return x.functor().m_other * Base::extractScalarFactor(x.nestedExpression()); }
+};
+
+// pop opposite
+template<typename Scalar, typename NestedXpr>
+struct blas_traits<CwiseUnaryOp<scalar_opposite_op<Scalar>, NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+  typedef blas_traits<NestedXpr> Base;
+  typedef CwiseUnaryOp<scalar_opposite_op<Scalar>, NestedXpr> XprType;
+  typedef typename Base::ExtractType ExtractType;
+  static inline const ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline Scalar extractScalarFactor(const XprType& x)
+  { return - Base::extractScalarFactor(x.nestedExpression()); }
+};
+
+// pop/push transpose
+template<typename NestedXpr>
+struct blas_traits<Transpose<NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+  typedef typename NestedXpr::Scalar Scalar;
+  typedef blas_traits<NestedXpr> Base;
+  typedef Transpose<NestedXpr> XprType;
+  typedef Transpose<const typename Base::_ExtractType>  ExtractType; // const to get rid of a compile error; anyway blas traits are only used on the RHS
+  typedef Transpose<const typename Base::_ExtractType> _ExtractType;
+  typedef typename conditional<bool(Base::HasUsableDirectAccess),
+    ExtractType,
+    typename ExtractType::PlainObject
+    >::type DirectLinearAccessType;
+  enum {
+    IsTransposed = Base::IsTransposed ? 0 : 1
+  };
+  static inline const ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline Scalar extractScalarFactor(const XprType& x) { return Base::extractScalarFactor(x.nestedExpression()); }
+};
+
+template<typename T>
+struct blas_traits<const T>
+     : blas_traits<T>
+{};
+
+template<typename T, bool HasUsableDirectAccess=blas_traits<T>::HasUsableDirectAccess>
+struct extract_data_selector {
+  static const typename T::Scalar* run(const T& m)
+  {
+    return const_cast<typename T::Scalar*>(&blas_traits<T>::extract(m).coeffRef(0,0)); // FIXME this should be .data()
+  }
+};
+
+template<typename T>
+struct extract_data_selector<T,false> {
+  static typename T::Scalar* run(const T&) { return 0; }
+};
+
+template<typename T> const typename T::Scalar* extract_data(const T& m)
+{
+  return extract_data_selector<T>::run(m);
+}
+
+} // end namespace internal
+
+#endif // EIGEN_BLASUTIL_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/CMakeLists.txt
new file mode 100755
index 0000000..a1e2e52
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Core_util_SRCS "*.h")
+
+INSTALL(FILES 
+  ${Eigen_Core_util_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/util COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Constants.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Constants.h
new file mode 100755
index 0000000..2ffeb79
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Constants.h
@@ -0,0 +1,318 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CONSTANTS_H
+#define EIGEN_CONSTANTS_H
+
+/** This value means that a quantity is not known at compile-time, and that instead the value is
+  * stored in some runtime variable.
+  *
+  * Changing the value of Dynamic breaks the ABI, as Dynamic is often used as a template parameter for Matrix.
+  */
+const int Dynamic = -1;
+
+/** This value means +Infinity; it is currently used only as the p parameter to MatrixBase::lpNorm<int>().
+  * The value Infinity there means the L-infinity norm.
+  */
+const int Infinity = -1;
+
+/** \defgroup flags Flags
+  * \ingroup Core_Module
+  *
+  * These are the possible bits which can be OR'ed to constitute the flags of a matrix or
+  * expression.
+  *
+  * It is important to note that these flags are a purely compile-time notion. They are a compile-time property of
+  * an expression type, implemented as enum's. They are not stored in memory at runtime, and they do not incur any
+  * runtime overhead.
+  *
+  * \sa MatrixBase::Flags
+  */
+
+/** \ingroup flags
+  *
+  * for a matrix, this means that the storage order is row-major.
+  * If this bit is not set, the storage order is column-major.
+  * For an expression, this determines the storage order of
+  * the matrix created by evaluation of that expression. 
+  * \sa \ref TopicStorageOrders */
+const unsigned int RowMajorBit = 0x1;
+
+/** \ingroup flags
+  *
+  * means the expression should be evaluated by the calling expression */
+const unsigned int EvalBeforeNestingBit = 0x2;
+
+/** \ingroup flags
+  *
+  * means the expression should be evaluated before any assignment */
+const unsigned int EvalBeforeAssigningBit = 0x4;
+
+/** \ingroup flags
+  *
+  * Short version: means the expression might be vectorized
+  *
+  * Long version: means that the coefficients can be handled by packets
+  * and start at a memory location whose alignment meets the requirements
+  * of the present CPU architecture for optimized packet access. In the fixed-size
+  * case, there is the additional condition that it be possible to access all the
+  * coefficients by packets (this implies the requirement that the size be a multiple of 16 bytes,
+  * and that any nontrivial strides don't break the alignment). In the dynamic-size case,
+  * there is no such condition on the total size and strides, so it might not be possible to access
+  * all coeffs by packets.
+  *
+  * \note This bit can be set regardless of whether vectorization is actually enabled.
+  *       To check for actual vectorizability, see \a ActualPacketAccessBit.
+  */
+const unsigned int PacketAccessBit = 0x8;
+
+#ifdef EIGEN_VECTORIZE
+/** \ingroup flags
+  *
+  * If vectorization is enabled (EIGEN_VECTORIZE is defined) this constant
+  * is set to the value \a PacketAccessBit.
+  *
+  * If vectorization is not enabled (EIGEN_VECTORIZE is not defined) this constant
+  * is set to the value 0.
+  */
+const unsigned int ActualPacketAccessBit = PacketAccessBit;
+#else
+const unsigned int ActualPacketAccessBit = 0x0;
+#endif
+
+/** \ingroup flags
+  *
+  * Short version: means the expression can be seen as 1D vector.
+  *
+  * Long version: means that one can access the coefficients
+  * of this expression by coeff(int), and coeffRef(int) in the case of a lvalue expression. These
+  * index-based access methods are guaranteed
+  * to not have to do any runtime computation of a (row, col)-pair from the index, so that it
+  * is guaranteed that whenever it is available, index-based access is at least as fast as
+  * (row,col)-based access. Expressions for which that isn't possible don't have the LinearAccessBit.
+  *
+  * If both PacketAccessBit and LinearAccessBit are set, then the
+  * packets of this expression can be accessed by packet(int), and writePacket(int) in the case of a
+  * lvalue expression.
+  *
+  * Typically, all vector expressions have the LinearAccessBit, but there is one exception:
+  * Product expressions don't have it, because it would be troublesome for vectorization, even when the
+  * Product is a vector expression. Thus, vector Product expressions allow index-based coefficient access but
+  * not index-based packet access, so they don't have the LinearAccessBit.
+  */
+const unsigned int LinearAccessBit = 0x10;
+
+/** \ingroup flags
+  *
+  * Means the expression has a coeffRef() method, i.e. is writable as its individual coefficients are directly addressable.
+  * This rules out read-only expressions.
+  *
+  * Note that DirectAccessBit and LvalueBit are mutually orthogonal, as there are examples of expression having one but note
+  * the other:
+  *   \li writable expressions that don't have a very simple memory layout as a strided array, have LvalueBit but not DirectAccessBit
+  *   \li Map-to-const expressions, for example Map<const Matrix>, have DirectAccessBit but not LvalueBit
+  *
+  * Expressions having LvalueBit also have their coeff() method returning a const reference instead of returning a new value.
+  */
+const unsigned int LvalueBit = 0x20;
+
+/** \ingroup flags
+  *
+  * Means that the underlying array of coefficients can be directly accessed as a plain strided array. The memory layout
+  * of the array of coefficients must be exactly the natural one suggested by rows(), cols(),
+  * outerStride(), innerStride(), and the RowMajorBit. This rules out expressions such as Diagonal, whose coefficients,
+  * though referencable, do not have such a regular memory layout.
+  *
+  * See the comment on LvalueBit for an explanation of how LvalueBit and DirectAccessBit are mutually orthogonal.
+  */
+const unsigned int DirectAccessBit = 0x40;
+
+/** \ingroup flags
+  *
+  * means the first coefficient packet is guaranteed to be aligned */
+const unsigned int AlignedBit = 0x80;
+
+const unsigned int NestByRefBit = 0x100;
+
+// list of flags that are inherited by default
+const unsigned int HereditaryBits = RowMajorBit
+                                  | EvalBeforeNestingBit
+                                  | EvalBeforeAssigningBit;
+
+// Possible values for the Mode parameter of triangularView()
+enum {
+  Lower=0x1, Upper=0x2, UnitDiag=0x4, ZeroDiag=0x8,
+  UnitLower=UnitDiag|Lower, UnitUpper=UnitDiag|Upper,
+  StrictlyLower=ZeroDiag|Lower, StrictlyUpper=ZeroDiag|Upper,
+  SelfAdjoint=0x10};
+
+enum { Unaligned=0, Aligned=1 };
+enum { ConditionalJumpCost = 5 };
+
+// FIXME after the corner() API change, this was not needed anymore, except by AlignedBox
+// TODO: find out what to do with that. Adapt the AlignedBox API ?
+enum CornerType { TopLeft, TopRight, BottomLeft, BottomRight };
+
+enum DirectionType { Vertical, Horizontal, BothDirections };
+enum ProductEvaluationMode { NormalProduct, CacheFriendlyProduct };
+
+enum {
+  /** \internal Default traversal, no vectorization, no index-based access */
+  DefaultTraversal,
+  /** \internal No vectorization, use index-based access to have only one for loop instead of 2 nested loops */
+  LinearTraversal,
+  /** \internal Equivalent to a slice vectorization for fixed-size matrices having good alignment
+    * and good size */
+  InnerVectorizedTraversal,
+  /** \internal Vectorization path using a single loop plus scalar loops for the
+    * unaligned boundaries */
+  LinearVectorizedTraversal,
+  /** \internal Generic vectorization path using one vectorized loop per row/column with some
+    * scalar loops to handle the unaligned boundaries */
+  SliceVectorizedTraversal,
+  /** \internal Special case to properly handle incompatible scalar types or other defecting cases*/
+  InvalidTraversal
+};
+
+enum {
+  NoUnrolling,
+  InnerUnrolling,
+  CompleteUnrolling
+};
+
+enum {
+  ColMajor = 0,
+  RowMajor = 0x1,  // it is only a coincidence that this is equal to RowMajorBit -- don't rely on that
+  /** \internal Align the matrix itself if it is vectorizable fixed-size */
+  AutoAlign = 0,
+  /** \internal Don't require alignment for the matrix itself (the array of coefficients, if dynamically allocated, may still be requested to be aligned) */ // FIXME --- clarify the situation
+  DontAlign = 0x2
+};
+
+/** \brief Enum for specifying whether to apply or solve on the left or right. 
+  */
+enum {
+  OnTheLeft = 1,  /**< \brief Apply transformation on the left. */
+  OnTheRight = 2  /**< \brief Apply transformation on the right. */
+};
+
+/* the following could as well be written:
+ *   enum NoChange_t { NoChange };
+ * but it feels dangerous to disambiguate overloaded functions on enum/integer types.
+ * If on some platform it is really impossible to get rid of "unused variable" warnings, then
+ * we can always come back to that solution.
+ */
+struct NoChange_t {};
+namespace {
+  EIGEN_UNUSED NoChange_t NoChange;
+}
+
+struct Sequential_t {};
+namespace {
+  EIGEN_UNUSED Sequential_t Sequential;
+}
+
+struct Default_t {};
+namespace {
+  EIGEN_UNUSED Default_t Default;
+}
+
+enum {
+  IsDense         = 0,
+  IsSparse
+};
+
+enum AccessorLevels {
+  ReadOnlyAccessors, WriteAccessors, DirectAccessors, DirectWriteAccessors
+};
+
+enum DecompositionOptions {
+  Pivoting            = 0x01, // LDLT,
+  NoPivoting          = 0x02, // LDLT,
+  ComputeFullU        = 0x04, // SVD,
+  ComputeThinU        = 0x08, // SVD,
+  ComputeFullV        = 0x10, // SVD,
+  ComputeThinV        = 0x20, // SVD,
+  EigenvaluesOnly     = 0x40, // all eigen solvers
+  ComputeEigenvectors = 0x80, // all eigen solvers
+  EigVecMask = EigenvaluesOnly | ComputeEigenvectors,
+  Ax_lBx              = 0x100,
+  ABx_lx              = 0x200,
+  BAx_lx              = 0x400,
+  GenEigMask = Ax_lBx | ABx_lx | BAx_lx
+};
+
+enum QRPreconditioners {
+  NoQRPreconditioner,
+  HouseholderQRPreconditioner,
+  ColPivHouseholderQRPreconditioner,
+  FullPivHouseholderQRPreconditioner
+};
+
+/** \brief Enum for reporting the status of a computation.
+  */
+enum ComputationInfo {
+  Success = 0,        /**< \brief Computation was successful. */
+  NumericalIssue = 1, /**< \brief The provided data did not satisfy the prerequisites. */
+  NoConvergence = 2   /**< \brief Iterative procedure did not converge. */
+};
+
+enum TransformTraits {
+  Isometry      = 0x1,
+  Affine        = 0x2,
+  AffineCompact = 0x10 | Affine,
+  Projective    = 0x20
+};
+
+namespace Architecture
+{
+  enum Type {
+    Generic = 0x0,
+    SSE = 0x1,
+    AltiVec = 0x2,
+#if defined EIGEN_VECTORIZE_SSE
+    Target = SSE
+#elif defined EIGEN_VECTORIZE_ALTIVEC
+    Target = AltiVec
+#else
+    Target = Generic
+#endif
+  };
+}
+
+enum { CoeffBasedProductMode, LazyCoeffBasedProductMode, OuterProduct, InnerProduct, GemvProduct, GemmProduct };
+
+enum Action {GetAction, SetAction};
+
+/** The type used to identify a dense storage. */
+struct Dense {};
+
+/** The type used to identify a matrix expression */
+struct MatrixXpr {};
+
+/** The type used to identify an array expression */
+struct ArrayXpr {};
+
+#endif // EIGEN_CONSTANTS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/DisableStupidWarnings.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/DisableStupidWarnings.h
new file mode 100755
index 0000000..0073052
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/DisableStupidWarnings.h
@@ -0,0 +1,42 @@
+#ifndef EIGEN_WARNINGS_DISABLED
+#define EIGEN_WARNINGS_DISABLED
+
+#ifdef _MSC_VER
+  // 4100 - unreferenced formal parameter (occurred e.g. in aligned_allocator::destroy(pointer p))
+  // 4101 - unreferenced local variable
+  // 4127 - conditional expression is constant
+  // 4181 - qualifier applied to reference type ignored
+  // 4211 - nonstandard extension used : redefined extern to static
+  // 4244 - 'argument' : conversion from 'type1' to 'type2', possible loss of data
+  // 4273 - QtAlignedMalloc, inconsistent DLL linkage
+  // 4324 - structure was padded due to declspec(align())
+  // 4512 - assignment operator could not be generated
+  // 4522 - 'class' : multiple assignment operators specified
+  // 4700 - uninitialized local variable 'xyz' used
+  // 4717 - 'function' : recursive on all control paths, function will cause runtime stack overflow
+  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+    #pragma warning( push )
+  #endif
+  #pragma warning( disable : 4100 4101 4127 4181 4211 4244 4273 4324 4512 4522 4700 4717 )
+#elif defined __INTEL_COMPILER
+  // 2196 - routine is both "inline" and "noinline" ("noinline" assumed)
+  //        ICC 12 generates this warning even without any inline keyword, when defining class methods 'inline' i.e. inside of class body
+  // 2536 - type qualifiers are meaningless here
+  //        ICC 12 generates this warning when a function return type is const qualified, even if that type is a template-parameter-dependent
+  //        typedef that may be a reference type.
+  // 279  - controlling expression is constant
+  //        ICC 12 generates this warning on assert(constant_expression_depending_on_template_params) and frankly this is a legitimate use case.
+  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+    #pragma warning push
+  #endif
+  #pragma warning disable 2196 2536 279
+#elif defined __clang__
+  // -Wconstant-logical-operand - warning: use of logical && with constant operand; switch to bitwise & or remove constant
+  //     this is really a stupid warning as it warns on compile-time expressions involving enums
+  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+    #pragma clang diagnostic push
+  #endif
+  #pragma clang diagnostic ignored "-Wconstant-logical-operand"
+#endif
+
+#endif // not EIGEN_WARNINGS_DISABLED
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/ForwardDeclarations.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/ForwardDeclarations.h
new file mode 100755
index 0000000..7fbccf9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/ForwardDeclarations.h
@@ -0,0 +1,307 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FORWARDDECLARATIONS_H
+#define EIGEN_FORWARDDECLARATIONS_H
+
+namespace internal {
+
+template<typename T> struct traits;
+
+// here we say once and for all that traits<const T> == traits<T>
+// When constness must affect traits, it has to be constness on template parameters on which T itself depends.
+// For example, traits<Map<const T> > != traits<Map<T> >, but
+//              traits<const Map<T> > == traits<Map<T> >
+template<typename T> struct traits<const T> : traits<T> {};
+
+template<typename Derived> struct has_direct_access
+{
+  enum { ret = (traits<Derived>::Flags & DirectAccessBit) ? 1 : 0 };
+};
+
+template<typename Derived> struct accessors_level
+{
+  enum { has_direct_access = (traits<Derived>::Flags & DirectAccessBit) ? 1 : 0,
+         has_write_access = (traits<Derived>::Flags & LvalueBit) ? 1 : 0,
+         value = has_direct_access ? (has_write_access ? DirectWriteAccessors : DirectAccessors)
+                                   : (has_write_access ? WriteAccessors       : ReadOnlyAccessors)
+  };
+};
+
+} // end namespace internal
+
+template<typename T> struct NumTraits;
+
+template<typename Derived> struct EigenBase;
+template<typename Derived> class DenseBase;
+template<typename Derived> class PlainObjectBase;
+
+
+template<typename Derived,
+         int Level = internal::accessors_level<Derived>::value >
+class DenseCoeffsBase;
+
+template<typename _Scalar, int _Rows, int _Cols,
+         int _Options = AutoAlign |
+#if defined(__GNUC__) && __GNUC__==3 && __GNUC_MINOR__==4
+    // workaround a bug in at least gcc 3.4.6
+    // the innermost ?: ternary operator is misparsed. We write it slightly
+    // differently and this makes gcc 3.4.6 happy, but it's ugly.
+    // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
+    // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
+                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          : !(_Cols==1 && _Rows!=1) ?  EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
+                          : ColMajor ),
+#else
+                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          : (_Cols==1 && _Rows!=1) ? ColMajor
+                          : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
+#endif
+         int _MaxRows = _Rows,
+         int _MaxCols = _Cols
+> class Matrix;
+
+template<typename Derived> class MatrixBase;
+template<typename Derived> class ArrayBase;
+
+template<typename ExpressionType, unsigned int Added, unsigned int Removed> class Flagged;
+template<typename ExpressionType, template <typename> class StorageBase > class NoAlias;
+template<typename ExpressionType> class NestByValue;
+template<typename ExpressionType> class ForceAlignedAccess;
+template<typename ExpressionType> class SwapWrapper;
+
+template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool InnerPanel = false,
+         bool HasDirectAccess = internal::has_direct_access<XprType>::ret> class Block;
+
+template<typename MatrixType, int Size=Dynamic> class VectorBlock;
+template<typename MatrixType> class Transpose;
+template<typename MatrixType> class Conjugate;
+template<typename NullaryOp, typename MatrixType>         class CwiseNullaryOp;
+template<typename UnaryOp,   typename MatrixType>         class CwiseUnaryOp;
+template<typename ViewOp,    typename MatrixType>         class CwiseUnaryView;
+template<typename BinaryOp,  typename Lhs, typename Rhs>  class CwiseBinaryOp;
+template<typename BinOp,     typename Lhs, typename Rhs>  class SelfCwiseBinaryOp;
+template<typename Derived,   typename Lhs, typename Rhs>  class ProductBase;
+template<typename Lhs, typename Rhs, int Mode>            class GeneralProduct;
+template<typename Lhs, typename Rhs, int NestingFlags>    class CoeffBasedProduct;
+
+template<typename Derived> class DiagonalBase;
+template<typename _DiagonalVectorType> class DiagonalWrapper;
+template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime=SizeAtCompileTime> class DiagonalMatrix;
+template<typename MatrixType, typename DiagonalType, int ProductOrder> class DiagonalProduct;
+template<typename MatrixType, int Index = 0> class Diagonal;
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime = SizeAtCompileTime, typename IndexType=int> class PermutationMatrix;
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime = SizeAtCompileTime, typename IndexType=int> class Transpositions;
+template<typename Derived> class PermutationBase;
+template<typename Derived> class TranspositionsBase;
+template<typename _IndicesType> class PermutationWrapper;
+template<typename _IndicesType> class TranspositionsWrapper;
+
+template<typename Derived,
+         int Level = internal::accessors_level<Derived>::has_write_access ? WriteAccessors : ReadOnlyAccessors
+> class MapBase;
+template<int InnerStrideAtCompileTime, int OuterStrideAtCompileTime> class Stride;
+template<typename MatrixType, int MapOptions=Unaligned, typename StrideType = Stride<0,0> > class Map;
+
+template<typename Derived> class TriangularBase;
+template<typename MatrixType, unsigned int Mode> class TriangularView;
+template<typename MatrixType, unsigned int Mode> class SelfAdjointView;
+template<typename MatrixType> class SparseView;
+template<typename ExpressionType> class WithFormat;
+template<typename MatrixType> struct CommaInitializer;
+template<typename Derived> class ReturnByValue;
+template<typename ExpressionType> class ArrayWrapper;
+
+namespace internal {
+template<typename DecompositionType, typename Rhs> struct solve_retval_base;
+template<typename DecompositionType, typename Rhs> struct solve_retval;
+template<typename DecompositionType> struct kernel_retval_base;
+template<typename DecompositionType> struct kernel_retval;
+template<typename DecompositionType> struct image_retval_base;
+template<typename DecompositionType> struct image_retval;
+} // end namespace internal
+
+namespace internal {
+template<typename _Scalar, int Rows=Dynamic, int Cols=Dynamic, int Supers=Dynamic, int Subs=Dynamic, int Options=0> class BandMatrix;
+}
+
+namespace internal {
+template<typename Lhs, typename Rhs> struct product_type;
+}
+
+template<typename Lhs, typename Rhs,
+         int ProductType = internal::product_type<Lhs,Rhs>::value>
+struct ProductReturnType;
+
+// this is a workaround for sun CC
+template<typename Lhs, typename Rhs> struct LazyProductReturnType;
+
+namespace internal {
+
+// Provides scalar/packet-wise product and product with accumulation
+// with optional conjugation of the arguments.
+template<typename LhsScalar, typename RhsScalar, bool ConjLhs=false, bool ConjRhs=false> struct conj_helper;
+
+template<typename Scalar> struct scalar_sum_op;
+template<typename Scalar> struct scalar_difference_op;
+template<typename LhsScalar,typename RhsScalar> struct scalar_conj_product_op;
+template<typename Scalar> struct scalar_quotient_op;
+template<typename Scalar> struct scalar_opposite_op;
+template<typename Scalar> struct scalar_conjugate_op;
+template<typename Scalar> struct scalar_real_op;
+template<typename Scalar> struct scalar_imag_op;
+template<typename Scalar> struct scalar_abs_op;
+template<typename Scalar> struct scalar_abs2_op;
+template<typename Scalar> struct scalar_sqrt_op;
+template<typename Scalar> struct scalar_exp_op;
+template<typename Scalar> struct scalar_log_op;
+template<typename Scalar> struct scalar_cos_op;
+template<typename Scalar> struct scalar_sin_op;
+template<typename Scalar> struct scalar_acos_op;
+template<typename Scalar> struct scalar_asin_op;
+template<typename Scalar> struct scalar_tan_op;
+template<typename Scalar> struct scalar_pow_op;
+template<typename Scalar> struct scalar_inverse_op;
+template<typename Scalar> struct scalar_square_op;
+template<typename Scalar> struct scalar_cube_op;
+template<typename Scalar, typename NewType> struct scalar_cast_op;
+template<typename Scalar> struct scalar_multiple_op;
+template<typename Scalar> struct scalar_quotient1_op;
+template<typename Scalar> struct scalar_min_op;
+template<typename Scalar> struct scalar_max_op;
+template<typename Scalar> struct scalar_random_op;
+template<typename Scalar> struct scalar_add_op;
+template<typename Scalar> struct scalar_constant_op;
+template<typename Scalar> struct scalar_identity_op;
+
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_product_op;
+template<typename LhsScalar,typename RhsScalar> struct scalar_multiple2_op;
+
+} // end namespace internal
+
+struct IOFormat;
+
+// Array module
+template<typename _Scalar, int _Rows, int _Cols,
+         int _Options = AutoAlign |
+#if defined(__GNUC__) && __GNUC__==3 && __GNUC_MINOR__==4
+    // workaround a bug in at least gcc 3.4.6
+    // the innermost ?: ternary operator is misparsed. We write it slightly
+    // differently and this makes gcc 3.4.6 happy, but it's ugly.
+    // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
+    // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
+                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          : !(_Cols==1 && _Rows!=1) ?  EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
+                          : ColMajor ),
+#else
+                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          : (_Cols==1 && _Rows!=1) ? ColMajor
+                          : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
+#endif
+         int _MaxRows = _Rows, int _MaxCols = _Cols> class Array;
+template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType> class Select;
+template<typename MatrixType, typename BinaryOp, int Direction> class PartialReduxExpr;
+template<typename ExpressionType, int Direction> class VectorwiseOp;
+template<typename MatrixType,int RowFactor,int ColFactor> class Replicate;
+template<typename MatrixType, int Direction = BothDirections> class Reverse;
+
+template<typename MatrixType> class FullPivLU;
+template<typename MatrixType> class PartialPivLU;
+namespace internal {
+template<typename MatrixType> struct inverse_impl;
+}
+template<typename MatrixType> class HouseholderQR;
+template<typename MatrixType> class ColPivHouseholderQR;
+template<typename MatrixType> class FullPivHouseholderQR;
+template<typename MatrixType, int QRPreconditioner = ColPivHouseholderQRPreconditioner> class JacobiSVD;
+template<typename MatrixType, int UpLo = Lower> class LLT;
+template<typename MatrixType, int UpLo = Lower> class LDLT;
+template<typename VectorsType, typename CoeffsType, int Side=OnTheLeft> class HouseholderSequence;
+template<typename Scalar>     class JacobiRotation;
+
+// Geometry module:
+template<typename Derived, int _Dim> class RotationBase;
+template<typename Lhs, typename Rhs> class Cross;
+template<typename Derived> class QuaternionBase;
+template<typename Scalar> class Rotation2D;
+template<typename Scalar> class AngleAxis;
+template<typename Scalar,int Dim> class Translation;
+
+#ifdef EIGEN2_SUPPORT
+template<typename Derived, int _Dim> class eigen2_RotationBase;
+template<typename Lhs, typename Rhs> class eigen2_Cross;
+template<typename Scalar> class eigen2_Quaternion;
+template<typename Scalar> class eigen2_Rotation2D;
+template<typename Scalar> class eigen2_AngleAxis;
+template<typename Scalar,int Dim> class eigen2_Transform;
+template <typename _Scalar, int _AmbientDim> class eigen2_ParametrizedLine;
+template <typename _Scalar, int _AmbientDim> class eigen2_Hyperplane;
+template<typename Scalar,int Dim> class eigen2_Translation;
+template<typename Scalar,int Dim> class eigen2_Scaling;
+#endif
+
+#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
+template<typename Scalar> class Quaternion;
+template<typename Scalar,int Dim> class Transform;
+template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
+template <typename _Scalar, int _AmbientDim> class Hyperplane;
+template<typename Scalar,int Dim> class Scaling;
+#endif
+
+#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+template<typename Scalar, int Options = AutoAlign> class Quaternion;
+template<typename Scalar,int Dim,int Mode,int _Options=AutoAlign> class Transform;
+template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class ParametrizedLine;
+template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class Hyperplane;
+template<typename Scalar> class UniformScaling;
+template<typename MatrixType,int Direction> class Homogeneous;
+#endif
+
+// MatrixFunctions module
+template<typename Derived> struct MatrixExponentialReturnValue;
+template<typename Derived> class MatrixFunctionReturnValue;
+
+namespace internal {
+template <typename Scalar>
+struct stem_function
+{
+  typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
+  typedef ComplexScalar type(ComplexScalar, int);
+};
+}
+
+
+#ifdef EIGEN2_SUPPORT
+template<typename ExpressionType> class Cwise;
+template<typename MatrixType> class Minor;
+template<typename MatrixType> class LU;
+template<typename MatrixType> class QR;
+template<typename MatrixType> class SVD;
+namespace internal {
+template<typename MatrixType, unsigned int Mode> struct eigen2_part_return_type;
+}
+#endif
+
+#endif // EIGEN_FORWARDDECLARATIONS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Macros.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Macros.h
new file mode 100755
index 0000000..f0e5ea3
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Macros.h
@@ -0,0 +1,418 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MACROS_H
+#define EIGEN_MACROS_H
+
+#define EIGEN_WORLD_VERSION 3
+#define EIGEN_MAJOR_VERSION 0
+#define EIGEN_MINOR_VERSION 0
+
+#define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
+                                      (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
+                                                                 EIGEN_MINOR_VERSION>=z))))
+#ifdef __GNUC__
+  #define EIGEN_GNUC_AT_LEAST(x,y) ((__GNUC__==x && __GNUC_MINOR__>=y) || __GNUC__>x)
+#else
+  #define EIGEN_GNUC_AT_LEAST(x,y) 0
+#endif
+ 
+#ifdef __GNUC__
+  #define EIGEN_GNUC_AT_MOST(x,y) ((__GNUC__==x && __GNUC_MINOR__<=y) || __GNUC__<x)
+#else
+  #define EIGEN_GNUC_AT_MOST(x,y) 0
+#endif
+
+#if EIGEN_GNUC_AT_MOST(4,3)
+  // see bug 89
+  #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 0
+#else
+  #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 1
+#endif
+
+#if defined(__GNUC__) && (__GNUC__ <= 3)
+#define EIGEN_GCC3_OR_OLDER 1
+#else
+#define EIGEN_GCC3_OR_OLDER 0
+#endif
+
+// 16 byte alignment is only useful for vectorization. Since it affects the ABI, we need to enable
+// 16 byte alignment on all platforms where vectorization might be enabled. In theory we could always
+// enable alignment, but it can be a cause of problems on some platforms, so we just disable it in
+// certain common platform (compiler+architecture combinations) to avoid these problems.
+// Only static alignment is really problematic (relies on nonstandard compiler extensions that don't
+// work everywhere, for example don't work on GCC/ARM), try to keep heap alignment even
+// when we have to disable static alignment.
+#if defined(__GNUC__) && !(defined(__i386__) || defined(__x86_64__) || defined(__powerpc__) || defined(__ppc__) || defined(__ia64__))
+#define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
+#else
+#define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 0
+#endif
+
+// static alignment is completely disabled with GCC 3, Sun Studio, and QCC/QNX
+#if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT \
+ && !EIGEN_GCC3_OR_OLDER \
+ && !defined(__SUNPRO_CC) \
+ && !defined(__QNXNTO__)
+  #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 1
+#else
+  #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 0
+#endif
+
+#ifdef EIGEN_DONT_ALIGN
+  #ifndef EIGEN_DONT_ALIGN_STATICALLY
+    #define EIGEN_DONT_ALIGN_STATICALLY
+  #endif
+  #define EIGEN_ALIGN 0
+#else
+  #define EIGEN_ALIGN 1
+#endif
+
+// EIGEN_ALIGN_STATICALLY is the true test whether we want to align arrays on the stack or not. It takes into account both the user choice to explicitly disable
+// alignment (EIGEN_DONT_ALIGN_STATICALLY) and the architecture config (EIGEN_ARCH_WANTS_STACK_ALIGNMENT). Henceforth, only EIGEN_ALIGN_STATICALLY should be used.
+#if EIGEN_ARCH_WANTS_STACK_ALIGNMENT && !defined(EIGEN_DONT_ALIGN_STATICALLY)
+  #define EIGEN_ALIGN_STATICALLY 1
+#else
+  #define EIGEN_ALIGN_STATICALLY 0
+  #ifndef EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+    #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+  #endif
+#endif
+
+#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION RowMajor
+#else
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ColMajor
+#endif
+
+#ifndef EIGEN_DEFAULT_DENSE_INDEX_TYPE
+#define EIGEN_DEFAULT_DENSE_INDEX_TYPE std::ptrdiff_t
+#endif
+
+/** Allows to disable some optimizations which might affect the accuracy of the result.
+  * Such optimization are enabled by default, and set EIGEN_FAST_MATH to 0 to disable them.
+  * They currently include:
+  *   - single precision Cwise::sin() and Cwise::cos() when SSE vectorization is enabled.
+  */
+#ifndef EIGEN_FAST_MATH
+#define EIGEN_FAST_MATH 1
+#endif
+
+#define EIGEN_DEBUG_VAR(x) std::cerr << #x << " = " << x << std::endl;
+
+// concatenate two tokens
+#define EIGEN_CAT2(a,b) a ## b
+#define EIGEN_CAT(a,b) EIGEN_CAT2(a,b)
+
+// convert a token to a string
+#define EIGEN_MAKESTRING2(a) #a
+#define EIGEN_MAKESTRING(a) EIGEN_MAKESTRING2(a)
+
+// EIGEN_ALWAYS_INLINE_ATTRIB should be use in the declaration of function
+// which should be inlined even in debug mode.
+// FIXME with the always_inline attribute,
+// gcc 3.4.x reports the following compilation error:
+//   Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
+//    : function body not available
+#if EIGEN_GNUC_AT_LEAST(4,0)
+#define EIGEN_ALWAYS_INLINE_ATTRIB __attribute__((always_inline))
+#else
+#define EIGEN_ALWAYS_INLINE_ATTRIB
+#endif
+
+#if EIGEN_GNUC_AT_LEAST(4,1) && !defined(__clang__) && !defined(__INTEL_COMPILER)
+#define EIGEN_FLATTEN_ATTRIB __attribute__((flatten))
+#else
+#define EIGEN_FLATTEN_ATTRIB
+#endif
+
+// EIGEN_FORCE_INLINE means "inline as much as possible"
+#if (defined _MSC_VER) || (defined __INTEL_COMPILER)
+#define EIGEN_STRONG_INLINE __forceinline
+#else
+#define EIGEN_STRONG_INLINE inline
+#endif
+
+#if (defined __GNUC__)
+#define EIGEN_DONT_INLINE __attribute__((noinline))
+#elif (defined _MSC_VER)
+#define EIGEN_DONT_INLINE __declspec(noinline)
+#else
+#define EIGEN_DONT_INLINE
+#endif
+
+// this macro allows to get rid of linking errors about multiply defined functions.
+//  - static is not very good because it prevents definitions from different object files to be merged.
+//           So static causes the resulting linked executable to be bloated with multiple copies of the same function.
+//  - inline is not perfect either as it unwantedly hints the compiler toward inlining the function.
+#define EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+#define EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS inline
+
+#ifdef NDEBUG
+# ifndef EIGEN_NO_DEBUG
+#  define EIGEN_NO_DEBUG
+# endif
+#endif
+
+// eigen_plain_assert is where we implement the workaround for the assert() bug in GCC <= 4.3, see bug 89
+#ifdef EIGEN_NO_DEBUG
+  #define eigen_plain_assert(x)
+#else
+  #if EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO
+    namespace Eigen {
+    namespace internal {
+    inline bool copy_bool(bool b) { return b; }
+    }
+    }
+    #define eigen_plain_assert(x) assert(x)
+  #else
+    // work around bug 89
+    #include <cstdlib>   // for abort
+    #include <iostream>  // for std::cerr
+
+    namespace Eigen {
+    namespace internal {
+    // trivial function copying a bool. Must be EIGEN_DONT_INLINE, so we implement it after including Eigen headers.
+    // see bug 89.
+    namespace {
+    EIGEN_DONT_INLINE bool copy_bool(bool b) { return b; }
+    }
+    inline void assert_fail(const char *condition, const char *function, const char *file, int line)
+    {
+      std::cerr << "assertion failed: " << condition << " in function " << function << " at " << file << ":" << line << std::endl;
+      abort();
+    }
+    }
+    }
+    #define eigen_plain_assert(x) \
+      do { \
+        if(!Eigen::internal::copy_bool(x)) \
+          Eigen::internal::assert_fail(EIGEN_MAKESTRING(x), __PRETTY_FUNCTION__, __FILE__, __LINE__); \
+      } while(false)
+  #endif
+#endif
+
+// eigen_assert can be overridden
+#ifndef eigen_assert
+#define eigen_assert(x) eigen_plain_assert(x)
+#endif
+
+#ifdef EIGEN_INTERNAL_DEBUGGING
+#define eigen_internal_assert(x) eigen_assert(x)
+#else
+#define eigen_internal_assert(x)
+#endif
+
+#ifdef EIGEN_NO_DEBUG
+#define EIGEN_ONLY_USED_FOR_DEBUG(x) (void)x
+#else
+#define EIGEN_ONLY_USED_FOR_DEBUG(x)
+#endif
+
+#if (defined __GNUC__)
+#define EIGEN_DEPRECATED __attribute__((deprecated))
+#elif (defined _MSC_VER)
+#define EIGEN_DEPRECATED __declspec(deprecated)
+#else
+#define EIGEN_DEPRECATED
+#endif
+
+#if (defined __GNUC__)
+#define EIGEN_UNUSED __attribute__((unused))
+#else
+#define EIGEN_UNUSED
+#endif
+
+// Suppresses 'unused variable' warnings.
+#define EIGEN_UNUSED_VARIABLE(var) (void)var;
+
+#if (defined __GNUC__)
+#define EIGEN_ASM_COMMENT(X)  asm("#"X)
+#else
+#define EIGEN_ASM_COMMENT(X)
+#endif
+
+/* EIGEN_ALIGN_TO_BOUNDARY(n) forces data to be n-byte aligned. This is used to satisfy SIMD requirements.
+ * However, we do that EVEN if vectorization (EIGEN_VECTORIZE) is disabled,
+ * so that vectorization doesn't affect binary compatibility.
+ *
+ * If we made alignment depend on whether or not EIGEN_VECTORIZE is defined, it would be impossible to link
+ * vectorized and non-vectorized code.
+ */
+#if (defined __GNUC__) || (defined __PGI) || (defined __IBMCPP__)
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
+#elif (defined _MSC_VER)
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __declspec(align(n))
+#elif (defined __SUNPRO_CC)
+  // FIXME not sure about this one:
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
+#else
+  #error Please tell me what is the equivalent of __attribute__((aligned(n))) for your compiler
+#endif
+
+#define EIGEN_ALIGN16 EIGEN_ALIGN_TO_BOUNDARY(16)
+
+#if EIGEN_ALIGN_STATICALLY
+#define EIGEN_USER_ALIGN_TO_BOUNDARY(n) EIGEN_ALIGN_TO_BOUNDARY(n)
+#define EIGEN_USER_ALIGN16 EIGEN_ALIGN16
+#else
+#define EIGEN_USER_ALIGN_TO_BOUNDARY(n)
+#define EIGEN_USER_ALIGN16
+#endif
+
+#ifdef EIGEN_DONT_USE_RESTRICT_KEYWORD
+  #define EIGEN_RESTRICT
+#endif
+#ifndef EIGEN_RESTRICT
+  #define EIGEN_RESTRICT __restrict
+#endif
+
+#ifndef EIGEN_STACK_ALLOCATION_LIMIT
+#define EIGEN_STACK_ALLOCATION_LIMIT 20000
+#endif
+
+#ifndef EIGEN_DEFAULT_IO_FORMAT
+#ifdef EIGEN_MAKING_DOCS
+// format used in Eigen's documentation
+// needed to define it here as escaping characters in CMake add_definition's argument seems very problematic.
+#define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat(3, 0, " ", "\n", "", "")
+#else
+#define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat()
+#endif
+#endif
+
+// just an empty macro !
+#define EIGEN_EMPTY
+
+#if defined(_MSC_VER) && (!defined(__INTEL_COMPILER))
+#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+  using Base::operator =;
+#else
+#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+  using Base::operator =; \
+  EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) \
+  { \
+    Base::operator=(other); \
+    return *this; \
+  }
+#endif
+
+#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
+  EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
+
+/**
+* Just a side note. Commenting within defines works only by documenting
+* behind the object (via '!<'). Comments cannot be multi-line and thus
+* we have these extra long lines. What is confusing doxygen over here is
+* that we use '\' and basically have a bunch of typedefs with their
+* documentation in a single line.
+**/
+
+#define EIGEN_GENERIC_PUBLIC_INTERFACE(Derived) \
+  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
+  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
+  typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
+  typedef typename Eigen::internal::nested<Derived>::type Nested; \
+  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
+  typedef typename Eigen::internal::traits<Derived>::Index Index; \
+  enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
+        ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
+        Flags = Eigen::internal::traits<Derived>::Flags, \
+        CoeffReadCost = Eigen::internal::traits<Derived>::CoeffReadCost, \
+        SizeAtCompileTime = Base::SizeAtCompileTime, \
+        MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
+        IsVectorAtCompileTime = Base::IsVectorAtCompileTime };
+
+
+#define EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
+  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
+  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
+  typedef typename Base::PacketScalar PacketScalar; \
+  typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
+  typedef typename Eigen::internal::nested<Derived>::type Nested; \
+  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
+  typedef typename Eigen::internal::traits<Derived>::Index Index; \
+  enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
+        ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
+        MaxRowsAtCompileTime = Eigen::internal::traits<Derived>::MaxRowsAtCompileTime, \
+        MaxColsAtCompileTime = Eigen::internal::traits<Derived>::MaxColsAtCompileTime, \
+        Flags = Eigen::internal::traits<Derived>::Flags, \
+        CoeffReadCost = Eigen::internal::traits<Derived>::CoeffReadCost, \
+        SizeAtCompileTime = Base::SizeAtCompileTime, \
+        MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
+        IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
+  using Base::derived; \
+  using Base::const_cast_derived;
+
+
+#define EIGEN_PLAIN_ENUM_MIN(a,b) (((int)a <= (int)b) ? (int)a : (int)b)
+#define EIGEN_PLAIN_ENUM_MAX(a,b) (((int)a >= (int)b) ? (int)a : (int)b)
+
+// EIGEN_SIZE_MIN_PREFER_DYNAMIC gives the min between compile-time sizes. 0 has absolute priority, followed by 1,
+// followed by Dynamic, followed by other finite values. The reason for giving Dynamic the priority over
+// finite values is that min(3, Dynamic) should be Dynamic, since that could be anything between 0 and 3.
+#define EIGEN_SIZE_MIN_PREFER_DYNAMIC(a,b) (((int)a == 0 || (int)b == 0) ? 0 \
+                           : ((int)a == 1 || (int)b == 1) ? 1 \
+                           : ((int)a == Dynamic || (int)b == Dynamic) ? Dynamic \
+                           : ((int)a <= (int)b) ? (int)a : (int)b)
+
+// EIGEN_SIZE_MIN_PREFER_FIXED is a variant of EIGEN_SIZE_MIN_PREFER_DYNAMIC comparing MaxSizes. The difference is that finite values
+// now have priority over Dynamic, so that min(3, Dynamic) gives 3. Indeed, whatever the actual value is
+// (between 0 and 3), it is not more than 3.
+#define EIGEN_SIZE_MIN_PREFER_FIXED(a,b)  (((int)a == 0 || (int)b == 0) ? 0 \
+                           : ((int)a == 1 || (int)b == 1) ? 1 \
+                           : ((int)a == Dynamic && (int)b == Dynamic) ? Dynamic \
+                           : ((int)a == Dynamic) ? (int)b \
+                           : ((int)b == Dynamic) ? (int)a \
+                           : ((int)a <= (int)b) ? (int)a : (int)b)
+
+// see EIGEN_SIZE_MIN_PREFER_DYNAMIC. No need for a separate variant for MaxSizes here.
+#define EIGEN_SIZE_MAX(a,b) (((int)a == Dynamic || (int)b == Dynamic) ? Dynamic \
+                           : ((int)a >= (int)b) ? (int)a : (int)b)
+
+#define EIGEN_LOGICAL_XOR(a,b) (((a) || (b)) && !((a) && (b)))
+
+#define EIGEN_IMPLIES(a,b) (!(a) || (b))
+
+#define EIGEN_MAKE_CWISE_BINARY_OP(METHOD,FUNCTOR) \
+  template<typename OtherDerived> \
+  EIGEN_STRONG_INLINE const CwiseBinaryOp<FUNCTOR<Scalar>, const Derived, const OtherDerived> \
+  METHOD(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
+  { \
+    return CwiseBinaryOp<FUNCTOR<Scalar>, const Derived, const OtherDerived>(derived(), other.derived()); \
+  }
+
+// the expression type of a cwise product
+#define EIGEN_CWISE_PRODUCT_RETURN_TYPE(LHS,RHS) \
+    CwiseBinaryOp< \
+      internal::scalar_product_op< \
+          typename internal::traits<LHS>::Scalar, \
+          typename internal::traits<RHS>::Scalar \
+      >, \
+      const LHS, \
+      const RHS \
+    >
+
+#endif // EIGEN_MACROS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Memory.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Memory.h
new file mode 100755
index 0000000..8ccf0e6
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Memory.h
@@ -0,0 +1,860 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Kenneth Riddile <kfriddile@yahoo.com>
+// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
+// Copyright (C) 2010 Thomas Capricelli <orzel@freehackers.org>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+
+/*****************************************************************************
+*** Platform checks for aligned malloc functions                           ***
+*****************************************************************************/
+
+#ifndef EIGEN_MEMORY_H
+#define EIGEN_MEMORY_H
+
+// On 64-bit systems, glibc's malloc returns 16-byte-aligned pointers, see:
+//   http://www.gnu.org/s/libc/manual/html_node/Aligned-Memory-Blocks.html
+// This is true at least since glibc 2.8.
+// This leaves the question how to detect 64-bit. According to this document,
+//   http://gcc.fyxm.net/summit/2003/Porting%20to%2064%20bit.pdf
+// page 114, "[The] LP64 model [...] is used by all 64-bit UNIX ports" so it's indeed
+// quite safe, at least within the context of glibc, to equate 64-bit with LP64.
+#if defined(__GLIBC__) && ((__GLIBC__>=2 && __GLIBC_MINOR__ >= 8) || __GLIBC__>2) \
+ && defined(__LP64__)
+  #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 1
+#else
+  #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 0
+#endif
+
+// FreeBSD 6 seems to have 16-byte aligned malloc
+//   See http://svn.freebsd.org/viewvc/base/stable/6/lib/libc/stdlib/malloc.c?view=markup
+// FreeBSD 7 seems to have 16-byte aligned malloc except on ARM and MIPS architectures
+//   See http://svn.freebsd.org/viewvc/base/stable/7/lib/libc/stdlib/malloc.c?view=markup
+#if defined(__FreeBSD__) && !defined(__arm__) && !defined(__mips__)
+  #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 1
+#else
+  #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 0
+#endif
+
+#if defined(__APPLE__) \
+ || defined(_WIN64) \
+ || EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED \
+ || EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED
+  #define EIGEN_MALLOC_ALREADY_ALIGNED 1
+#else
+  #define EIGEN_MALLOC_ALREADY_ALIGNED 0
+#endif
+
+#if ((defined __QNXNTO__) || (defined _GNU_SOURCE) || ((defined _XOPEN_SOURCE) && (_XOPEN_SOURCE >= 600))) \
+ && (defined _POSIX_ADVISORY_INFO) && (_POSIX_ADVISORY_INFO > 0)
+  #define EIGEN_HAS_POSIX_MEMALIGN 1
+#else
+  #define EIGEN_HAS_POSIX_MEMALIGN 0
+#endif
+
+#ifdef EIGEN_VECTORIZE_SSE
+  #define EIGEN_HAS_MM_MALLOC 1
+#else
+  #define EIGEN_HAS_MM_MALLOC 0
+#endif
+
+namespace internal {
+
+/*****************************************************************************
+*** Implementation of handmade aligned functions                           ***
+*****************************************************************************/
+
+/* ----- Hand made implementations of aligned malloc/free and realloc ----- */
+
+/** \internal Like malloc, but the returned pointer is guaranteed to be 16-byte aligned.
+  * Fast, but wastes 16 additional bytes of memory. Does not throw any exception.
+  */
+inline void* handmade_aligned_malloc(size_t size)
+{
+  void *original = std::malloc(size+16);
+  if (original == 0) return 0;
+  void *aligned = reinterpret_cast<void*>((reinterpret_cast<size_t>(original) & ~(size_t(15))) + 16);
+  *(reinterpret_cast<void**>(aligned) - 1) = original;
+  return aligned;
+}
+
+/** \internal Frees memory allocated with handmade_aligned_malloc */
+inline void handmade_aligned_free(void *ptr)
+{
+  if (ptr) std::free(*(reinterpret_cast<void**>(ptr) - 1));
+}
+
+/** \internal
+  * \brief Reallocates aligned memory.
+  * Since we know that our handmade version is based on std::realloc
+  * we can use std::realloc to implement efficient reallocation.
+  */
+inline void* handmade_aligned_realloc(void* ptr, size_t size, size_t = 0)
+{
+  if (ptr == 0) return handmade_aligned_malloc(size);
+  void *original = *(reinterpret_cast<void**>(ptr) - 1);
+  original = std::realloc(original,size+16);
+  if (original == 0) return 0;
+  void *aligned = reinterpret_cast<void*>((reinterpret_cast<size_t>(original) & ~(size_t(15))) + 16);
+  *(reinterpret_cast<void**>(aligned) - 1) = original;
+  return aligned;
+}
+
+/*****************************************************************************
+*** Implementation of generic aligned realloc (when no realloc can be used)***
+*****************************************************************************/
+
+void* aligned_malloc(size_t size);
+void  aligned_free(void *ptr);
+
+/** \internal
+  * \brief Reallocates aligned memory.
+  * Allows reallocation with aligned ptr types. This implementation will
+  * always create a new memory chunk and copy the old data.
+  */
+inline void* generic_aligned_realloc(void* ptr, size_t size, size_t old_size)
+{
+  if (ptr==0)
+    return aligned_malloc(size);
+
+  if (size==0)
+  {
+    aligned_free(ptr);
+    return 0;
+  }
+
+  void* newptr = aligned_malloc(size);
+  if (newptr == 0)
+  {
+    #ifdef EIGEN_HAS_ERRNO
+    errno = ENOMEM; // according to the standard
+    #endif
+    return 0;
+  }
+
+  if (ptr != 0)
+  {
+    std::memcpy(newptr, ptr, std::min(size,old_size));
+    aligned_free(ptr);
+  }
+
+  return newptr;
+}
+
+/*****************************************************************************
+*** Implementation of portable aligned versions of malloc/free/realloc     ***
+*****************************************************************************/
+
+#ifdef EIGEN_NO_MALLOC
+inline void check_that_malloc_is_allowed()
+{
+  eigen_assert(false && "heap allocation is forbidden (EIGEN_NO_MALLOC is defined)");
+}
+#elif defined EIGEN_RUNTIME_NO_MALLOC
+inline bool is_malloc_allowed_impl(bool update, bool new_value = false)
+{
+  static bool value = true;
+  if (update == 1)
+    value = new_value;
+  return value;
+}
+inline bool is_malloc_allowed() { return is_malloc_allowed_impl(false); }
+inline bool set_is_malloc_allowed(bool new_value) { return is_malloc_allowed_impl(true, new_value); }
+inline void check_that_malloc_is_allowed()
+{
+  eigen_assert(is_malloc_allowed() && "heap allocation is forbidden (EIGEN_RUNTIME_NO_MALLOC is defined and g_is_malloc_allowed is false)");
+}
+#else 
+inline void check_that_malloc_is_allowed()
+{}
+#endif
+
+/** \internal Allocates \a size bytes. The returned pointer is guaranteed to have 16 bytes alignment.
+  * On allocation error, the returned pointer is null, and if exceptions are enabled then a std::bad_alloc is thrown.
+  */
+inline void* aligned_malloc(size_t size)
+{
+  check_that_malloc_is_allowed();
+
+  void *result;
+  #if !EIGEN_ALIGN
+    result = std::malloc(size);
+  #elif EIGEN_MALLOC_ALREADY_ALIGNED
+    result = std::malloc(size);
+  #elif EIGEN_HAS_POSIX_MEMALIGN
+    if(posix_memalign(&result, 16, size)) result = 0;
+  #elif EIGEN_HAS_MM_MALLOC
+    result = _mm_malloc(size, 16);
+  #elif (defined _MSC_VER)
+    result = _aligned_malloc(size, 16);
+  #else
+    result = handmade_aligned_malloc(size);
+  #endif
+
+  #ifdef EIGEN_EXCEPTIONS
+    if(result == 0)
+      throw std::bad_alloc();
+  #endif
+  return result;
+}
+
+/** \internal Frees memory allocated with aligned_malloc. */
+inline void aligned_free(void *ptr)
+{
+  #if !EIGEN_ALIGN
+    std::free(ptr);
+  #elif EIGEN_MALLOC_ALREADY_ALIGNED
+    std::free(ptr);
+  #elif EIGEN_HAS_POSIX_MEMALIGN
+    std::free(ptr);
+  #elif EIGEN_HAS_MM_MALLOC
+    _mm_free(ptr);
+  #elif defined(_MSC_VER)
+    _aligned_free(ptr);
+  #else
+    handmade_aligned_free(ptr);
+  #endif
+}
+
+/**
+* \internal
+* \brief Reallocates an aligned block of memory.
+* \throws std::bad_alloc if EIGEN_EXCEPTIONS are defined.
+**/
+inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
+{
+  EIGEN_UNUSED_VARIABLE(old_size);
+
+  void *result;
+#if !EIGEN_ALIGN
+  result = std::realloc(ptr,new_size);
+#elif EIGEN_MALLOC_ALREADY_ALIGNED
+  result = std::realloc(ptr,new_size);
+#elif EIGEN_HAS_POSIX_MEMALIGN
+  result = generic_aligned_realloc(ptr,new_size,old_size);
+#elif EIGEN_HAS_MM_MALLOC
+  // The defined(_mm_free) is just here to verify that this MSVC version
+  // implements _mm_malloc/_mm_free based on the corresponding _aligned_
+  // functions. This may not always be the case and we just try to be safe.
+  #if defined(_MSC_VER) && defined(_mm_free)
+    result = _aligned_realloc(ptr,new_size,16);
+  #else
+    result = generic_aligned_realloc(ptr,new_size,old_size);
+  #endif
+#elif defined(_MSC_VER)
+  result = _aligned_realloc(ptr,new_size,16);
+#else
+  result = handmade_aligned_realloc(ptr,new_size,old_size);
+#endif
+
+#ifdef EIGEN_EXCEPTIONS
+  if (result==0 && new_size!=0)
+    throw std::bad_alloc();
+#endif
+  return result;
+}
+
+/*****************************************************************************
+*** Implementation of conditionally aligned functions                      ***
+*****************************************************************************/
+
+/** \internal Allocates \a size bytes. If Align is true, then the returned ptr is 16-byte-aligned.
+  * On allocation error, the returned pointer is null, and if exceptions are enabled then a std::bad_alloc is thrown.
+  */
+template<bool Align> inline void* conditional_aligned_malloc(size_t size)
+{
+  return aligned_malloc(size);
+}
+
+template<> inline void* conditional_aligned_malloc<false>(size_t size)
+{
+  check_that_malloc_is_allowed();
+
+  void *result = std::malloc(size);
+  #ifdef EIGEN_EXCEPTIONS
+    if(!result) throw std::bad_alloc();
+  #endif
+  return result;
+}
+
+/** \internal Frees memory allocated with conditional_aligned_malloc */
+template<bool Align> inline void conditional_aligned_free(void *ptr)
+{
+  aligned_free(ptr);
+}
+
+template<> inline void conditional_aligned_free<false>(void *ptr)
+{
+  std::free(ptr);
+}
+
+template<bool Align> inline void* conditional_aligned_realloc(void* ptr, size_t new_size, size_t old_size)
+{
+  return aligned_realloc(ptr, new_size, old_size);
+}
+
+template<> inline void* conditional_aligned_realloc<false>(void* ptr, size_t new_size, size_t)
+{
+  return std::realloc(ptr, new_size);
+}
+
+/*****************************************************************************
+*** Construction/destruction of array elements                             ***
+*****************************************************************************/
+
+/** \internal Constructs the elements of an array.
+  * The \a size parameter tells on how many objects to call the constructor of T.
+  */
+template<typename T> inline T* construct_elements_of_array(T *ptr, size_t size)
+{
+  for (size_t i=0; i < size; ++i) ::new (ptr + i) T;
+  return ptr;
+}
+
+/** \internal Destructs the elements of an array.
+  * The \a size parameters tells on how many objects to call the destructor of T.
+  */
+template<typename T> inline void destruct_elements_of_array(T *ptr, size_t size)
+{
+  // always destruct an array starting from the end.
+  if(ptr)
+    while(size) ptr[--size].~T();
+}
+
+/*****************************************************************************
+*** Implementation of aligned new/delete-like functions                    ***
+*****************************************************************************/
+
+/** \internal Allocates \a size objects of type T. The returned pointer is guaranteed to have 16 bytes alignment.
+  * On allocation error, the returned pointer is undefined, but if exceptions are enabled then a std::bad_alloc is thrown.
+  * The default constructor of T is called.
+  */
+template<typename T> inline T* aligned_new(size_t size)
+{
+  T *result = reinterpret_cast<T*>(aligned_malloc(sizeof(T)*size));
+  return construct_elements_of_array(result, size);
+}
+
+template<typename T, bool Align> inline T* conditional_aligned_new(size_t size)
+{
+  T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
+  return construct_elements_of_array(result, size);
+}
+
+/** \internal Deletes objects constructed with aligned_new
+  * The \a size parameters tells on how many objects to call the destructor of T.
+  */
+template<typename T> inline void aligned_delete(T *ptr, size_t size)
+{
+  destruct_elements_of_array<T>(ptr, size);
+  aligned_free(ptr);
+}
+
+/** \internal Deletes objects constructed with conditional_aligned_new
+  * The \a size parameters tells on how many objects to call the destructor of T.
+  */
+template<typename T, bool Align> inline void conditional_aligned_delete(T *ptr, size_t size)
+{
+  destruct_elements_of_array<T>(ptr, size);
+  conditional_aligned_free<Align>(ptr);
+}
+
+template<typename T, bool Align> inline T* conditional_aligned_realloc_new(T* pts, size_t new_size, size_t old_size)
+{
+  if(new_size < old_size)
+    destruct_elements_of_array(pts+new_size, old_size-new_size);
+  T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
+  if(new_size > old_size)
+    construct_elements_of_array(result+old_size, new_size-old_size);
+  return result;
+}
+
+
+template<typename T, bool Align> inline T* conditional_aligned_new_auto(size_t size)
+{
+  T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
+  if(NumTraits<T>::RequireInitialization)
+    construct_elements_of_array(result, size);
+  return result;
+}
+
+template<typename T, bool Align> inline T* conditional_aligned_realloc_new_auto(T* pts, size_t new_size, size_t old_size)
+{
+  if(NumTraits<T>::RequireInitialization && (new_size < old_size))
+    destruct_elements_of_array(pts+new_size, old_size-new_size);
+  T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
+  if(NumTraits<T>::RequireInitialization && (new_size > old_size))
+    construct_elements_of_array(result+old_size, new_size-old_size);
+  return result;
+}
+
+template<typename T, bool Align> inline void conditional_aligned_delete_auto(T *ptr, size_t size)
+{
+  if(NumTraits<T>::RequireInitialization)
+    destruct_elements_of_array<T>(ptr, size);
+  conditional_aligned_free<Align>(ptr);
+}
+
+/****************************************************************************/
+
+/** \internal Returns the index of the first element of the array that is well aligned for vectorization.
+  *
+  * \param array the address of the start of the array
+  * \param size the size of the array
+  *
+  * \note If no element of the array is well aligned, the size of the array is returned. Typically,
+  * for example with SSE, "well aligned" means 16-byte-aligned. If vectorization is disabled or if the
+  * packet size for the given scalar type is 1, then everything is considered well-aligned.
+  *
+  * \note If the scalar type is vectorizable, we rely on the following assumptions: sizeof(Scalar) is a
+  * power of 2, the packet size in bytes is also a power of 2, and is a multiple of sizeof(Scalar). On the
+  * other hand, we do not assume that the array address is a multiple of sizeof(Scalar), as that fails for
+  * example with Scalar=double on certain 32-bit platforms, see bug #79.
+  *
+  * There is also the variant first_aligned(const MatrixBase&) defined in DenseCoeffsBase.h.
+  */
+template<typename Scalar, typename Index>
+inline static Index first_aligned(const Scalar* array, Index size)
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  enum { PacketSize = packet_traits<Scalar>::size,
+         PacketAlignedMask = PacketSize-1
+  };
+
+  if(PacketSize==1)
+  {
+    // Either there is no vectorization, or a packet consists of exactly 1 scalar so that all elements
+    // of the array have the same alignment.
+    return 0;
+  }
+  else if(size_t(array) & (sizeof(Scalar)-1))
+  {
+    // There is vectorization for this scalar type, but the array is not aligned to the size of a single scalar.
+    // Consequently, no element of the array is well aligned.
+    return size;
+  }
+  else
+  {
+    return std::min<Index>( (PacketSize - (Index((size_t(array)/sizeof(Scalar))) & PacketAlignedMask))
+                           & PacketAlignedMask, size);
+  }
+}
+
+} // end namespace internal
+
+/*****************************************************************************
+*** Implementation of runtime stack allocation (falling back to malloc)    ***
+*****************************************************************************/
+
+/** \internal
+  * Allocates an aligned buffer of SIZE bytes on the stack if SIZE is smaller than
+  * EIGEN_STACK_ALLOCATION_LIMIT, and if stack allocation is supported by the platform
+  * (currently, this is Linux only). Otherwise the memory is allocated on the heap.
+  * Data allocated with ei_aligned_stack_alloc \b must be freed by calling
+  * ei_aligned_stack_free(PTR,SIZE).
+  * \code
+  * float * data = ei_aligned_stack_alloc(float,array.size());
+  * // ...
+  * ei_aligned_stack_free(data,float,array.size());
+  * \endcode
+  */
+#if (defined __linux__)
+  #define ei_aligned_stack_alloc(SIZE) (SIZE<=EIGEN_STACK_ALLOCATION_LIMIT) \
+                                    ? alloca(SIZE) \
+                                    : Eigen::internal::aligned_malloc(SIZE)
+  #define ei_aligned_stack_free(PTR,SIZE) if(SIZE>EIGEN_STACK_ALLOCATION_LIMIT) Eigen::internal::aligned_free(PTR)
+#elif defined(_MSC_VER)
+  #define ei_aligned_stack_alloc(SIZE) (SIZE<=EIGEN_STACK_ALLOCATION_LIMIT) \
+                                    ? _alloca(SIZE) \
+                                    : Eigen::internal::aligned_malloc(SIZE)
+  #define ei_aligned_stack_free(PTR,SIZE) if(SIZE>EIGEN_STACK_ALLOCATION_LIMIT) Eigen::internal::aligned_free(PTR)
+#else
+  #define ei_aligned_stack_alloc(SIZE) Eigen::internal::aligned_malloc(SIZE)
+  #define ei_aligned_stack_free(PTR,SIZE) Eigen::internal::aligned_free(PTR)
+#endif
+
+#define ei_aligned_stack_new(TYPE,SIZE) Eigen::internal::construct_elements_of_array(reinterpret_cast<TYPE*>(ei_aligned_stack_alloc(sizeof(TYPE)*SIZE)), SIZE)
+#define ei_aligned_stack_delete(TYPE,PTR,SIZE) do {Eigen::internal::destruct_elements_of_array<TYPE>(PTR, SIZE); \
+                                                   ei_aligned_stack_free(PTR,sizeof(TYPE)*SIZE);} while(0)
+
+
+/*****************************************************************************
+*** Implementation of EIGEN_MAKE_ALIGNED_OPERATOR_NEW [_IF]                ***
+*****************************************************************************/
+
+#if EIGEN_ALIGN
+  #ifdef EIGEN_EXCEPTIONS
+    #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+      void* operator new(size_t size, const std::nothrow_t&) throw() { \
+        try { return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); } \
+        catch (...) { return 0; } \
+        return 0; \
+      }
+  #else
+    #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+      void* operator new(size_t size, const std::nothrow_t&) throw() { \
+        return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
+      }
+  #endif
+
+  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
+      void *operator new(size_t size) { \
+        return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
+      } \
+      void *operator new[](size_t size) { \
+        return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
+      } \
+      void operator delete(void * ptr) throw() { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete[](void * ptr) throw() { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      /* in-place new and delete. since (at least afaik) there is no actual   */ \
+      /* memory allocated we can safely let the default implementation handle */ \
+      /* this particular case. */ \
+      static void *operator new(size_t size, void *ptr) { return ::operator new(size,ptr); } \
+      void operator delete(void * memory, void *ptr) throw() { return ::operator delete(memory,ptr); } \
+      /* nothrow-new (returns zero instead of std::bad_alloc) */ \
+      EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+      void operator delete(void *ptr, const std::nothrow_t&) throw() { \
+        Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); \
+      } \
+      typedef void eigen_aligned_operator_new_marker_type;
+#else
+  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+#endif
+
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(true)
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size) \
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%16==0))
+
+/****************************************************************************/
+
+/** \class aligned_allocator
+* \ingroup Core_Module
+*
+* \brief STL compatible allocator to use with with 16 byte aligned types
+*
+* Example:
+* \code
+* // Matrix4f requires 16 bytes alignment:
+* std::map< int, Matrix4f, std::less<int>, 
+*           aligned_allocator<std::pair<const int, Matrix4f> > > my_map_mat4;
+* // Vector3f does not require 16 bytes alignment, no need to use Eigen's allocator:
+* std::map< int, Vector3f > my_map_vec3;
+* \endcode
+*
+* \sa \ref TopicStlContainers.
+*/
+template<class T>
+class aligned_allocator
+{
+public:
+    typedef size_t    size_type;
+    typedef std::ptrdiff_t difference_type;
+    typedef T*        pointer;
+    typedef const T*  const_pointer;
+    typedef T&        reference;
+    typedef const T&  const_reference;
+    typedef T         value_type;
+
+    template<class U>
+    struct rebind
+    {
+        typedef aligned_allocator<U> other;
+    };
+
+    pointer address( reference value ) const
+    {
+        return &value;
+    }
+
+    const_pointer address( const_reference value ) const
+    {
+        return &value;
+    }
+
+    aligned_allocator() throw()
+    {
+    }
+
+    aligned_allocator( const aligned_allocator& ) throw()
+    {
+    }
+
+    template<class U>
+    aligned_allocator( const aligned_allocator<U>& ) throw()
+    {
+    }
+
+    ~aligned_allocator() throw()
+    {
+    }
+
+    size_type max_size() const throw()
+    {
+        return std::numeric_limits<size_type>::max();
+    }
+
+    pointer allocate( size_type num, const_pointer* hint = 0 )
+    {
+        static_cast<void>( hint ); // suppress unused variable warning
+        return static_cast<pointer>( internal::aligned_malloc( num * sizeof(T) ) );
+    }
+
+    void construct( pointer p, const T& value )
+    {
+        ::new( p ) T( value );
+    }
+
+    void destroy( pointer p )
+    {
+        p->~T();
+    }
+
+    void deallocate( pointer p, size_type /*num*/ )
+    {
+        internal::aligned_free( p );
+    }
+
+    bool operator!=(const aligned_allocator<T>& ) const
+    { return false; }
+
+    bool operator==(const aligned_allocator<T>& ) const
+    { return true; }
+};
+
+//---------- Cache sizes ----------
+
+#if defined(__GNUC__) && ( defined(__i386__) || defined(__x86_64__) )
+#  if defined(__PIC__) && defined(__i386__)
+     // Case for x86 with PIC
+#    define EIGEN_CPUID(abcd,func,id) \
+       __asm__ __volatile__ ("xchgl %%ebx, %%esi;cpuid; xchgl %%ebx,%%esi": "=a" (abcd[0]), "=S" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "a" (func), "c" (id));
+#  else
+     // Case for x86_64 or x86 w/o PIC
+#    define EIGEN_CPUID(abcd,func,id) \
+       __asm__ __volatile__ ("cpuid": "=a" (abcd[0]), "=b" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "a" (func), "c" (id) );
+#  endif
+#elif defined(_MSC_VER)
+#  if (_MSC_VER > 1500)
+#    define EIGEN_CPUID(abcd,func,id) __cpuidex((int*)abcd,func,id)
+#  endif
+#endif
+
+namespace internal {
+
+#ifdef EIGEN_CPUID
+
+inline bool cpuid_is_vendor(int abcd[4], const char* vendor)
+{
+  return abcd[1]==((int*)(vendor))[0] && abcd[3]==((int*)(vendor))[1] && abcd[2]==((int*)(vendor))[2];
+}
+
+inline void queryCacheSizes_intel_direct(int& l1, int& l2, int& l3)
+{
+  int abcd[4];
+  l1 = l2 = l3 = 0;
+  int cache_id = 0;
+  int cache_type = 0;
+  do {
+    abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+    EIGEN_CPUID(abcd,0x4,cache_id);
+    cache_type  = (abcd[0] & 0x0F) >> 0;
+    if(cache_type==1||cache_type==3) // data or unified cache
+    {
+      int cache_level = (abcd[0] & 0xE0) >> 5;  // A[7:5]
+      int ways        = (abcd[1] & 0xFFC00000) >> 22; // B[31:22]
+      int partitions  = (abcd[1] & 0x003FF000) >> 12; // B[21:12]
+      int line_size   = (abcd[1] & 0x00000FFF) >>  0; // B[11:0]
+      int sets        = (abcd[2]);                    // C[31:0]
+
+      int cache_size = (ways+1) * (partitions+1) * (line_size+1) * (sets+1);
+
+      switch(cache_level)
+      {
+        case 1: l1 = cache_size; break;
+        case 2: l2 = cache_size; break;
+        case 3: l3 = cache_size; break;
+        default: break;
+      }
+    }
+    cache_id++;
+  } while(cache_type>0 && cache_id<16);
+}
+
+inline void queryCacheSizes_intel_codes(int& l1, int& l2, int& l3)
+{
+  int abcd[4];
+  abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+  l1 = l2 = l3 = 0;
+  EIGEN_CPUID(abcd,0x00000002,0);
+  unsigned char * bytes = reinterpret_cast<unsigned char *>(abcd)+2;
+  bool check_for_p2_core2 = false;
+  for(int i=0; i<14; ++i)
+  {
+    switch(bytes[i])
+    {
+      case 0x0A: l1 = 8; break;   // 0Ah   data L1 cache, 8 KB, 2 ways, 32 byte lines
+      case 0x0C: l1 = 16; break;  // 0Ch   data L1 cache, 16 KB, 4 ways, 32 byte lines
+      case 0x0E: l1 = 24; break;  // 0Eh   data L1 cache, 24 KB, 6 ways, 64 byte lines
+      case 0x10: l1 = 16; break;  // 10h   data L1 cache, 16 KB, 4 ways, 32 byte lines (IA-64)
+      case 0x15: l1 = 16; break;  // 15h   code L1 cache, 16 KB, 4 ways, 32 byte lines (IA-64)
+      case 0x2C: l1 = 32; break;  // 2Ch   data L1 cache, 32 KB, 8 ways, 64 byte lines
+      case 0x30: l1 = 32; break;  // 30h   code L1 cache, 32 KB, 8 ways, 64 byte lines
+      case 0x60: l1 = 16; break;  // 60h   data L1 cache, 16 KB, 8 ways, 64 byte lines, sectored
+      case 0x66: l1 = 8; break;   // 66h   data L1 cache, 8 KB, 4 ways, 64 byte lines, sectored
+      case 0x67: l1 = 16; break;  // 67h   data L1 cache, 16 KB, 4 ways, 64 byte lines, sectored
+      case 0x68: l1 = 32; break;  // 68h   data L1 cache, 32 KB, 4 ways, 64 byte lines, sectored
+      case 0x1A: l2 = 96; break;   // code and data L2 cache, 96 KB, 6 ways, 64 byte lines (IA-64)
+      case 0x22: l3 = 512; break;   // code and data L3 cache, 512 KB, 4 ways (!), 64 byte lines, dual-sectored
+      case 0x23: l3 = 1024; break;   // code and data L3 cache, 1024 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x25: l3 = 2048; break;   // code and data L3 cache, 2048 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x29: l3 = 4096; break;   // code and data L3 cache, 4096 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x39: l2 = 128; break;   // code and data L2 cache, 128 KB, 4 ways, 64 byte lines, sectored
+      case 0x3A: l2 = 192; break;   // code and data L2 cache, 192 KB, 6 ways, 64 byte lines, sectored
+      case 0x3B: l2 = 128; break;   // code and data L2 cache, 128 KB, 2 ways, 64 byte lines, sectored
+      case 0x3C: l2 = 256; break;   // code and data L2 cache, 256 KB, 4 ways, 64 byte lines, sectored
+      case 0x3D: l2 = 384; break;   // code and data L2 cache, 384 KB, 6 ways, 64 byte lines, sectored
+      case 0x3E: l2 = 512; break;   // code and data L2 cache, 512 KB, 4 ways, 64 byte lines, sectored
+      case 0x40: l2 = 0; break;   // no integrated L2 cache (P6 core) or L3 cache (P4 core)
+      case 0x41: l2 = 128; break;   // code and data L2 cache, 128 KB, 4 ways, 32 byte lines
+      case 0x42: l2 = 256; break;   // code and data L2 cache, 256 KB, 4 ways, 32 byte lines
+      case 0x43: l2 = 512; break;   // code and data L2 cache, 512 KB, 4 ways, 32 byte lines
+      case 0x44: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 4 ways, 32 byte lines
+      case 0x45: l2 = 2048; break;   // code and data L2 cache, 2048 KB, 4 ways, 32 byte lines
+      case 0x46: l3 = 4096; break;   // code and data L3 cache, 4096 KB, 4 ways, 64 byte lines
+      case 0x47: l3 = 8192; break;   // code and data L3 cache, 8192 KB, 8 ways, 64 byte lines
+      case 0x48: l2 = 3072; break;   // code and data L2 cache, 3072 KB, 12 ways, 64 byte lines
+      case 0x49: if(l2!=0) l3 = 4096; else {check_for_p2_core2=true; l3 = l2 = 4096;} break;// code and data L3 cache, 4096 KB, 16 ways, 64 byte lines (P4) or L2 for core2
+      case 0x4A: l3 = 6144; break;   // code and data L3 cache, 6144 KB, 12 ways, 64 byte lines
+      case 0x4B: l3 = 8192; break;   // code and data L3 cache, 8192 KB, 16 ways, 64 byte lines
+      case 0x4C: l3 = 12288; break;   // code and data L3 cache, 12288 KB, 12 ways, 64 byte lines
+      case 0x4D: l3 = 16384; break;   // code and data L3 cache, 16384 KB, 16 ways, 64 byte lines
+      case 0x4E: l2 = 6144; break;   // code and data L2 cache, 6144 KB, 24 ways, 64 byte lines
+      case 0x78: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 4 ways, 64 byte lines
+      case 0x79: l2 = 128; break;   // code and data L2 cache, 128 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x7A: l2 = 256; break;   // code and data L2 cache, 256 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x7B: l2 = 512; break;   // code and data L2 cache, 512 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x7C: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 8 ways, 64 byte lines, dual-sectored
+      case 0x7D: l2 = 2048; break;   // code and data L2 cache, 2048 KB, 8 ways, 64 byte lines
+      case 0x7E: l2 = 256; break;   // code and data L2 cache, 256 KB, 8 ways, 128 byte lines, sect. (IA-64)
+      case 0x7F: l2 = 512; break;   // code and data L2 cache, 512 KB, 2 ways, 64 byte lines
+      case 0x80: l2 = 512; break;   // code and data L2 cache, 512 KB, 8 ways, 64 byte lines
+      case 0x81: l2 = 128; break;   // code and data L2 cache, 128 KB, 8 ways, 32 byte lines
+      case 0x82: l2 = 256; break;   // code and data L2 cache, 256 KB, 8 ways, 32 byte lines
+      case 0x83: l2 = 512; break;   // code and data L2 cache, 512 KB, 8 ways, 32 byte lines
+      case 0x84: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 8 ways, 32 byte lines
+      case 0x85: l2 = 2048; break;   // code and data L2 cache, 2048 KB, 8 ways, 32 byte lines
+      case 0x86: l2 = 512; break;   // code and data L2 cache, 512 KB, 4 ways, 64 byte lines
+      case 0x87: l2 = 1024; break;   // code and data L2 cache, 1024 KB, 8 ways, 64 byte lines
+      case 0x88: l3 = 2048; break;   // code and data L3 cache, 2048 KB, 4 ways, 64 byte lines (IA-64)
+      case 0x89: l3 = 4096; break;   // code and data L3 cache, 4096 KB, 4 ways, 64 byte lines (IA-64)
+      case 0x8A: l3 = 8192; break;   // code and data L3 cache, 8192 KB, 4 ways, 64 byte lines (IA-64)
+      case 0x8D: l3 = 3072; break;   // code and data L3 cache, 3072 KB, 12 ways, 128 byte lines (IA-64)
+
+      default: break;
+    }
+  }
+  if(check_for_p2_core2 && l2 == l3)
+    l3 = 0;
+  l1 *= 1024;
+  l2 *= 1024;
+  l3 *= 1024;
+}
+
+inline void queryCacheSizes_intel(int& l1, int& l2, int& l3, int max_std_funcs)
+{
+  if(max_std_funcs>=4)
+    queryCacheSizes_intel_direct(l1,l2,l3);
+  else
+    queryCacheSizes_intel_codes(l1,l2,l3);
+}
+
+inline void queryCacheSizes_amd(int& l1, int& l2, int& l3)
+{
+  int abcd[4];
+  abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+  EIGEN_CPUID(abcd,0x80000005,0);
+  l1 = (abcd[2] >> 24) * 1024; // C[31:24] = L1 size in KB
+  abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+  EIGEN_CPUID(abcd,0x80000006,0);
+  l2 = (abcd[2] >> 16) * 1024; // C[31;16] = l2 cache size in KB
+  l3 = ((abcd[3] & 0xFFFC000) >> 18) * 512 * 1024; // D[31;18] = l3 cache size in 512KB
+}
+#endif
+
+/** \internal
+ * Queries and returns the cache sizes in Bytes of the L1, L2, and L3 data caches respectively */
+inline void queryCacheSizes(int& l1, int& l2, int& l3)
+{
+  #ifdef EIGEN_CPUID
+  int abcd[4];
+
+  // identify the CPU vendor
+  EIGEN_CPUID(abcd,0x0,0);
+  int max_std_funcs = abcd[1];
+  if(cpuid_is_vendor(abcd,"GenuineIntel"))
+    queryCacheSizes_intel(l1,l2,l3,max_std_funcs);
+  else if(cpuid_is_vendor(abcd,"AuthenticAMD") || cpuid_is_vendor(abcd,"AMDisbetter!"))
+    queryCacheSizes_amd(l1,l2,l3);
+  else
+    // by default let's use Intel's API
+    queryCacheSizes_intel(l1,l2,l3,max_std_funcs);
+
+  // here is the list of other vendors:
+//   ||cpuid_is_vendor(abcd,"VIA VIA VIA ")
+//   ||cpuid_is_vendor(abcd,"CyrixInstead")
+//   ||cpuid_is_vendor(abcd,"CentaurHauls")
+//   ||cpuid_is_vendor(abcd,"GenuineTMx86")
+//   ||cpuid_is_vendor(abcd,"TransmetaCPU")
+//   ||cpuid_is_vendor(abcd,"RiseRiseRise")
+//   ||cpuid_is_vendor(abcd,"Geode by NSC")
+//   ||cpuid_is_vendor(abcd,"SiS SiS SiS ")
+//   ||cpuid_is_vendor(abcd,"UMC UMC UMC ")
+//   ||cpuid_is_vendor(abcd,"NexGenDriven")
+  #else
+  l1 = l2 = l3 = -1;
+  #endif
+}
+
+/** \internal
+ * \returns the size in Bytes of the L1 data cache */
+inline int queryL1CacheSize()
+{
+  int l1(-1), l2, l3;
+  queryCacheSizes(l1,l2,l3);
+  return l1;
+}
+
+/** \internal
+ * \returns the size in Bytes of the L2 or L3 cache if this later is present */
+inline int queryTopLevelCacheSize()
+{
+  int l1, l2(-1), l3(-1);
+  queryCacheSizes(l1,l2,l3);
+  return std::max(l2,l3);
+}
+
+} // end namespace internal
+
+#endif // EIGEN_MEMORY_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Meta.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Meta.h
new file mode 100755
index 0000000..4518261
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/Meta.h
@@ -0,0 +1,229 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_META_H
+#define EIGEN_META_H
+
+namespace internal {
+
+/** \internal
+  * \file Meta.h
+  * This file contains generic metaprogramming classes which are not specifically related to Eigen.
+  * \note In case you wonder, yes we're aware that Boost already provides all these features,
+  * we however don't want to add a dependency to Boost.
+  */
+
+struct true_type {  enum { value = 1 }; };
+struct false_type { enum { value = 0 }; };
+
+template<bool Condition, typename Then, typename Else>
+struct conditional { typedef Then type; };
+
+template<typename Then, typename Else>
+struct conditional <false, Then, Else> { typedef Else type; };
+
+template<typename T, typename U> struct is_same { enum { value = 0 }; };
+template<typename T> struct is_same<T,T> { enum { value = 1 }; };
+
+template<typename T> struct remove_reference { typedef T type; };
+template<typename T> struct remove_reference<T&> { typedef T type; };
+
+template<typename T> struct remove_pointer { typedef T type; };
+template<typename T> struct remove_pointer<T*> { typedef T type; };
+template<typename T> struct remove_pointer<T*const> { typedef T type; };
+
+template <class T> struct remove_const { typedef T type; };
+template <class T> struct remove_const<const T> { typedef T type; };
+template <class T> struct remove_const<const T[]> { typedef T type[]; };
+template <class T, unsigned int Size> struct remove_const<const T[Size]> { typedef T type[Size]; };
+
+template<typename T> struct remove_all { typedef T type; };
+template<typename T> struct remove_all<const T>   { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T const&>  { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T&>        { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T const*>  { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T*>        { typedef typename remove_all<T>::type type; };
+
+template<typename T> struct is_arithmetic      { enum { value = false }; };
+template<> struct is_arithmetic<float>         { enum { value = true }; };
+template<> struct is_arithmetic<double>        { enum { value = true }; };
+template<> struct is_arithmetic<long double>   { enum { value = true }; };
+template<> struct is_arithmetic<bool>          { enum { value = true }; };
+template<> struct is_arithmetic<char>          { enum { value = true }; };
+template<> struct is_arithmetic<signed char>   { enum { value = true }; };
+template<> struct is_arithmetic<unsigned char> { enum { value = true }; };
+template<> struct is_arithmetic<signed short>  { enum { value = true }; };
+template<> struct is_arithmetic<unsigned short>{ enum { value = true }; };
+template<> struct is_arithmetic<signed int>    { enum { value = true }; };
+template<> struct is_arithmetic<unsigned int>  { enum { value = true }; };
+template<> struct is_arithmetic<signed long>   { enum { value = true }; };
+template<> struct is_arithmetic<unsigned long> { enum { value = true }; };
+template<> struct is_arithmetic<signed long long>   { enum { value = true }; };
+template<> struct is_arithmetic<unsigned long long> { enum { value = true }; };
+
+template <typename T> struct add_const { typedef const T type; };
+template <typename T> struct add_const<T&> { typedef T& type; };
+
+template <typename T> struct is_const { enum { value = 0 }; };
+template <typename T> struct is_const<T const> { enum { value = 1 }; };
+
+template<typename T> struct add_const_on_value_type            { typedef const T type;  };
+template<typename T> struct add_const_on_value_type<T&>        { typedef T const& type; };
+template<typename T> struct add_const_on_value_type<T*>        { typedef T const* type; };
+template<typename T> struct add_const_on_value_type<T* const>  { typedef T const* const type; };
+template<typename T> struct add_const_on_value_type<T const* const>  { typedef T const* const type; };
+
+/** \internal Allows to enable/disable an overload
+  * according to a compile time condition.
+  */
+template<bool Condition, typename T> struct enable_if;
+
+template<typename T> struct enable_if<true,T>
+{ typedef T type; };
+
+/** \internal
+  * Convenient struct to get the result type of a unary or binary functor.
+  *
+  * It supports both the current STL mechanism (using the result_type member) as well as
+  * upcoming next STL generation (using a templated result member).
+  * If none of these members is provided, then the type of the first argument is returned. FIXME, that behavior is a pretty bad hack.
+  */
+template<typename T> struct result_of {};
+
+struct has_none {int a[1];};
+struct has_std_result_type {int a[2];};
+struct has_tr1_result {int a[3];};
+
+template<typename Func, typename ArgType, int SizeOf=sizeof(has_none)>
+struct unary_result_of_select {typedef ArgType type;};
+
+template<typename Func, typename ArgType>
+struct unary_result_of_select<Func, ArgType, sizeof(has_std_result_type)> {typedef typename Func::result_type type;};
+
+template<typename Func, typename ArgType>
+struct unary_result_of_select<Func, ArgType, sizeof(has_tr1_result)> {typedef typename Func::template result<Func(ArgType)>::type type;};
+
+template<typename Func, typename ArgType>
+struct result_of<Func(ArgType)> {
+    template<typename T>
+    static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+    template<typename T>
+    static has_tr1_result      testFunctor(T const *, typename T::template result<T(ArgType)>::type const * = 0);
+    static has_none            testFunctor(...);
+
+    // note that the following indirection is needed for gcc-3.3
+    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
+    typedef typename unary_result_of_select<Func, ArgType, FunctorType>::type type;
+};
+
+template<typename Func, typename ArgType0, typename ArgType1, int SizeOf=sizeof(has_none)>
+struct binary_result_of_select {typedef ArgType0 type;};
+
+template<typename Func, typename ArgType0, typename ArgType1>
+struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_std_result_type)>
+{typedef typename Func::result_type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1>
+struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_tr1_result)>
+{typedef typename Func::template result<Func(ArgType0,ArgType1)>::type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1>
+struct result_of<Func(ArgType0,ArgType1)> {
+    template<typename T>
+    static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+    template<typename T>
+    static has_tr1_result      testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1)>::type const * = 0);
+    static has_none            testFunctor(...);
+
+    // note that the following indirection is needed for gcc-3.3
+    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
+    typedef typename binary_result_of_select<Func, ArgType0, ArgType1, FunctorType>::type type;
+};
+
+/** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
+  * Usage example: \code meta_sqrt<1023>::ret \endcode
+  */
+template<int Y,
+         int InfX = 0,
+         int SupX = ((Y==1) ? 1 : Y/2),
+         bool Done = ((SupX-InfX)<=1 ? true : ((SupX*SupX <= Y) && ((SupX+1)*(SupX+1) > Y))) >
+                                // use ?: instead of || just to shut up a stupid gcc 4.3 warning
+class meta_sqrt
+{
+    enum {
+      MidX = (InfX+SupX)/2,
+      TakeInf = MidX*MidX > Y ? 1 : 0,
+      NewInf = int(TakeInf) ? InfX : int(MidX),
+      NewSup = int(TakeInf) ? int(MidX) : SupX
+    };
+  public:
+    enum { ret = meta_sqrt<Y,NewInf,NewSup>::ret };
+};
+
+template<int Y, int InfX, int SupX>
+class meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
+
+/** \internal determines whether the product of two numeric types is allowed and what the return type is */
+template<typename T, typename U> struct scalar_product_traits;
+
+template<typename T> struct scalar_product_traits<T,T>
+{
+  //enum { Cost = NumTraits<T>::MulCost };
+  typedef T ReturnType;
+};
+
+template<typename T> struct scalar_product_traits<T,std::complex<T> >
+{
+  //enum { Cost = 2*NumTraits<T>::MulCost };
+  typedef std::complex<T> ReturnType;
+};
+
+template<typename T> struct scalar_product_traits<std::complex<T>, T>
+{
+  //enum { Cost = 2*NumTraits<T>::MulCost  };
+  typedef std::complex<T> ReturnType;
+};
+
+// FIXME quick workaround around current limitation of result_of
+// template<typename Scalar, typename ArgType0, typename ArgType1>
+// struct result_of<scalar_product_op<Scalar>(ArgType0,ArgType1)> {
+// typedef typename scalar_product_traits<typename remove_all<ArgType0>::type, typename remove_all<ArgType1>::type>::ReturnType type;
+// };
+
+template<typename T> struct is_diagonal
+{ enum { ret = false }; };
+
+template<typename T> struct is_diagonal<DiagonalBase<T> >
+{ enum { ret = true }; };
+
+template<typename T> struct is_diagonal<DiagonalWrapper<T> >
+{ enum { ret = true }; };
+
+template<typename T, int S> struct is_diagonal<DiagonalMatrix<T,S> >
+{ enum { ret = true }; };
+
+} // end namespace internal
+
+#endif // EIGEN_META_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/ReenableStupidWarnings.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/ReenableStupidWarnings.h
new file mode 100755
index 0000000..5ddfbd4
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/ReenableStupidWarnings.h
@@ -0,0 +1,14 @@
+#ifdef EIGEN_WARNINGS_DISABLED
+#undef EIGEN_WARNINGS_DISABLED
+
+#ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+  #ifdef _MSC_VER
+    #pragma warning( pop )
+  #elif defined __INTEL_COMPILER
+    #pragma warning pop
+  #elif defined __clang__
+    #pragma clang diagnostic pop
+  #endif
+#endif
+
+#endif // EIGEN_WARNINGS_DISABLED
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/StaticAssert.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/StaticAssert.h
new file mode 100755
index 0000000..99c7c99
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/StaticAssert.h
@@ -0,0 +1,198 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STATIC_ASSERT_H
+#define EIGEN_STATIC_ASSERT_H
+
+/* Some notes on Eigen's static assertion mechanism:
+ *
+ *  - in EIGEN_STATIC_ASSERT(CONDITION,MSG) the parameter CONDITION must be a compile time boolean
+ *    expression, and MSG an enum listed in struct internal::static_assertion<true>
+ *
+ *  - define EIGEN_NO_STATIC_ASSERT to disable them (and save compilation time)
+ *    in that case, the static assertion is converted to the following runtime assert:
+ *      eigen_assert(CONDITION && "MSG")
+ *
+ *  - currently EIGEN_STATIC_ASSERT can only be used in function scope
+ *
+ */
+
+#ifndef EIGEN_NO_STATIC_ASSERT
+
+  #if defined(__GXX_EXPERIMENTAL_CXX0X__) || (defined(_MSC_VER) && (_MSC_VER >= 1600))
+
+    // if native static_assert is enabled, let's use it
+    #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
+
+  #else // not CXX0X
+
+    namespace internal {
+
+    template<bool condition>
+    struct static_assertion {};
+
+    template<>
+    struct static_assertion<true>
+    {
+      enum {
+        YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX,
+        YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES,
+        YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES,
+        THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE,
+        THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE,
+        THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE,
+        YOU_MADE_A_PROGRAMMING_MISTAKE,
+        EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT,
+        EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE,
+        YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR,
+        YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR,
+        UNALIGNED_LOAD_AND_STORE_OPERATIONS_UNIMPLEMENTED_ON_ALTIVEC,
+        THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES,
+        NUMERIC_TYPE_MUST_BE_REAL,
+        COEFFICIENT_WRITE_ACCESS_TO_SELFADJOINT_NOT_SUPPORTED,
+        WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED,
+        THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE,
+        INVALID_MATRIX_PRODUCT,
+        INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS,
+        INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION,
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY,
+        THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES,
+        THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES,
+        INVALID_MATRIX_TEMPLATE_PARAMETERS,
+        INVALID_MATRIXBASE_TEMPLATE_PARAMETERS,
+        BOTH_MATRICES_MUST_HAVE_THE_SAME_STORAGE_ORDER,
+        THIS_METHOD_IS_ONLY_FOR_DIAGONAL_MATRIX,
+        THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE,
+        THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES,
+        YOU_ALREADY_SPECIFIED_THIS_STRIDE,
+        INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION,
+        THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD,
+        PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1,
+        THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS,
+        YOU_CANNOT_MIX_ARRAYS_AND_MATRICES,
+        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION,
+        THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY,
+        YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT,
+        THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS
+      };
+    };
+
+    } // end namespace internal
+
+    // Specialized implementation for MSVC to avoid "conditional
+    // expression is constant" warnings.  This implementation doesn't
+    // appear to work under GCC, hence the multiple implementations.
+    #ifdef _MSC_VER
+
+      #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
+        {Eigen::internal::static_assertion<bool(CONDITION)>::MSG;}
+
+    #else
+
+      #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
+        if (Eigen::internal::static_assertion<bool(CONDITION)>::MSG) {}
+
+    #endif
+
+  #endif // not CXX0X
+
+#else // EIGEN_NO_STATIC_ASSERT
+
+  #define EIGEN_STATIC_ASSERT(CONDITION,MSG) eigen_assert((CONDITION) && #MSG);
+
+#endif // EIGEN_NO_STATIC_ASSERT
+
+
+// static assertion failing if the type \a TYPE is not a vector type
+#define EIGEN_STATIC_ASSERT_VECTOR_ONLY(TYPE) \
+  EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime, \
+                      YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX)
+
+// static assertion failing if the type \a TYPE is not fixed-size
+#define EIGEN_STATIC_ASSERT_FIXED_SIZE(TYPE) \
+  EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime!=Eigen::Dynamic, \
+                      YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR)
+
+// static assertion failing if the type \a TYPE is not dynamic-size
+#define EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(TYPE) \
+  EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime==Eigen::Dynamic, \
+                      YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR)
+
+// static assertion failing if the type \a TYPE is not a vector type of the given size
+#define EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(TYPE, SIZE) \
+  EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime && TYPE::SizeAtCompileTime==SIZE, \
+                      THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE)
+
+// static assertion failing if the type \a TYPE is not a vector type of the given size
+#define EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(TYPE, ROWS, COLS) \
+  EIGEN_STATIC_ASSERT(TYPE::RowsAtCompileTime==ROWS && TYPE::ColsAtCompileTime==COLS, \
+                      THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
+
+// static assertion failing if the two vector expression types are not compatible (same fixed-size or dynamic size)
+#define EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(TYPE0,TYPE1) \
+  EIGEN_STATIC_ASSERT( \
+      (int(TYPE0::SizeAtCompileTime)==Eigen::Dynamic \
+    || int(TYPE1::SizeAtCompileTime)==Eigen::Dynamic \
+    || int(TYPE0::SizeAtCompileTime)==int(TYPE1::SizeAtCompileTime)),\
+    YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES)
+
+#define EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
+     ( \
+        (int(TYPE0::SizeAtCompileTime)==0 && int(TYPE1::SizeAtCompileTime)==0) \
+    || (\
+          (int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic \
+        || int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic \
+        || int(TYPE0::RowsAtCompileTime)==int(TYPE1::RowsAtCompileTime)) \
+      &&  (int(TYPE0::ColsAtCompileTime)==Eigen::Dynamic \
+        || int(TYPE1::ColsAtCompileTime)==Eigen::Dynamic \
+        || int(TYPE0::ColsAtCompileTime)==int(TYPE1::ColsAtCompileTime))\
+       ) \
+     )
+
+#ifdef EIGEN2_SUPPORT
+  #define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
+    eigen_assert(!NumTraits<Scalar>::IsInteger);
+#else
+  #define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
+    EIGEN_STATIC_ASSERT(!NumTraits<TYPE>::IsInteger, THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
+#endif
+
+
+// static assertion failing if it is guaranteed at compile-time that the two matrix expression types have different sizes
+#define EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
+  EIGEN_STATIC_ASSERT( \
+     EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1),\
+    YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES)
+
+#define EIGEN_STATIC_ASSERT_SIZE_1x1(TYPE) \
+      EIGEN_STATIC_ASSERT((TYPE::RowsAtCompileTime == 1 || TYPE::RowsAtCompileTime == Dynamic) && \
+                          (TYPE::ColsAtCompileTime == 1 || TYPE::ColsAtCompileTime == Dynamic), \
+                          THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS)
+
+#define EIGEN_STATIC_ASSERT_LVALUE(Derived) \
+      EIGEN_STATIC_ASSERT(internal::is_lvalue<Derived>::value, \
+                          THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY)
+
+#endif // EIGEN_STATIC_ASSERT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/XprHelper.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/XprHelper.h
new file mode 100755
index 0000000..9047c5f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Core/util/XprHelper.h
@@ -0,0 +1,460 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_XPRHELPER_H
+#define EIGEN_XPRHELPER_H
+
+// just a workaround because GCC seems to not really like empty structs
+// FIXME: gcc 4.3 generates bad code when strict-aliasing is enabled
+// so currently we simply disable this optimization for gcc 4.3
+#if (defined __GNUG__) && !((__GNUC__==4) && (__GNUC_MINOR__==3))
+  #define EIGEN_EMPTY_STRUCT_CTOR(X) \
+    EIGEN_STRONG_INLINE X() {} \
+    EIGEN_STRONG_INLINE X(const X& ) {}
+#else
+  #define EIGEN_EMPTY_STRUCT_CTOR(X)
+#endif
+
+typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE DenseIndex;
+
+namespace internal {
+
+//classes inheriting no_assignment_operator don't generate a default operator=.
+class no_assignment_operator
+{
+  private:
+    no_assignment_operator& operator=(const no_assignment_operator&);
+};
+
+/** \internal return the index type with the largest number of bits */
+template<typename I1, typename I2>
+struct promote_index_type
+{
+  typedef typename conditional<(sizeof(I1)<sizeof(I2)), I2, I1>::type type;
+};
+
+/** \internal If the template parameter Value is Dynamic, this class is just a wrapper around a T variable that
+  * can be accessed using value() and setValue().
+  * Otherwise, this class is an empty structure and value() just returns the template parameter Value.
+  */
+template<typename T, int Value> class variable_if_dynamic
+{
+  public:
+    EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamic)
+    explicit variable_if_dynamic(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); assert(v == T(Value)); }
+    static T value() { return T(Value); }
+    void setValue(T) {}
+};
+
+template<typename T> class variable_if_dynamic<T, Dynamic>
+{
+    T m_value;
+    variable_if_dynamic() { assert(false); }
+  public:
+    explicit variable_if_dynamic(T value) : m_value(value) {}
+    T value() const { return m_value; }
+    void setValue(T value) { m_value = value; }
+};
+
+template<typename T> struct functor_traits
+{
+  enum
+  {
+    Cost = 10,
+    PacketAccess = false
+  };
+};
+
+template<typename T> struct packet_traits;
+
+template<typename T> struct unpacket_traits
+{
+  typedef T type;
+  enum {size=1};
+};
+
+template<typename _Scalar, int _Rows, int _Cols,
+         int _Options = AutoAlign |
+                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          : (_Cols==1 && _Rows!=1) ? ColMajor
+                          : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
+         int _MaxRows = _Rows,
+         int _MaxCols = _Cols
+> class make_proper_matrix_type
+{
+    enum {
+      IsColVector = _Cols==1 && _Rows!=1,
+      IsRowVector = _Rows==1 && _Cols!=1,
+      Options = IsColVector ? (_Options | ColMajor) & ~RowMajor
+              : IsRowVector ? (_Options | RowMajor) & ~ColMajor
+              : _Options
+    };
+  public:
+    typedef Matrix<_Scalar, _Rows, _Cols, Options, _MaxRows, _MaxCols> type;
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+class compute_matrix_flags
+{
+    enum {
+      row_major_bit = Options&RowMajor ? RowMajorBit : 0,
+      is_dynamic_size_storage = MaxRows==Dynamic || MaxCols==Dynamic,
+
+      aligned_bit =
+      (
+            ((Options&DontAlign)==0)
+        &&  packet_traits<Scalar>::Vectorizable
+        && (
+#if EIGEN_ALIGN_STATICALLY
+             ((!is_dynamic_size_storage) && (((MaxCols*MaxRows) % packet_traits<Scalar>::size) == 0))
+#else
+             0
+#endif
+
+          ||
+
+#if EIGEN_ALIGN
+             is_dynamic_size_storage
+#else
+             0
+#endif
+
+          )
+      ) ? AlignedBit : 0,
+      packet_access_bit = packet_traits<Scalar>::Vectorizable && aligned_bit ? PacketAccessBit : 0
+    };
+
+  public:
+    enum { ret = LinearAccessBit | LvalueBit | DirectAccessBit | NestByRefBit | packet_access_bit | row_major_bit | aligned_bit };
+};
+
+template<int _Rows, int _Cols> struct size_at_compile_time
+{
+  enum { ret = (_Rows==Dynamic || _Cols==Dynamic) ? Dynamic : _Rows * _Cols };
+};
+
+/* plain_matrix_type : the difference from eval is that plain_matrix_type is always a plain matrix type,
+ * whereas eval is a const reference in the case of a matrix
+ */
+
+template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct plain_matrix_type;
+template<typename T, typename BaseClassType> struct plain_matrix_type_dense;
+template<typename T> struct plain_matrix_type<T,Dense>
+{
+  typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind>::type type;
+};
+
+template<typename T> struct plain_matrix_type_dense<T,MatrixXpr>
+{
+  typedef Matrix<typename traits<T>::Scalar,
+                traits<T>::RowsAtCompileTime,
+                traits<T>::ColsAtCompileTime,
+                AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                traits<T>::MaxRowsAtCompileTime,
+                traits<T>::MaxColsAtCompileTime
+          > type;
+};
+
+template<typename T> struct plain_matrix_type_dense<T,ArrayXpr>
+{
+  typedef Array<typename traits<T>::Scalar,
+                traits<T>::RowsAtCompileTime,
+                traits<T>::ColsAtCompileTime,
+                AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                traits<T>::MaxRowsAtCompileTime,
+                traits<T>::MaxColsAtCompileTime
+          > type;
+};
+
+/* eval : the return type of eval(). For matrices, this is just a const reference
+ * in order to avoid a useless copy
+ */
+
+template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct eval;
+
+template<typename T> struct eval<T,Dense>
+{
+  typedef typename plain_matrix_type<T>::type type;
+//   typedef typename T::PlainObject type;
+//   typedef T::Matrix<typename traits<T>::Scalar,
+//                 traits<T>::RowsAtCompileTime,
+//                 traits<T>::ColsAtCompileTime,
+//                 AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+//                 traits<T>::MaxRowsAtCompileTime,
+//                 traits<T>::MaxColsAtCompileTime
+//           > type;
+};
+
+// for matrices, no need to evaluate, just use a const reference to avoid a useless copy
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct eval<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
+{
+  typedef const Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& type;
+};
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct eval<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
+{
+  typedef const Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& type;
+};
+
+
+
+/* plain_matrix_type_column_major : same as plain_matrix_type but guaranteed to be column-major
+ */
+template<typename T> struct plain_matrix_type_column_major
+{
+  enum { Rows = traits<T>::RowsAtCompileTime,
+         Cols = traits<T>::ColsAtCompileTime,
+         MaxRows = traits<T>::MaxRowsAtCompileTime,
+         MaxCols = traits<T>::MaxColsAtCompileTime
+  };
+  typedef Matrix<typename traits<T>::Scalar,
+                Rows,
+                Cols,
+                (MaxRows==1&&MaxCols!=1) ? RowMajor : ColMajor,
+                MaxRows,
+                MaxCols
+          > type;
+};
+
+/* plain_matrix_type_row_major : same as plain_matrix_type but guaranteed to be row-major
+ */
+template<typename T> struct plain_matrix_type_row_major
+{
+  enum { Rows = traits<T>::RowsAtCompileTime,
+         Cols = traits<T>::ColsAtCompileTime,
+         MaxRows = traits<T>::MaxRowsAtCompileTime,
+         MaxCols = traits<T>::MaxColsAtCompileTime
+  };
+  typedef Matrix<typename traits<T>::Scalar,
+                Rows,
+                Cols,
+                (MaxCols==1&&MaxRows!=1) ? RowMajor : ColMajor,
+                MaxRows,
+                MaxCols
+          > type;
+};
+
+// we should be able to get rid of this one too
+template<typename T> struct must_nest_by_value { enum { ret = false }; };
+
+template<class T>
+struct is_reference
+{
+  enum { ret = false };
+};
+
+template<class T>
+struct is_reference<T&>
+{
+  enum { ret = true };
+};
+
+/**
+* \internal The reference selector for template expressions. The idea is that we don't
+* need to use references for expressions since they are light weight proxy
+* objects which should generate no copying overhead.
+**/
+template <typename T>
+struct ref_selector
+{
+  typedef typename conditional<
+    bool(traits<T>::Flags & NestByRefBit),
+    T const&,
+    T
+  >::type type;
+};
+
+/** \internal Determines how a given expression should be nested into another one.
+  * For example, when you do a * (b+c), Eigen will determine how the expression b+c should be
+  * nested into the bigger product expression. The choice is between nesting the expression b+c as-is, or
+  * evaluating that expression b+c into a temporary variable d, and nest d so that the resulting expression is
+  * a*d. Evaluating can be beneficial for example if every coefficient access in the resulting expression causes
+  * many coefficient accesses in the nested expressions -- as is the case with matrix product for example.
+  *
+  * \param T the type of the expression being nested
+  * \param n the number of coefficient accesses in the nested expression for each coefficient access in the bigger expression.
+  *
+  * Example. Suppose that a, b, and c are of type Matrix3d. The user forms the expression a*(b+c).
+  * b+c is an expression "sum of matrices", which we will denote by S. In order to determine how to nest it,
+  * the Product expression uses: nested<S, 3>::ret, which turns out to be Matrix3d because the internal logic of
+  * nested determined that in this case it was better to evaluate the expression b+c into a temporary. On the other hand,
+  * since a is of type Matrix3d, the Product expression nests it as nested<Matrix3d, 3>::ret, which turns out to be
+  * const Matrix3d&, because the internal logic of nested determined that since a was already a matrix, there was no point
+  * in copying it into another matrix.
+  */
+template<typename T, int n=1, typename PlainObject = typename eval<T>::type> struct nested
+{
+  enum {
+    // for the purpose of this test, to keep it reasonably simple, we arbitrarily choose a value of Dynamic values.
+    // the choice of 10000 makes it larger than any practical fixed value and even most dynamic values.
+    // in extreme cases where these assumptions would be wrong, we would still at worst suffer performance issues
+    // (poor choice of temporaries).
+    // it's important that this value can still be squared without integer overflowing.
+    DynamicAsInteger = 10000,
+    ScalarReadCost = NumTraits<typename traits<T>::Scalar>::ReadCost,
+    ScalarReadCostAsInteger = ScalarReadCost == Dynamic ? DynamicAsInteger : ScalarReadCost,
+    CoeffReadCost = traits<T>::CoeffReadCost,
+    CoeffReadCostAsInteger = CoeffReadCost == Dynamic ? DynamicAsInteger : CoeffReadCost,
+    NAsInteger = n == Dynamic ? int(DynamicAsInteger) : n,
+    CostEvalAsInteger   = (NAsInteger+1) * ScalarReadCostAsInteger + CoeffReadCostAsInteger,
+    CostNoEvalAsInteger = NAsInteger * CoeffReadCostAsInteger
+  };
+
+  typedef typename conditional<
+      ( (int(traits<T>::Flags) & EvalBeforeNestingBit) ||
+        int(CostEvalAsInteger) < int(CostNoEvalAsInteger)
+      ),
+      PlainObject,
+      typename ref_selector<T>::type
+  >::type type;
+};
+
+template<typename T>
+T* const_cast_ptr(const T* ptr)
+{
+  return const_cast<T*>(ptr);
+}
+
+template<typename Derived, typename XprKind = typename traits<Derived>::XprKind>
+struct dense_xpr_base
+{
+  /* dense_xpr_base should only ever be used on dense expressions, thus falling either into the MatrixXpr or into the ArrayXpr cases */
+};
+
+template<typename Derived>
+struct dense_xpr_base<Derived, MatrixXpr>
+{
+  typedef MatrixBase<Derived> type;
+};
+
+template<typename Derived>
+struct dense_xpr_base<Derived, ArrayXpr>
+{
+  typedef ArrayBase<Derived> type;
+};
+
+/** \internal Helper base class to add a scalar multiple operator
+  * overloads for complex types */
+template<typename Derived,typename Scalar,typename OtherScalar,
+         bool EnableIt = !is_same<Scalar,OtherScalar>::value >
+struct special_scalar_op_base : public DenseCoeffsBase<Derived>
+{
+  // dummy operator* so that the
+  // "using special_scalar_op_base::operator*" compiles
+  void operator*() const;
+};
+
+template<typename Derived,typename Scalar,typename OtherScalar>
+struct special_scalar_op_base<Derived,Scalar,OtherScalar,true>  : public DenseCoeffsBase<Derived>
+{
+  const CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
+  operator*(const OtherScalar& scalar) const
+  {
+    return CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
+      (*static_cast<const Derived*>(this), scalar_multiple2_op<Scalar,OtherScalar>(scalar));
+  }
+
+  inline friend const CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
+  operator*(const OtherScalar& scalar, const Derived& matrix)
+  { return static_cast<const special_scalar_op_base&>(matrix).operator*(scalar); }
+};
+
+template<typename XprType, typename CastType> struct cast_return_type
+{
+  typedef typename XprType::Scalar CurrentScalarType;
+  typedef typename remove_all<CastType>::type _CastType;
+  typedef typename _CastType::Scalar NewScalarType;
+  typedef typename conditional<is_same<CurrentScalarType,NewScalarType>::value,
+                              const XprType&,CastType>::type type;
+};
+
+template <typename A, typename B> struct promote_storage_type;
+
+template <typename A> struct promote_storage_type<A,A>
+{
+  typedef A ret;
+};
+
+/** \internal gives the plain matrix or array type to store a row/column/diagonal of a matrix type.
+  * \param Scalar optional parameter allowing to pass a different scalar type than the one of the MatrixType.
+  */
+template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
+struct plain_row_type
+{
+  typedef Matrix<Scalar, 1, ExpressionType::ColsAtCompileTime,
+                 ExpressionType::PlainObject::Options | RowMajor, 1, ExpressionType::MaxColsAtCompileTime> MatrixRowType;
+  typedef Array<Scalar, 1, ExpressionType::ColsAtCompileTime,
+                 ExpressionType::PlainObject::Options | RowMajor, 1, ExpressionType::MaxColsAtCompileTime> ArrayRowType;
+
+  typedef typename conditional<
+    is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
+    MatrixRowType,
+    ArrayRowType 
+  >::type type;
+};
+
+template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
+struct plain_col_type
+{
+  typedef Matrix<Scalar, ExpressionType::RowsAtCompileTime, 1,
+                 ExpressionType::PlainObject::Options & ~RowMajor, ExpressionType::MaxRowsAtCompileTime, 1> MatrixColType;
+  typedef Array<Scalar, ExpressionType::RowsAtCompileTime, 1,
+                 ExpressionType::PlainObject::Options & ~RowMajor, ExpressionType::MaxRowsAtCompileTime, 1> ArrayColType;
+
+  typedef typename conditional<
+    is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
+    MatrixColType,
+    ArrayColType 
+  >::type type;
+};
+
+template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
+struct plain_diag_type
+{
+  enum { diag_size = EIGEN_SIZE_MIN_PREFER_DYNAMIC(ExpressionType::RowsAtCompileTime, ExpressionType::ColsAtCompileTime),
+         max_diag_size = EIGEN_SIZE_MIN_PREFER_FIXED(ExpressionType::MaxRowsAtCompileTime, ExpressionType::MaxColsAtCompileTime)
+  };
+  typedef Matrix<Scalar, diag_size, 1, ExpressionType::PlainObject::Options & ~RowMajor, max_diag_size, 1> MatrixDiagType;
+  typedef Array<Scalar, diag_size, 1, ExpressionType::PlainObject::Options & ~RowMajor, max_diag_size, 1> ArrayDiagType;
+
+  typedef typename conditional<
+    is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
+    MatrixDiagType,
+    ArrayDiagType 
+  >::type type;
+};
+
+template<typename ExpressionType>
+struct is_lvalue
+{
+  enum { value = !bool(is_const<ExpressionType>::value) &&
+                 bool(traits<ExpressionType>::Flags & LvalueBit) };
+};
+
+} // end namespace internal
+
+#endif // EIGEN_XPRHELPER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Block.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Block.h
new file mode 100755
index 0000000..bc28051
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Block.h
@@ -0,0 +1,137 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BLOCK2_H
+#define EIGEN_BLOCK2_H
+
+/** \returns a dynamic-size expression of a corner of *this.
+  *
+  * \param type the type of corner. Can be \a Eigen::TopLeft, \a Eigen::TopRight,
+  * \a Eigen::BottomLeft, \a Eigen::BottomRight.
+  * \param cRows the number of rows in the corner
+  * \param cCols the number of columns in the corner
+  *
+  * Example: \include MatrixBase_corner_enum_int_int.cpp
+  * Output: \verbinclude MatrixBase_corner_enum_int_int.out
+  *
+  * \note Even though the returned expression has dynamic size, in the case
+  * when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
+  * which means that evaluating it does not cause a dynamic memory allocation.
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<typename Derived>
+inline Block<Derived> DenseBase<Derived>
+  ::corner(CornerType type, Index cRows, Index cCols)
+{
+  switch(type)
+  {
+    default:
+      eigen_assert(false && "Bad corner type.");
+    case TopLeft:
+      return Block<Derived>(derived(), 0, 0, cRows, cCols);
+    case TopRight:
+      return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
+    case BottomLeft:
+      return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+    case BottomRight:
+      return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  }
+}
+
+/** This is the const version of corner(CornerType, Index, Index).*/
+template<typename Derived>
+inline const Block<Derived>
+DenseBase<Derived>::corner(CornerType type, Index cRows, Index cCols) const
+{
+  switch(type)
+  {
+    default:
+      eigen_assert(false && "Bad corner type.");
+    case TopLeft:
+      return Block<Derived>(derived(), 0, 0, cRows, cCols);
+    case TopRight:
+      return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
+    case BottomLeft:
+      return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+    case BottomRight:
+      return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  }
+}
+
+/** \returns a fixed-size expression of a corner of *this.
+  *
+  * \param type the type of corner. Can be \a Eigen::TopLeft, \a Eigen::TopRight,
+  * \a Eigen::BottomLeft, \a Eigen::BottomRight.
+  *
+  * The template parameters CRows and CCols arethe number of rows and columns in the corner.
+  *
+  * Example: \include MatrixBase_template_int_int_corner_enum.cpp
+  * Output: \verbinclude MatrixBase_template_int_int_corner_enum.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<typename Derived>
+template<int CRows, int CCols>
+inline Block<Derived, CRows, CCols>
+DenseBase<Derived>::corner(CornerType type)
+{
+  switch(type)
+  {
+    default:
+      eigen_assert(false && "Bad corner type.");
+    case TopLeft:
+      return Block<Derived, CRows, CCols>(derived(), 0, 0);
+    case TopRight:
+      return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+    case BottomLeft:
+      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+    case BottomRight:
+      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+  }
+}
+
+/** This is the const version of corner<int, int>(CornerType).*/
+template<typename Derived>
+template<int CRows, int CCols>
+inline const Block<Derived, CRows, CCols>
+DenseBase<Derived>::corner(CornerType type) const
+{
+  switch(type)
+  {
+    default:
+      eigen_assert(false && "Bad corner type.");
+    case TopLeft:
+      return Block<Derived, CRows, CCols>(derived(), 0, 0);
+    case TopRight:
+      return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+    case BottomLeft:
+      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+    case BottomRight:
+      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+  }
+}
+
+#endif // EIGEN_BLOCK2_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/CMakeLists.txt
new file mode 100755
index 0000000..7ae41b3
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/CMakeLists.txt
@@ -0,0 +1,8 @@
+FILE(GLOB Eigen_Eigen2Support_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Eigen2Support_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Eigen2Support COMPONENT Devel
+  )
+
+ADD_SUBDIRECTORY(Geometry)
\ No newline at end of file
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Cwise.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Cwise.h
new file mode 100755
index 0000000..c619d38
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Cwise.h
@@ -0,0 +1,199 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_CWISE_H
+#define EIGEN_CWISE_H
+
+/** \internal
+  * convenient macro to defined the return type of a cwise binary operation */
+#define EIGEN_CWISE_BINOP_RETURN_TYPE(OP) \
+    CwiseBinaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType, OtherDerived>
+
+/** \internal
+  * convenient macro to defined the return type of a cwise unary operation */
+#define EIGEN_CWISE_UNOP_RETURN_TYPE(OP) \
+    CwiseUnaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType>
+
+/** \internal
+  * convenient macro to defined the return type of a cwise comparison to a scalar */
+#define EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(OP) \
+    CwiseBinaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType, \
+        typename ExpressionType::ConstantReturnType >
+
+/** \class Cwise
+  *
+  * \brief Pseudo expression providing additional coefficient-wise operations
+  *
+  * \param ExpressionType the type of the object on which to do coefficient-wise operations
+  *
+  * This class represents an expression with additional coefficient-wise features.
+  * It is the return type of MatrixBase::cwise()
+  * and most of the time this is the only way it is used.
+  *
+  * Example: \include MatrixBase_cwise_const.cpp
+  * Output: \verbinclude MatrixBase_cwise_const.out
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_CWISE_PLUGIN.
+  *
+  * \sa MatrixBase::cwise() const, MatrixBase::cwise()
+  */
+template<typename ExpressionType> class Cwise
+{
+  public:
+
+    typedef typename internal::traits<ExpressionType>::Scalar Scalar;
+    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
+        ExpressionType, const ExpressionType&>::type ExpressionTypeNested;
+    typedef CwiseUnaryOp<internal::scalar_add_op<Scalar>, ExpressionType> ScalarAddReturnType;
+
+    inline Cwise(const ExpressionType& matrix) : m_matrix(matrix) {}
+
+    /** \internal */
+    inline const ExpressionType& _expression() const { return m_matrix; }
+
+    template<typename OtherDerived>
+    const EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)
+    operator*(const MatrixBase<OtherDerived> &other) const;
+
+    template<typename OtherDerived>
+    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
+    operator/(const MatrixBase<OtherDerived> &other) const;
+
+    template<typename OtherDerived>
+    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_min_op)
+    min(const MatrixBase<OtherDerived> &other) const;
+
+    template<typename OtherDerived>
+    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_max_op)
+    max(const MatrixBase<OtherDerived> &other) const;
+
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs_op)      abs() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs2_op)     abs2() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_square_op)   square() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cube_op)     cube() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_inverse_op)  inverse() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sqrt_op)     sqrt() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_exp_op)      exp() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_log_op)      log() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cos_op)      cos() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sin_op)      sin() const;
+    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)      pow(const Scalar& exponent) const;
+
+    const ScalarAddReturnType
+    operator+(const Scalar& scalar) const;
+
+    /** \relates Cwise */
+    friend const ScalarAddReturnType
+    operator+(const Scalar& scalar, const Cwise& mat)
+    { return mat + scalar; }
+
+    ExpressionType& operator+=(const Scalar& scalar);
+
+    const ScalarAddReturnType
+    operator-(const Scalar& scalar) const;
+
+    ExpressionType& operator-=(const Scalar& scalar);
+
+    template<typename OtherDerived>
+    inline ExpressionType& operator*=(const MatrixBase<OtherDerived> &other);
+
+    template<typename OtherDerived>
+    inline ExpressionType& operator/=(const MatrixBase<OtherDerived> &other);
+
+    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)
+    operator<(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)
+    operator<=(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)
+    operator>(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)
+    operator>=(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)
+    operator==(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)
+    operator!=(const MatrixBase<OtherDerived>& other) const;
+
+    // comparisons to a scalar value
+    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)
+    operator<(Scalar s) const;
+
+    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)
+    operator<=(Scalar s) const;
+
+    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)
+    operator>(Scalar s) const;
+
+    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)
+    operator>=(Scalar s) const;
+
+    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)
+    operator==(Scalar s) const;
+
+    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)
+    operator!=(Scalar s) const;
+
+    // allow to extend Cwise outside Eigen
+    #ifdef EIGEN_CWISE_PLUGIN
+    #include EIGEN_CWISE_PLUGIN
+    #endif
+
+  protected:
+    ExpressionTypeNested m_matrix;
+};
+
+
+/** \returns a Cwise wrapper of *this providing additional coefficient-wise operations
+  *
+  * Example: \include MatrixBase_cwise_const.cpp
+  * Output: \verbinclude MatrixBase_cwise_const.out
+  *
+  * \sa class Cwise, cwise()
+  */
+template<typename Derived>
+inline const Cwise<Derived> MatrixBase<Derived>::cwise() const
+{
+  return derived();
+}
+
+/** \returns a Cwise wrapper of *this providing additional coefficient-wise operations
+  *
+  * Example: \include MatrixBase_cwise.cpp
+  * Output: \verbinclude MatrixBase_cwise.out
+  *
+  * \sa class Cwise, cwise() const
+  */
+template<typename Derived>
+inline Cwise<Derived> MatrixBase<Derived>::cwise()
+{
+  return derived();
+}
+
+#endif // EIGEN_CWISE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/CwiseOperators.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/CwiseOperators.h
new file mode 100755
index 0000000..0c7e9db
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/CwiseOperators.h
@@ -0,0 +1,327 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ARRAY_CWISE_OPERATORS_H
+#define EIGEN_ARRAY_CWISE_OPERATORS_H
+
+/***************************************************************************
+* The following functions were defined in Core
+***************************************************************************/
+
+
+/** \deprecated ArrayBase::abs() */
+template<typename ExpressionType>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs_op)
+Cwise<ExpressionType>::abs() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::abs2() */
+template<typename ExpressionType>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs2_op)
+Cwise<ExpressionType>::abs2() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::exp() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_exp_op)
+Cwise<ExpressionType>::exp() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::log() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_log_op)
+Cwise<ExpressionType>::log() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::operator*() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)
+Cwise<ExpressionType>::operator*(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator/() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
+Cwise<ExpressionType>::operator/(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator*=() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline ExpressionType& Cwise<ExpressionType>::operator*=(const MatrixBase<OtherDerived> &other)
+{
+  return m_matrix.const_cast_derived() = *this * other;
+}
+
+/** \deprecated ArrayBase::operator/=() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline ExpressionType& Cwise<ExpressionType>::operator/=(const MatrixBase<OtherDerived> &other)
+{
+  return m_matrix.const_cast_derived() = *this / other;
+}
+
+/** \deprecated ArrayBase::min() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_min_op)
+Cwise<ExpressionType>::min(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_min_op)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::max() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_max_op)
+Cwise<ExpressionType>::max(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_max_op)(_expression(), other.derived());
+}
+
+/***************************************************************************
+* The following functions were defined in Array
+***************************************************************************/
+
+// -- unary operators --
+
+/** \deprecated ArrayBase::sqrt() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sqrt_op)
+Cwise<ExpressionType>::sqrt() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::cos() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cos_op)
+Cwise<ExpressionType>::cos() const
+{
+  return _expression();
+}
+
+
+/** \deprecated ArrayBase::sin() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sin_op)
+Cwise<ExpressionType>::sin() const
+{
+  return _expression();
+}
+
+
+/** \deprecated ArrayBase::log() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)
+Cwise<ExpressionType>::pow(const Scalar& exponent) const
+{
+  return EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)(_expression(), internal::scalar_pow_op<Scalar>(exponent));
+}
+
+
+/** \deprecated ArrayBase::inverse() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_inverse_op)
+Cwise<ExpressionType>::inverse() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::square() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_square_op)
+Cwise<ExpressionType>::square() const
+{
+  return _expression();
+}
+
+/** \deprecated ArrayBase::cube() */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cube_op)
+Cwise<ExpressionType>::cube() const
+{
+  return _expression();
+}
+
+
+// -- binary operators --
+
+/** \deprecated ArrayBase::operator<() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)
+Cwise<ExpressionType>::operator<(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::<=() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)
+Cwise<ExpressionType>::operator<=(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator>() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)
+Cwise<ExpressionType>::operator>(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator>=() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)
+Cwise<ExpressionType>::operator>=(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator==() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)
+Cwise<ExpressionType>::operator==(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)(_expression(), other.derived());
+}
+
+/** \deprecated ArrayBase::operator!=() */
+template<typename ExpressionType>
+template<typename OtherDerived>
+inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)
+Cwise<ExpressionType>::operator!=(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)(_expression(), other.derived());
+}
+
+// comparisons to scalar value
+
+/** \deprecated ArrayBase::operator<(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)
+Cwise<ExpressionType>::operator<(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+/** \deprecated ArrayBase::operator<=(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)
+Cwise<ExpressionType>::operator<=(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+/** \deprecated ArrayBase::operator>(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)
+Cwise<ExpressionType>::operator>(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+/** \deprecated ArrayBase::operator>=(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)
+Cwise<ExpressionType>::operator>=(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+/** \deprecated ArrayBase::operator==(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)
+Cwise<ExpressionType>::operator==(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+/** \deprecated ArrayBase::operator!=(Scalar) */
+template<typename ExpressionType>
+inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)
+Cwise<ExpressionType>::operator!=(Scalar s) const
+{
+  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)(_expression(),
+            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
+}
+
+// scalar addition
+
+/** \deprecated ArrayBase::operator+(Scalar) */
+template<typename ExpressionType>
+inline const typename Cwise<ExpressionType>::ScalarAddReturnType
+Cwise<ExpressionType>::operator+(const Scalar& scalar) const
+{
+  return typename Cwise<ExpressionType>::ScalarAddReturnType(m_matrix, internal::scalar_add_op<Scalar>(scalar));
+}
+
+/** \deprecated ArrayBase::operator+=(Scalar) */
+template<typename ExpressionType>
+inline ExpressionType& Cwise<ExpressionType>::operator+=(const Scalar& scalar)
+{
+  return m_matrix.const_cast_derived() = *this + scalar;
+}
+
+/** \deprecated ArrayBase::operator-(Scalar) */
+template<typename ExpressionType>
+inline const typename Cwise<ExpressionType>::ScalarAddReturnType
+Cwise<ExpressionType>::operator-(const Scalar& scalar) const
+{
+  return *this + (-scalar);
+}
+
+/** \deprecated ArrayBase::operator-=(Scalar) */
+template<typename ExpressionType>
+inline ExpressionType& Cwise<ExpressionType>::operator-=(const Scalar& scalar)
+{
+  return m_matrix.const_cast_derived() = *this - scalar;
+}
+
+#endif // EIGEN_ARRAY_CWISE_OPERATORS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/AlignedBox.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
new file mode 100755
index 0000000..1c915be
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
@@ -0,0 +1,170 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+/** \geometry_module \ingroup Geometry_Module
+  * \nonstableyet
+  *
+  * \class AlignedBox
+  *
+  * \brief An axis aligned box
+  *
+  * \param _Scalar the type of the scalar coefficients
+  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  *
+  * This class represents an axis aligned box as a pair of the minimal and maximal corners.
+  */
+template <typename _Scalar, int _AmbientDim>
+class AlignedBox
+{
+public:
+EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
+  enum { AmbientDimAtCompileTime = _AmbientDim };
+  typedef _Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
+
+  /** Default constructor initializing a null box. */
+  inline explicit AlignedBox()
+  { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
+
+  /** Constructs a null box with \a _dim the dimension of the ambient space. */
+  inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
+  { setNull(); }
+
+  /** Constructs a box with extremities \a _min and \a _max. */
+  inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
+
+  /** Constructs a box containing a single point \a p. */
+  inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
+
+  ~AlignedBox() {}
+
+  /** \returns the dimension in which the box holds */
+  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
+
+  /** \returns true if the box is null, i.e, empty. */
+  inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
+
+  /** Makes \c *this a null/empty box. */
+  inline void setNull()
+  {
+    m_min.setConstant( std::numeric_limits<Scalar>::max());
+    m_max.setConstant(-std::numeric_limits<Scalar>::max());
+  }
+
+  /** \returns the minimal corner */
+  inline const VectorType& min() const { return m_min; }
+  /** \returns a non const reference to the minimal corner */
+  inline VectorType& min() { return m_min; }
+  /** \returns the maximal corner */
+  inline const VectorType& max() const { return m_max; }
+  /** \returns a non const reference to the maximal corner */
+  inline VectorType& max() { return m_max; }
+
+  /** \returns true if the point \a p is inside the box \c *this. */
+  inline bool contains(const VectorType& p) const
+  { return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
+
+  /** \returns true if the box \a b is entirely inside the box \c *this. */
+  inline bool contains(const AlignedBox& b) const
+  { return (m_min.cwise()<=b.min()).all() && (b.max().cwise()<=m_max).all(); }
+
+  /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
+  inline AlignedBox& extend(const VectorType& p)
+  { m_min = m_min.cwise().min(p); m_max = m_max.cwise().max(p); return *this; }
+
+  /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
+  inline AlignedBox& extend(const AlignedBox& b)
+  { m_min = m_min.cwise().min(b.m_min); m_max = m_max.cwise().max(b.m_max); return *this; }
+
+  /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
+  inline AlignedBox& clamp(const AlignedBox& b)
+  { m_min = m_min.cwise().max(b.m_min); m_max = m_max.cwise().min(b.m_max); return *this; }
+
+  /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
+  inline AlignedBox& translate(const VectorType& t)
+  { m_min += t; m_max += t; return *this; }
+
+  /** \returns the squared distance between the point \a p and the box \c *this,
+    * and zero if \a p is inside the box.
+    * \sa exteriorDistance()
+    */
+  inline Scalar squaredExteriorDistance(const VectorType& p) const;
+
+  /** \returns the distance between the point \a p and the box \c *this,
+    * and zero if \a p is inside the box.
+    * \sa squaredExteriorDistance()
+    */
+  inline Scalar exteriorDistance(const VectorType& p) const
+  { return ei_sqrt(squaredExteriorDistance(p)); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<AlignedBox,
+           AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
+  {
+    return typename internal::cast_return_type<AlignedBox,
+                    AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
+  {
+    m_min = other.min().template cast<Scalar>();
+    m_max = other.max().template cast<Scalar>();
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const AlignedBox& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
+  { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
+
+protected:
+
+  VectorType m_min, m_max;
+};
+
+template<typename Scalar,int AmbiantDim>
+inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
+{
+  Scalar dist2 = 0.;
+  Scalar aux;
+  for (int k=0; k<dim(); ++k)
+  {
+    if ((aux = (p[k]-m_min[k]))<0.)
+      dist2 += aux*aux;
+    else if ( (aux = (m_max[k]-p[k]))<0. )
+      dist2 += aux*aux;
+  }
+  return dist2;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/All.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/All.h
new file mode 100755
index 0000000..9d8244b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/All.h
@@ -0,0 +1,115 @@
+#ifndef EIGEN2_GEOMETRY_MODULE_H
+#define EIGEN2_GEOMETRY_MODULE_H
+
+#include <limits>
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
+#include "RotationBase.h"
+#include "Rotation2D.h"
+#include "Quaternion.h"
+#include "AngleAxis.h"
+#include "Transform.h"
+#include "Translation.h"
+#include "Scaling.h"
+#include "AlignedBox.h"
+#include "Hyperplane.h"
+#include "ParametrizedLine.h"
+#endif
+
+
+#define RotationBase eigen2_RotationBase
+#define Rotation2D eigen2_Rotation2D
+#define Rotation2Df eigen2_Rotation2Df
+#define Rotation2Dd eigen2_Rotation2Dd
+
+#define Quaternion  eigen2_Quaternion
+#define Quaternionf eigen2_Quaternionf
+#define Quaterniond eigen2_Quaterniond
+
+#define AngleAxis eigen2_AngleAxis
+#define AngleAxisf eigen2_AngleAxisf
+#define AngleAxisd eigen2_AngleAxisd
+
+#define Transform   eigen2_Transform
+#define Transform2f eigen2_Transform2f
+#define Transform2d eigen2_Transform2d
+#define Transform3f eigen2_Transform3f
+#define Transform3d eigen2_Transform3d
+
+#define Translation eigen2_Translation
+#define Translation2f eigen2_Translation2f
+#define Translation2d eigen2_Translation2d
+#define Translation3f eigen2_Translation3f
+#define Translation3d eigen2_Translation3d
+
+#define Scaling eigen2_Scaling
+#define Scaling2f eigen2_Scaling2f
+#define Scaling2d eigen2_Scaling2d
+#define Scaling3f eigen2_Scaling3f
+#define Scaling3d eigen2_Scaling3d
+
+#define AlignedBox eigen2_AlignedBox
+
+#define Hyperplane eigen2_Hyperplane
+#define ParametrizedLine eigen2_ParametrizedLine
+
+#define ei_toRotationMatrix eigen2_ei_toRotationMatrix
+#define ei_quaternion_assign_impl eigen2_ei_quaternion_assign_impl
+#define ei_transform_product_impl eigen2_ei_transform_product_impl
+
+#include "RotationBase.h"
+#include "Rotation2D.h"
+#include "Quaternion.h"
+#include "AngleAxis.h"
+#include "Transform.h"
+#include "Translation.h"
+#include "Scaling.h"
+#include "AlignedBox.h"
+#include "Hyperplane.h"
+#include "ParametrizedLine.h"
+
+#undef ei_toRotationMatrix
+#undef ei_quaternion_assign_impl
+#undef ei_transform_product_impl
+
+#undef RotationBase
+#undef Rotation2D
+#undef Rotation2Df
+#undef Rotation2Dd
+
+#undef Quaternion
+#undef Quaternionf
+#undef Quaterniond
+
+#undef AngleAxis
+#undef AngleAxisf
+#undef AngleAxisd
+
+#undef Transform
+#undef Transform2f
+#undef Transform2d
+#undef Transform3f
+#undef Transform3d
+
+#undef Translation
+#undef Translation2f
+#undef Translation2d
+#undef Translation3f
+#undef Translation3d
+
+#undef Scaling
+#undef Scaling2f
+#undef Scaling2d
+#undef Scaling3f
+#undef Scaling3d
+
+#undef AlignedBox
+
+#undef Hyperplane
+#undef ParametrizedLine
+
+#endif // EIGEN2_GEOMETRY_MODULE_H
\ No newline at end of file
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/AngleAxis.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
new file mode 100755
index 0000000..f7b2d51
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
@@ -0,0 +1,226 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class AngleAxis
+  *
+  * \brief Represents a 3D rotation as a rotation angle around an arbitrary 3D axis
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  *
+  * The following two typedefs are provided for convenience:
+  * \li \c AngleAxisf for \c float
+  * \li \c AngleAxisd for \c double
+  *
+  * \addexample AngleAxisForEuler \label How to define a rotation from Euler-angles
+  *
+  * Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily
+  * mimic Euler-angles. Here is an example:
+  * \include AngleAxis_mimic_euler.cpp
+  * Output: \verbinclude AngleAxis_mimic_euler.out
+  *
+  * \note This class is not aimed to be used to store a rotation transformation,
+  * but rather to make easier the creation of other rotation (Quaternion, rotation Matrix)
+  * and transformation objects.
+  *
+  * \sa class Quaternion, class Transform, MatrixBase::UnitX()
+  */
+
+template<typename _Scalar> struct ei_traits<AngleAxis<_Scalar> >
+{
+  typedef _Scalar Scalar;
+};
+
+template<typename _Scalar>
+class AngleAxis : public RotationBase<AngleAxis<_Scalar>,3>
+{
+  typedef RotationBase<AngleAxis<_Scalar>,3> Base;
+
+public:
+
+  using Base::operator*;
+
+  enum { Dim = 3 };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  typedef Matrix<Scalar,3,3> Matrix3;
+  typedef Matrix<Scalar,3,1> Vector3;
+  typedef Quaternion<Scalar> QuaternionType;
+
+protected:
+
+  Vector3 m_axis;
+  Scalar m_angle;
+
+public:
+
+  /** Default constructor without initialization. */
+  AngleAxis() {}
+  /** Constructs and initialize the angle-axis rotation from an \a angle in radian
+    * and an \a axis which must be normalized. */
+  template<typename Derived>
+  inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
+  /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */
+  inline AngleAxis(const QuaternionType& q) { *this = q; }
+  /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
+  template<typename Derived>
+  inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
+
+  Scalar angle() const { return m_angle; }
+  Scalar& angle() { return m_angle; }
+
+  const Vector3& axis() const { return m_axis; }
+  Vector3& axis() { return m_axis; }
+
+  /** Concatenates two rotations */
+  inline QuaternionType operator* (const AngleAxis& other) const
+  { return QuaternionType(*this) * QuaternionType(other); }
+
+  /** Concatenates two rotations */
+  inline QuaternionType operator* (const QuaternionType& other) const
+  { return QuaternionType(*this) * other; }
+
+  /** Concatenates two rotations */
+  friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
+  { return a * QuaternionType(b); }
+
+  /** Concatenates two rotations */
+  inline Matrix3 operator* (const Matrix3& other) const
+  { return toRotationMatrix() * other; }
+
+  /** Concatenates two rotations */
+  inline friend Matrix3 operator* (const Matrix3& a, const AngleAxis& b)
+  { return a * b.toRotationMatrix(); }
+
+  /** Applies rotation to vector */
+  inline Vector3 operator* (const Vector3& other) const
+  { return toRotationMatrix() * other; }
+
+  /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
+  AngleAxis inverse() const
+  { return AngleAxis(-m_angle, m_axis); }
+
+  AngleAxis& operator=(const QuaternionType& q);
+  template<typename Derived>
+  AngleAxis& operator=(const MatrixBase<Derived>& m);
+
+  template<typename Derived>
+  AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
+  Matrix3 toRotationMatrix(void) const;
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
+  { return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
+  {
+    m_axis = other.axis().template cast<Scalar>();
+    m_angle = Scalar(other.angle());
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const AngleAxis& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
+  { return m_axis.isApprox(other.m_axis, prec) && ei_isApprox(m_angle,other.m_angle, prec); }
+};
+
+/** \ingroup Geometry_Module
+  * single precision angle-axis type */
+typedef AngleAxis<float> AngleAxisf;
+/** \ingroup Geometry_Module
+  * double precision angle-axis type */
+typedef AngleAxis<double> AngleAxisd;
+
+/** Set \c *this from a quaternion.
+  * The axis is normalized.
+  */
+template<typename Scalar>
+AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionType& q)
+{
+  Scalar n2 = q.vec().squaredNorm();
+  if (n2 < precision<Scalar>()*precision<Scalar>())
+  {
+    m_angle = 0;
+    m_axis << 1, 0, 0;
+  }
+  else
+  {
+    m_angle = 2*std::acos(q.w());
+    m_axis = q.vec() / ei_sqrt(n2);
+  }
+  return *this;
+}
+
+/** Set \c *this from a 3x3 rotation matrix \a mat.
+  */
+template<typename Scalar>
+template<typename Derived>
+AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
+{
+  // Since a direct conversion would not be really faster,
+  // let's use the robust Quaternion implementation:
+  return *this = QuaternionType(mat);
+}
+
+/** Constructs and \returns an equivalent 3x3 rotation matrix.
+  */
+template<typename Scalar>
+typename AngleAxis<Scalar>::Matrix3
+AngleAxis<Scalar>::toRotationMatrix(void) const
+{
+  Matrix3 res;
+  Vector3 sin_axis  = ei_sin(m_angle) * m_axis;
+  Scalar c = ei_cos(m_angle);
+  Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
+
+  Scalar tmp;
+  tmp = cos1_axis.x() * m_axis.y();
+  res.coeffRef(0,1) = tmp - sin_axis.z();
+  res.coeffRef(1,0) = tmp + sin_axis.z();
+
+  tmp = cos1_axis.x() * m_axis.z();
+  res.coeffRef(0,2) = tmp + sin_axis.y();
+  res.coeffRef(2,0) = tmp - sin_axis.y();
+
+  tmp = cos1_axis.y() * m_axis.z();
+  res.coeffRef(1,2) = tmp - sin_axis.x();
+  res.coeffRef(2,1) = tmp + sin_axis.x();
+
+  res.diagonal() = (cos1_axis.cwise() * m_axis).cwise() + c;
+
+  return res;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/CMakeLists.txt
new file mode 100755
index 0000000..c347a8f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Eigen2Support_Geometry_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Eigen2Support_Geometry_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Eigen2Support/Geometry
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Hyperplane.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
new file mode 100755
index 0000000..81c4f55
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
@@ -0,0 +1,265 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Hyperplane
+  *
+  * \brief A hyperplane
+  *
+  * A hyperplane is an affine subspace of dimension n-1 in a space of dimension n.
+  * For example, a hyperplane in a plane is a line; a hyperplane in 3-space is a plane.
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  *             Notice that the dimension of the hyperplane is _AmbientDim-1.
+  *
+  * This class represents an hyperplane as the zero set of the implicit equation
+  * \f$ n \cdot x + d = 0 \f$ where \f$ n \f$ is a unit normal vector of the plane (linear part)
+  * and \f$ d \f$ is the distance (offset) to the origin.
+  */
+template <typename _Scalar, int _AmbientDim>
+class Hyperplane
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
+  enum { AmbientDimAtCompileTime = _AmbientDim };
+  typedef _Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
+  typedef Matrix<Scalar,int(AmbientDimAtCompileTime)==Dynamic
+                        ? Dynamic
+                        : int(AmbientDimAtCompileTime)+1,1> Coefficients;
+  typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
+
+  /** Default constructor without initialization */
+  inline explicit Hyperplane() {}
+
+  /** Constructs a dynamic-size hyperplane with \a _dim the dimension
+    * of the ambient space */
+  inline explicit Hyperplane(int _dim) : m_coeffs(_dim+1) {}
+
+  /** Construct a plane from its normal \a n and a point \a e onto the plane.
+    * \warning the vector normal is assumed to be normalized.
+    */
+  inline Hyperplane(const VectorType& n, const VectorType& e)
+    : m_coeffs(n.size()+1)
+  {
+    normal() = n;
+    offset() = -e.eigen2_dot(n);
+  }
+
+  /** Constructs a plane from its normal \a n and distance to the origin \a d
+    * such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$.
+    * \warning the vector normal is assumed to be normalized.
+    */
+  inline Hyperplane(const VectorType& n, Scalar d)
+    : m_coeffs(n.size()+1)
+  {
+    normal() = n;
+    offset() = d;
+  }
+
+  /** Constructs a hyperplane passing through the two points. If the dimension of the ambient space
+    * is greater than 2, then there isn't uniqueness, so an arbitrary choice is made.
+    */
+  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
+  {
+    Hyperplane result(p0.size());
+    result.normal() = (p1 - p0).unitOrthogonal();
+    result.offset() = -result.normal().eigen2_dot(p0);
+    return result;
+  }
+
+  /** Constructs a hyperplane passing through the three points. The dimension of the ambient space
+    * is required to be exactly 3.
+    */
+  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2)
+  {
+    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
+    Hyperplane result(p0.size());
+    result.normal() = (p2 - p0).cross(p1 - p0).normalized();
+    result.offset() = -result.normal().eigen2_dot(p0);
+    return result;
+  }
+
+  /** Constructs a hyperplane passing through the parametrized line \a parametrized.
+    * If the dimension of the ambient space is greater than 2, then there isn't uniqueness,
+    * so an arbitrary choice is made.
+    */
+  // FIXME to be consitent with the rest this could be implemented as a static Through function ??
+  explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
+  {
+    normal() = parametrized.direction().unitOrthogonal();
+    offset() = -normal().eigen2_dot(parametrized.origin());
+  }
+
+  ~Hyperplane() {}
+
+  /** \returns the dimension in which the plane holds */
+  inline int dim() const { return int(AmbientDimAtCompileTime)==Dynamic ? m_coeffs.size()-1 : int(AmbientDimAtCompileTime); }
+
+  /** normalizes \c *this */
+  void normalize(void)
+  {
+    m_coeffs /= normal().norm();
+  }
+
+  /** \returns the signed distance between the plane \c *this and a point \a p.
+    * \sa absDistance()
+    */
+  inline Scalar signedDistance(const VectorType& p) const { return p.eigen2_dot(normal()) + offset(); }
+
+  /** \returns the absolute distance between the plane \c *this and a point \a p.
+    * \sa signedDistance()
+    */
+  inline Scalar absDistance(const VectorType& p) const { return ei_abs(signedDistance(p)); }
+
+  /** \returns the projection of a point \a p onto the plane \c *this.
+    */
+  inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
+
+  /** \returns a constant reference to the unit normal vector of the plane, which corresponds
+    * to the linear part of the implicit equation.
+    */
+  inline const NormalReturnType normal() const { return NormalReturnType(*const_cast<Coefficients*>(&m_coeffs),0,0,dim(),1); }
+
+  /** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
+    * to the linear part of the implicit equation.
+    */
+  inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
+
+  /** \returns the distance to the origin, which is also the "constant term" of the implicit equation
+    * \warning the vector normal is assumed to be normalized.
+    */
+  inline const Scalar& offset() const { return m_coeffs.coeff(dim()); }
+
+  /** \returns a non-constant reference to the distance to the origin, which is also the constant part
+    * of the implicit equation */
+  inline Scalar& offset() { return m_coeffs(dim()); }
+
+  /** \returns a constant reference to the coefficients c_i of the plane equation:
+    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
+    */
+  inline const Coefficients& coeffs() const { return m_coeffs; }
+
+  /** \returns a non-constant reference to the coefficients c_i of the plane equation:
+    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
+    */
+  inline Coefficients& coeffs() { return m_coeffs; }
+
+  /** \returns the intersection of *this with \a other.
+    *
+    * \warning The ambient space must be a plane, i.e. have dimension 2, so that \c *this and \a other are lines.
+    *
+    * \note If \a other is approximately parallel to *this, this method will return any point on *this.
+    */
+  VectorType intersection(const Hyperplane& other)
+  {
+    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
+    Scalar det = coeffs().coeff(0) * other.coeffs().coeff(1) - coeffs().coeff(1) * other.coeffs().coeff(0);
+    // since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests
+    // whether the two lines are approximately parallel.
+    if(ei_isMuchSmallerThan(det, Scalar(1)))
+    {   // special case where the two lines are approximately parallel. Pick any point on the first line.
+        if(ei_abs(coeffs().coeff(1))>ei_abs(coeffs().coeff(0)))
+            return VectorType(coeffs().coeff(1), -coeffs().coeff(2)/coeffs().coeff(1)-coeffs().coeff(0));
+        else
+            return VectorType(-coeffs().coeff(2)/coeffs().coeff(0)-coeffs().coeff(1), coeffs().coeff(0));
+    }
+    else
+    {   // general case
+        Scalar invdet = Scalar(1) / det;
+        return VectorType(invdet*(coeffs().coeff(1)*other.coeffs().coeff(2)-other.coeffs().coeff(1)*coeffs().coeff(2)),
+                          invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2)));
+    }
+  }
+
+  /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
+    *
+    * \param mat the Dim x Dim transformation matrix
+    * \param traits specifies whether the matrix \a mat represents an Isometry
+    *               or a more generic Affine transformation. The default is Affine.
+    */
+  template<typename XprType>
+  inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
+  {
+    if (traits==Affine)
+      normal() = mat.inverse().transpose() * normal();
+    else if (traits==Isometry)
+      normal() = mat * normal();
+    else
+    {
+      ei_assert("invalid traits value in Hyperplane::transform()");
+    }
+    return *this;
+  }
+
+  /** Applies the transformation \a t to \c *this and returns a reference to \c *this.
+    *
+    * \param t the transformation of dimension Dim
+    * \param traits specifies whether the transformation \a t represents an Isometry
+    *               or a more generic Affine transformation. The default is Affine.
+    *               Other kind of transformations are not supported.
+    */
+  inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime>& t,
+                                TransformTraits traits = Affine)
+  {
+    transform(t.linear(), traits);
+    offset() -= t.translation().eigen2_dot(normal());
+    return *this;
+  }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Hyperplane,
+           Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
+  {
+    return typename internal::cast_return_type<Hyperplane,
+                    Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime>& other)
+  { m_coeffs = other.coeffs().template cast<Scalar>(); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Hyperplane& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
+  { return m_coeffs.isApprox(other.m_coeffs, prec); }
+
+protected:
+
+  Coefficients m_coeffs;
+};
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
new file mode 100755
index 0000000..411c4b5
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
@@ -0,0 +1,153 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class ParametrizedLine
+  *
+  * \brief A parametrized line
+  *
+  * A parametrized line is defined by an origin point \f$ \mathbf{o} \f$ and a unit
+  * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
+  * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ l \in \mathbf{R} \f$.
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  */
+template <typename _Scalar, int _AmbientDim>
+class ParametrizedLine
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
+  enum { AmbientDimAtCompileTime = _AmbientDim };
+  typedef _Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
+
+  /** Default constructor without initialization */
+  inline explicit ParametrizedLine() {}
+
+  /** Constructs a dynamic-size line with \a _dim the dimension
+    * of the ambient space */
+  inline explicit ParametrizedLine(int _dim) : m_origin(_dim), m_direction(_dim) {}
+
+  /** Initializes a parametrized line of direction \a direction and origin \a origin.
+    * \warning the vector direction is assumed to be normalized.
+    */
+  ParametrizedLine(const VectorType& origin, const VectorType& direction)
+    : m_origin(origin), m_direction(direction) {}
+
+  explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
+
+  /** Constructs a parametrized line going from \a p0 to \a p1. */
+  static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
+  { return ParametrizedLine(p0, (p1-p0).normalized()); }
+
+  ~ParametrizedLine() {}
+
+  /** \returns the dimension in which the line holds */
+  inline int dim() const { return m_direction.size(); }
+
+  const VectorType& origin() const { return m_origin; }
+  VectorType& origin() { return m_origin; }
+
+  const VectorType& direction() const { return m_direction; }
+  VectorType& direction() { return m_direction; }
+
+  /** \returns the squared distance of a point \a p to its projection onto the line \c *this.
+    * \sa distance()
+    */
+  RealScalar squaredDistance(const VectorType& p) const
+  {
+    VectorType diff = p-origin();
+    return (diff - diff.eigen2_dot(direction())* direction()).squaredNorm();
+  }
+  /** \returns the distance of a point \a p to its projection onto the line \c *this.
+    * \sa squaredDistance()
+    */
+  RealScalar distance(const VectorType& p) const { return ei_sqrt(squaredDistance(p)); }
+
+  /** \returns the projection of a point \a p onto the line \c *this. */
+  VectorType projection(const VectorType& p) const
+  { return origin() + (p-origin()).eigen2_dot(direction()) * direction(); }
+
+  Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<ParametrizedLine,
+           ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
+  {
+    return typename internal::cast_return_type<ParametrizedLine,
+                    ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime>& other)
+  {
+    m_origin = other.origin().template cast<Scalar>();
+    m_direction = other.direction().template cast<Scalar>();
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const ParametrizedLine& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
+  { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }
+
+protected:
+
+  VectorType m_origin, m_direction;
+};
+
+/** Constructs a parametrized line from a 2D hyperplane
+  *
+  * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
+  */
+template <typename _Scalar, int _AmbientDim>
+inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
+  direction() = hyperplane.normal().unitOrthogonal();
+  origin() = -hyperplane.normal()*hyperplane.offset();
+}
+
+/** \returns the parameter value of the intersection between \c *this and the given hyperplane
+  */
+template <typename _Scalar, int _AmbientDim>
+inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
+{
+  return -(hyperplane.offset()+origin().eigen2_dot(hyperplane.normal()))
+          /(direction().eigen2_dot(hyperplane.normal()));
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Quaternion.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Quaternion.h
new file mode 100755
index 0000000..a75fa42
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Quaternion.h
@@ -0,0 +1,506 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+template<typename Other,
+         int OtherRows=Other::RowsAtCompileTime,
+         int OtherCols=Other::ColsAtCompileTime>
+struct ei_quaternion_assign_impl;
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Quaternion
+  *
+  * \brief The quaternion class used to represent 3D orientations and rotations
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  *
+  * This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
+  * orientations and rotations of objects in three dimensions. Compared to other representations
+  * like Euler angles or 3x3 matrices, quatertions offer the following advantages:
+  * \li \b compact storage (4 scalars)
+  * \li \b efficient to compose (28 flops),
+  * \li \b stable spherical interpolation
+  *
+  * The following two typedefs are provided for convenience:
+  * \li \c Quaternionf for \c float
+  * \li \c Quaterniond for \c double
+  *
+  * \sa  class AngleAxis, class Transform
+  */
+
+template<typename _Scalar> struct ei_traits<Quaternion<_Scalar> >
+{
+  typedef _Scalar Scalar;
+};
+
+template<typename _Scalar>
+class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
+{
+  typedef RotationBase<Quaternion<_Scalar>,3> Base;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4)
+
+  using Base::operator*;
+
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+
+  /** the type of the Coefficients 4-vector */
+  typedef Matrix<Scalar, 4, 1> Coefficients;
+  /** the type of a 3D vector */
+  typedef Matrix<Scalar,3,1> Vector3;
+  /** the equivalent rotation matrix type */
+  typedef Matrix<Scalar,3,3> Matrix3;
+  /** the equivalent angle-axis type */
+  typedef AngleAxis<Scalar> AngleAxisType;
+
+  /** \returns the \c x coefficient */
+  inline Scalar x() const { return m_coeffs.coeff(0); }
+  /** \returns the \c y coefficient */
+  inline Scalar y() const { return m_coeffs.coeff(1); }
+  /** \returns the \c z coefficient */
+  inline Scalar z() const { return m_coeffs.coeff(2); }
+  /** \returns the \c w coefficient */
+  inline Scalar w() const { return m_coeffs.coeff(3); }
+
+  /** \returns a reference to the \c x coefficient */
+  inline Scalar& x() { return m_coeffs.coeffRef(0); }
+  /** \returns a reference to the \c y coefficient */
+  inline Scalar& y() { return m_coeffs.coeffRef(1); }
+  /** \returns a reference to the \c z coefficient */
+  inline Scalar& z() { return m_coeffs.coeffRef(2); }
+  /** \returns a reference to the \c w coefficient */
+  inline Scalar& w() { return m_coeffs.coeffRef(3); }
+
+  /** \returns a read-only vector expression of the imaginary part (x,y,z) */
+  inline const Block<const Coefficients,3,1> vec() const { return m_coeffs.template start<3>(); }
+
+  /** \returns a vector expression of the imaginary part (x,y,z) */
+  inline Block<Coefficients,3,1> vec() { return m_coeffs.template start<3>(); }
+
+  /** \returns a read-only vector expression of the coefficients (x,y,z,w) */
+  inline const Coefficients& coeffs() const { return m_coeffs; }
+
+  /** \returns a vector expression of the coefficients (x,y,z,w) */
+  inline Coefficients& coeffs() { return m_coeffs; }
+
+  /** Default constructor leaving the quaternion uninitialized. */
+  inline Quaternion() {}
+
+  /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
+    * its four coefficients \a w, \a x, \a y and \a z.
+    *
+    * \warning Note the order of the arguments: the real \a w coefficient first,
+    * while internally the coefficients are stored in the following order:
+    * [\c x, \c y, \c z, \c w]
+    */
+  inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z)
+  { m_coeffs << x, y, z, w; }
+
+  /** Copy constructor */
+  inline Quaternion(const Quaternion& other) { m_coeffs = other.m_coeffs; }
+
+  /** Constructs and initializes a quaternion from the angle-axis \a aa */
+  explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
+
+  /** Constructs and initializes a quaternion from either:
+    *  - a rotation matrix expression,
+    *  - a 4D vector expression representing quaternion coefficients.
+    * \sa operator=(MatrixBase<Derived>)
+    */
+  template<typename Derived>
+  explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
+
+  Quaternion& operator=(const Quaternion& other);
+  Quaternion& operator=(const AngleAxisType& aa);
+  template<typename Derived>
+  Quaternion& operator=(const MatrixBase<Derived>& m);
+
+  /** \returns a quaternion representing an identity rotation
+    * \sa MatrixBase::Identity()
+    */
+  inline static Quaternion Identity() { return Quaternion(1, 0, 0, 0); }
+
+  /** \sa Quaternion::Identity(), MatrixBase::setIdentity()
+    */
+  inline Quaternion& setIdentity() { m_coeffs << 0, 0, 0, 1; return *this; }
+
+  /** \returns the squared norm of the quaternion's coefficients
+    * \sa Quaternion::norm(), MatrixBase::squaredNorm()
+    */
+  inline Scalar squaredNorm() const { return m_coeffs.squaredNorm(); }
+
+  /** \returns the norm of the quaternion's coefficients
+    * \sa Quaternion::squaredNorm(), MatrixBase::norm()
+    */
+  inline Scalar norm() const { return m_coeffs.norm(); }
+
+  /** Normalizes the quaternion \c *this
+    * \sa normalized(), MatrixBase::normalize() */
+  inline void normalize() { m_coeffs.normalize(); }
+  /** \returns a normalized version of \c *this
+    * \sa normalize(), MatrixBase::normalized() */
+  inline Quaternion normalized() const { return Quaternion(m_coeffs.normalized()); }
+
+  /** \returns the dot product of \c *this and \a other
+    * Geometrically speaking, the dot product of two unit quaternions
+    * corresponds to the cosine of half the angle between the two rotations.
+    * \sa angularDistance()
+    */
+  inline Scalar eigen2_dot(const Quaternion& other) const { return m_coeffs.eigen2_dot(other.m_coeffs); }
+
+  inline Scalar angularDistance(const Quaternion& other) const;
+
+  Matrix3 toRotationMatrix(void) const;
+
+  template<typename Derived1, typename Derived2>
+  Quaternion& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
+
+  inline Quaternion operator* (const Quaternion& q) const;
+  inline Quaternion& operator*= (const Quaternion& q);
+
+  Quaternion inverse(void) const;
+  Quaternion conjugate(void) const;
+
+  Quaternion slerp(Scalar t, const Quaternion& other) const;
+
+  template<typename Derived>
+  Vector3 operator* (const MatrixBase<Derived>& vec) const;
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type cast() const
+  { return typename internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Quaternion(const Quaternion<OtherScalarType>& other)
+  { m_coeffs = other.coeffs().template cast<Scalar>(); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
+  { return m_coeffs.isApprox(other.m_coeffs, prec); }
+
+protected:
+  Coefficients m_coeffs;
+};
+
+/** \ingroup Geometry_Module
+  * single precision quaternion type */
+typedef Quaternion<float> Quaternionf;
+/** \ingroup Geometry_Module
+  * double precision quaternion type */
+typedef Quaternion<double> Quaterniond;
+
+// Generic Quaternion * Quaternion product
+template<typename Scalar> inline Quaternion<Scalar>
+ei_quaternion_product(const Quaternion<Scalar>& a, const Quaternion<Scalar>& b)
+{
+  return Quaternion<Scalar>
+  (
+    a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
+    a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
+    a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
+    a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
+  );
+}
+
+/** \returns the concatenation of two rotations as a quaternion-quaternion product */
+template <typename Scalar>
+inline Quaternion<Scalar> Quaternion<Scalar>::operator* (const Quaternion& other) const
+{
+  return ei_quaternion_product(*this,other);
+}
+
+/** \sa operator*(Quaternion) */
+template <typename Scalar>
+inline Quaternion<Scalar>& Quaternion<Scalar>::operator*= (const Quaternion& other)
+{
+  return (*this = *this * other);
+}
+
+/** Rotation of a vector by a quaternion.
+  * \remarks If the quaternion is used to rotate several points (>1)
+  * then it is much more efficient to first convert it to a 3x3 Matrix.
+  * Comparison of the operation cost for n transformations:
+  *   - Quaternion:    30n
+  *   - Via a Matrix3: 24 + 15n
+  */
+template <typename Scalar>
+template<typename Derived>
+inline typename Quaternion<Scalar>::Vector3
+Quaternion<Scalar>::operator* (const MatrixBase<Derived>& v) const
+{
+    // Note that this algorithm comes from the optimization by hand
+    // of the conversion to a Matrix followed by a Matrix/Vector product.
+    // It appears to be much faster than the common algorithm found
+    // in the litterature (30 versus 39 flops). It also requires two
+    // Vector3 as temporaries.
+    Vector3 uv;
+    uv = 2 * this->vec().cross(v);
+    return v + this->w() * uv + this->vec().cross(uv);
+}
+
+template<typename Scalar>
+inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const Quaternion& other)
+{
+  m_coeffs = other.m_coeffs;
+  return *this;
+}
+
+/** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
+  */
+template<typename Scalar>
+inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const AngleAxisType& aa)
+{
+  Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
+  this->w() = ei_cos(ha);
+  this->vec() = ei_sin(ha) * aa.axis();
+  return *this;
+}
+
+/** Set \c *this from the expression \a xpr:
+  *   - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
+  *   - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
+  *     and \a xpr is converted to a quaternion
+  */
+template<typename Scalar>
+template<typename Derived>
+inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const MatrixBase<Derived>& xpr)
+{
+  ei_quaternion_assign_impl<Derived>::run(*this, xpr.derived());
+  return *this;
+}
+
+/** Convert the quaternion to a 3x3 rotation matrix */
+template<typename Scalar>
+inline typename Quaternion<Scalar>::Matrix3
+Quaternion<Scalar>::toRotationMatrix(void) const
+{
+  // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
+  // if not inlined then the cost of the return by value is huge ~ +35%,
+  // however, not inlining this function is an order of magnitude slower, so
+  // it has to be inlined, and so the return by value is not an issue
+  Matrix3 res;
+
+  const Scalar tx  = 2*this->x();
+  const Scalar ty  = 2*this->y();
+  const Scalar tz  = 2*this->z();
+  const Scalar twx = tx*this->w();
+  const Scalar twy = ty*this->w();
+  const Scalar twz = tz*this->w();
+  const Scalar txx = tx*this->x();
+  const Scalar txy = ty*this->x();
+  const Scalar txz = tz*this->x();
+  const Scalar tyy = ty*this->y();
+  const Scalar tyz = tz*this->y();
+  const Scalar tzz = tz*this->z();
+
+  res.coeffRef(0,0) = 1-(tyy+tzz);
+  res.coeffRef(0,1) = txy-twz;
+  res.coeffRef(0,2) = txz+twy;
+  res.coeffRef(1,0) = txy+twz;
+  res.coeffRef(1,1) = 1-(txx+tzz);
+  res.coeffRef(1,2) = tyz-twx;
+  res.coeffRef(2,0) = txz-twy;
+  res.coeffRef(2,1) = tyz+twx;
+  res.coeffRef(2,2) = 1-(txx+tyy);
+
+  return res;
+}
+
+/** Sets *this to be a quaternion representing a rotation sending the vector \a a to the vector \a b.
+  *
+  * \returns a reference to *this.
+  *
+  * Note that the two input vectors do \b not have to be normalized.
+  */
+template<typename Scalar>
+template<typename Derived1, typename Derived2>
+inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
+{
+  Vector3 v0 = a.normalized();
+  Vector3 v1 = b.normalized();
+  Scalar c = v0.eigen2_dot(v1);
+
+  // if dot == 1, vectors are the same
+  if (ei_isApprox(c,Scalar(1)))
+  {
+    // set to identity
+    this->w() = 1; this->vec().setZero();
+    return *this;
+  }
+  // if dot == -1, vectors are opposites
+  if (ei_isApprox(c,Scalar(-1)))
+  {
+    this->vec() = v0.unitOrthogonal();
+    this->w() = 0;
+    return *this;
+  }
+
+  Vector3 axis = v0.cross(v1);
+  Scalar s = ei_sqrt((Scalar(1)+c)*Scalar(2));
+  Scalar invs = Scalar(1)/s;
+  this->vec() = axis * invs;
+  this->w() = s * Scalar(0.5);
+
+  return *this;
+}
+
+/** \returns the multiplicative inverse of \c *this
+  * Note that in most cases, i.e., if you simply want the opposite rotation,
+  * and/or the quaternion is normalized, then it is enough to use the conjugate.
+  *
+  * \sa Quaternion::conjugate()
+  */
+template <typename Scalar>
+inline Quaternion<Scalar> Quaternion<Scalar>::inverse() const
+{
+  // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
+  Scalar n2 = this->squaredNorm();
+  if (n2 > 0)
+    return Quaternion(conjugate().coeffs() / n2);
+  else
+  {
+    // return an invalid result to flag the error
+    return Quaternion(Coefficients::Zero());
+  }
+}
+
+/** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
+  * if the quaternion is normalized.
+  * The conjugate of a quaternion represents the opposite rotation.
+  *
+  * \sa Quaternion::inverse()
+  */
+template <typename Scalar>
+inline Quaternion<Scalar> Quaternion<Scalar>::conjugate() const
+{
+  return Quaternion(this->w(),-this->x(),-this->y(),-this->z());
+}
+
+/** \returns the angle (in radian) between two rotations
+  * \sa eigen2_dot()
+  */
+template <typename Scalar>
+inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
+{
+  double d = ei_abs(this->eigen2_dot(other));
+  if (d>=1.0)
+    return 0;
+  return Scalar(2) * std::acos(d);
+}
+
+/** \returns the spherical linear interpolation between the two quaternions
+  * \c *this and \a other at the parameter \a t
+  */
+template <typename Scalar>
+Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const
+{
+  static const Scalar one = Scalar(1) - machine_epsilon<Scalar>();
+  Scalar d = this->eigen2_dot(other);
+  Scalar absD = ei_abs(d);
+
+  Scalar scale0;
+  Scalar scale1;
+
+  if (absD>=one)
+  {
+    scale0 = Scalar(1) - t;
+    scale1 = t;
+  }
+  else
+  {
+    // theta is the angle between the 2 quaternions
+    Scalar theta = std::acos(absD);
+    Scalar sinTheta = ei_sin(theta);
+
+    scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
+    scale1 = ei_sin( ( t * theta) ) / sinTheta;
+    if (d<0)
+      scale1 = -scale1;
+  }
+
+  return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
+}
+
+// set from a rotation matrix
+template<typename Other>
+struct ei_quaternion_assign_impl<Other,3,3>
+{
+  typedef typename Other::Scalar Scalar;
+  inline static void run(Quaternion<Scalar>& q, const Other& mat)
+  {
+    // This algorithm comes from  "Quaternion Calculus and Fast Animation",
+    // Ken Shoemake, 1987 SIGGRAPH course notes
+    Scalar t = mat.trace();
+    if (t > 0)
+    {
+      t = ei_sqrt(t + Scalar(1.0));
+      q.w() = Scalar(0.5)*t;
+      t = Scalar(0.5)/t;
+      q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
+      q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
+      q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;
+    }
+    else
+    {
+      int i = 0;
+      if (mat.coeff(1,1) > mat.coeff(0,0))
+        i = 1;
+      if (mat.coeff(2,2) > mat.coeff(i,i))
+        i = 2;
+      int j = (i+1)%3;
+      int k = (j+1)%3;
+
+      t = ei_sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
+      q.coeffs().coeffRef(i) = Scalar(0.5) * t;
+      t = Scalar(0.5)/t;
+      q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
+      q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
+      q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;
+    }
+  }
+};
+
+// set from a vector of coefficients assumed to be a quaternion
+template<typename Other>
+struct ei_quaternion_assign_impl<Other,4,1>
+{
+  typedef typename Other::Scalar Scalar;
+  inline static void run(Quaternion<Scalar>& q, const Other& vec)
+  {
+    q.coeffs() = vec;
+  }
+};
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Rotation2D.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
new file mode 100755
index 0000000..ee7c80e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
@@ -0,0 +1,157 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Rotation2D
+  *
+  * \brief Represents a rotation/orientation in a 2 dimensional space.
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  *
+  * This class is equivalent to a single scalar representing a counter clock wise rotation
+  * as a single angle in radian. It provides some additional features such as the automatic
+  * conversion from/to a 2x2 rotation matrix. Moreover this class aims to provide a similar
+  * interface to Quaternion in order to facilitate the writing of generic algorithms
+  * dealing with rotations.
+  *
+  * \sa class Quaternion, class Transform
+  */
+template<typename _Scalar> struct ei_traits<Rotation2D<_Scalar> >
+{
+  typedef _Scalar Scalar;
+};
+
+template<typename _Scalar>
+class Rotation2D : public RotationBase<Rotation2D<_Scalar>,2>
+{
+  typedef RotationBase<Rotation2D<_Scalar>,2> Base;
+
+public:
+
+  using Base::operator*;
+
+  enum { Dim = 2 };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  typedef Matrix<Scalar,2,1> Vector2;
+  typedef Matrix<Scalar,2,2> Matrix2;
+
+protected:
+
+  Scalar m_angle;
+
+public:
+
+  /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */
+  inline Rotation2D(Scalar a) : m_angle(a) {}
+
+  /** \returns the rotation angle */
+  inline Scalar angle() const { return m_angle; }
+
+  /** \returns a read-write reference to the rotation angle */
+  inline Scalar& angle() { return m_angle; }
+
+  /** \returns the inverse rotation */
+  inline Rotation2D inverse() const { return -m_angle; }
+
+  /** Concatenates two rotations */
+  inline Rotation2D operator*(const Rotation2D& other) const
+  { return m_angle + other.m_angle; }
+
+  /** Concatenates two rotations */
+  inline Rotation2D& operator*=(const Rotation2D& other)
+  { return m_angle += other.m_angle; return *this; }
+
+  /** Applies the rotation to a 2D vector */
+  Vector2 operator* (const Vector2& vec) const
+  { return toRotationMatrix() * vec; }
+
+  template<typename Derived>
+  Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
+  Matrix2 toRotationMatrix(void) const;
+
+  /** \returns the spherical interpolation between \c *this and \a other using
+    * parameter \a t. It is in fact equivalent to a linear interpolation.
+    */
+  inline Rotation2D slerp(Scalar t, const Rotation2D& other) const
+  { return m_angle * (1-t) + other.angle() * t; }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
+  { return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
+  {
+    m_angle = Scalar(other.angle());
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Rotation2D& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
+  { return ei_isApprox(m_angle,other.m_angle, prec); }
+};
+
+/** \ingroup Geometry_Module
+  * single precision 2D rotation type */
+typedef Rotation2D<float> Rotation2Df;
+/** \ingroup Geometry_Module
+  * double precision 2D rotation type */
+typedef Rotation2D<double> Rotation2Dd;
+
+/** Set \c *this from a 2x2 rotation matrix \a mat.
+  * In other words, this function extract the rotation angle
+  * from the rotation matrix.
+  */
+template<typename Scalar>
+template<typename Derived>
+Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
+{
+  EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
+  m_angle = ei_atan2(mat.coeff(1,0), mat.coeff(0,0));
+  return *this;
+}
+
+/** Constructs and \returns an equivalent 2x2 rotation matrix.
+  */
+template<typename Scalar>
+typename Rotation2D<Scalar>::Matrix2
+Rotation2D<Scalar>::toRotationMatrix(void) const
+{
+  Scalar sinA = ei_sin(m_angle);
+  Scalar cosA = ei_cos(m_angle);
+  return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/RotationBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/RotationBase.h
new file mode 100755
index 0000000..2f494f1
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/RotationBase.h
@@ -0,0 +1,134 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+// this file aims to contains the various representations of rotation/orientation
+// in 2D and 3D space excepted Matrix and Quaternion.
+
+/** \class RotationBase
+  *
+  * \brief Common base class for compact rotation representations
+  *
+  * \param Derived is the derived type, i.e., a rotation type
+  * \param _Dim the dimension of the space
+  */
+template<typename Derived, int _Dim>
+class RotationBase
+{
+  public:
+    enum { Dim = _Dim };
+    /** the scalar type of the coefficients */
+    typedef typename ei_traits<Derived>::Scalar Scalar;
+    
+    /** corresponding linear transformation matrix type */
+    typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
+
+    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    inline Derived& derived() { return *static_cast<Derived*>(this); }
+
+    /** \returns an equivalent rotation matrix */
+    inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
+
+    /** \returns the inverse rotation */
+    inline Derived inverse() const { return derived().inverse(); }
+
+    /** \returns the concatenation of the rotation \c *this with a translation \a t */
+    inline Transform<Scalar,Dim> operator*(const Translation<Scalar,Dim>& t) const
+    { return toRotationMatrix() * t; }
+
+    /** \returns the concatenation of the rotation \c *this with a scaling \a s */
+    inline RotationMatrixType operator*(const Scaling<Scalar,Dim>& s) const
+    { return toRotationMatrix() * s; }
+
+    /** \returns the concatenation of the rotation \c *this with an affine transformation \a t */
+    inline Transform<Scalar,Dim> operator*(const Transform<Scalar,Dim>& t) const
+    { return toRotationMatrix() * t; }
+};
+
+/** \geometry_module
+  *
+  * Constructs a Dim x Dim rotation matrix from the rotation \a r
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
+template<typename OtherDerived>
+Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
+::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
+{
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
+  *this = r.toRotationMatrix();
+}
+
+/** \geometry_module
+  *
+  * Set a Dim x Dim rotation matrix from the rotation \a r
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
+template<typename OtherDerived>
+Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
+::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
+{
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
+  return *this = r.toRotationMatrix();
+}
+
+/** \internal
+  *
+  * Helper function to return an arbitrary rotation object to a rotation matrix.
+  *
+  * \param Scalar the numeric type of the matrix coefficients
+  * \param Dim the dimension of the current space
+  *
+  * It returns a Dim x Dim fixed size matrix.
+  *
+  * Default specializations are provided for:
+  *   - any scalar type (2D),
+  *   - any matrix expression,
+  *   - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D)
+  *
+  * Currently ei_toRotationMatrix is only used by Transform.
+  *
+  * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
+  */
+template<typename Scalar, int Dim>
+inline static Matrix<Scalar,2,2> ei_toRotationMatrix(const Scalar& s)
+{
+  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return Rotation2D<Scalar>(s).toRotationMatrix();
+}
+
+template<typename Scalar, int Dim, typename OtherDerived>
+inline static Matrix<Scalar,Dim,Dim> ei_toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
+{
+  return r.toRotationMatrix();
+}
+
+template<typename Scalar, int Dim, typename OtherDerived>
+inline static const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBase<OtherDerived>& mat)
+{
+  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
+    YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return mat;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Scaling.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Scaling.h
new file mode 100755
index 0000000..108e6d7
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Scaling.h
@@ -0,0 +1,179 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Scaling
+  *
+  * \brief Represents a possibly non uniform scaling transformation
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  * \param _Dim the  dimension of the space, can be a compile time value or Dynamic
+  *
+  * \note This class is not aimed to be used to store a scaling transformation,
+  * but rather to make easier the constructions and updates of Transform objects.
+  *
+  * \sa class Translation, class Transform
+  */
+template<typename _Scalar, int _Dim>
+class Scaling
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
+  /** dimension of the space */
+  enum { Dim = _Dim };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  /** corresponding vector type */
+  typedef Matrix<Scalar,Dim,1> VectorType;
+  /** corresponding linear transformation matrix type */
+  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
+  /** corresponding translation type */
+  typedef Translation<Scalar,Dim> TranslationType;
+  /** corresponding affine transformation type */
+  typedef Transform<Scalar,Dim> TransformType;
+
+protected:
+
+  VectorType m_coeffs;
+
+public:
+
+  /** Default constructor without initialization. */
+  Scaling() {}
+  /** Constructs and initialize a uniform scaling transformation */
+  explicit inline Scaling(const Scalar& s) { m_coeffs.setConstant(s); }
+  /** 2D only */
+  inline Scaling(const Scalar& sx, const Scalar& sy)
+  {
+    ei_assert(Dim==2);
+    m_coeffs.x() = sx;
+    m_coeffs.y() = sy;
+  }
+  /** 3D only */
+  inline Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
+  {
+    ei_assert(Dim==3);
+    m_coeffs.x() = sx;
+    m_coeffs.y() = sy;
+    m_coeffs.z() = sz;
+  }
+  /** Constructs and initialize the scaling transformation from a vector of scaling coefficients */
+  explicit inline Scaling(const VectorType& coeffs) : m_coeffs(coeffs) {}
+
+  const VectorType& coeffs() const { return m_coeffs; }
+  VectorType& coeffs() { return m_coeffs; }
+
+  /** Concatenates two scaling */
+  inline Scaling operator* (const Scaling& other) const
+  { return Scaling(coeffs().cwise() * other.coeffs()); }
+
+  /** Concatenates a scaling and a translation */
+  inline TransformType operator* (const TranslationType& t) const;
+
+  /** Concatenates a scaling and an affine transformation */
+  inline TransformType operator* (const TransformType& t) const;
+
+  /** Concatenates a scaling and a linear transformation matrix */
+  // TODO returns an expression
+  inline LinearMatrixType operator* (const LinearMatrixType& other) const
+  { return coeffs().asDiagonal() * other; }
+
+  /** Concatenates a linear transformation matrix and a scaling */
+  // TODO returns an expression
+  friend inline LinearMatrixType operator* (const LinearMatrixType& other, const Scaling& s)
+  { return other * s.coeffs().asDiagonal(); }
+
+  template<typename Derived>
+  inline LinearMatrixType operator*(const RotationBase<Derived,Dim>& r) const
+  { return *this * r.toRotationMatrix(); }
+
+  /** Applies scaling to vector */
+  inline VectorType operator* (const VectorType& other) const
+  { return coeffs().asDiagonal() * other; }
+
+  /** \returns the inverse scaling */
+  inline Scaling inverse() const
+  { return Scaling(coeffs().cwise().inverse()); }
+
+  inline Scaling& operator=(const Scaling& other)
+  {
+    m_coeffs = other.m_coeffs;
+    return *this;
+  }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type cast() const
+  { return typename internal::cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Scaling(const Scaling<OtherScalarType,Dim>& other)
+  { m_coeffs = other.coeffs().template cast<Scalar>(); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Scaling& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
+  { return m_coeffs.isApprox(other.m_coeffs, prec); }
+
+};
+
+/** \addtogroup Geometry_Module */
+//@{
+typedef Scaling<float, 2> Scaling2f;
+typedef Scaling<double,2> Scaling2d;
+typedef Scaling<float, 3> Scaling3f;
+typedef Scaling<double,3> Scaling3d;
+//@}
+
+template<typename Scalar, int Dim>
+inline typename Scaling<Scalar,Dim>::TransformType
+Scaling<Scalar,Dim>::operator* (const TranslationType& t) const
+{
+  TransformType res;
+  res.matrix().setZero();
+  res.linear().diagonal() = coeffs();
+  res.translation() = m_coeffs.cwise() * t.vector();
+  res(Dim,Dim) = Scalar(1);
+  return res;
+}
+
+template<typename Scalar, int Dim>
+inline typename Scaling<Scalar,Dim>::TransformType
+Scaling<Scalar,Dim>::operator* (const TransformType& t) const
+{
+  TransformType res = t;
+  res.prescale(m_coeffs);
+  return res;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Transform.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Transform.h
new file mode 100755
index 0000000..88956c8
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Transform.h
@@ -0,0 +1,798 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+
+// Note that we have to pass Dim and HDim because it is not allowed to use a template
+// parameter to define a template specialization. To be more precise, in the following
+// specializations, it is not allowed to use Dim+1 instead of HDim.
+template< typename Other,
+          int Dim,
+          int HDim,
+          int OtherRows=Other::RowsAtCompileTime,
+          int OtherCols=Other::ColsAtCompileTime>
+struct ei_transform_product_impl;
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Transform
+  *
+  * \brief Represents an homogeneous transformation in a N dimensional space
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  * \param _Dim the dimension of the space
+  *
+  * The homography is internally represented and stored as a (Dim+1)^2 matrix which
+  * is available through the matrix() method.
+  *
+  * Conversion methods from/to Qt's QMatrix and QTransform are available if the
+  * preprocessor token EIGEN_QT_SUPPORT is defined.
+  *
+  * \sa class Matrix, class Quaternion
+  */
+template<typename _Scalar, int _Dim>
+class Transform
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
+  enum {
+    Dim = _Dim,     ///< space dimension in which the transformation holds
+    HDim = _Dim+1   ///< size of a respective homogeneous vector
+  };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  /** type of the matrix used to represent the transformation */
+  typedef Matrix<Scalar,HDim,HDim> MatrixType;
+  /** type of the matrix used to represent the linear part of the transformation */
+  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
+  /** type of read/write reference to the linear part of the transformation */
+  typedef Block<MatrixType,Dim,Dim> LinearPart;
+  /** type of read/write reference to the linear part of the transformation */
+  typedef const Block<const MatrixType,Dim,Dim> ConstLinearPart;
+  /** type of a vector */
+  typedef Matrix<Scalar,Dim,1> VectorType;
+  /** type of a read/write reference to the translation part of the rotation */
+  typedef Block<MatrixType,Dim,1> TranslationPart;
+  /** type of a read/write reference to the translation part of the rotation */
+  typedef const Block<const MatrixType,Dim,1> ConstTranslationPart;
+  /** corresponding translation type */
+  typedef Translation<Scalar,Dim> TranslationType;
+  /** corresponding scaling transformation type */
+  typedef Scaling<Scalar,Dim> ScalingType;
+
+protected:
+
+  MatrixType m_matrix;
+
+public:
+
+  /** Default constructor without initialization of the coefficients. */
+  inline Transform() { }
+
+  inline Transform(const Transform& other)
+  {
+    m_matrix = other.m_matrix;
+  }
+
+  inline explicit Transform(const TranslationType& t) { *this = t; }
+  inline explicit Transform(const ScalingType& s) { *this = s; }
+  template<typename Derived>
+  inline explicit Transform(const RotationBase<Derived, Dim>& r) { *this = r; }
+
+  inline Transform& operator=(const Transform& other)
+  { m_matrix = other.m_matrix; return *this; }
+
+  template<typename OtherDerived, bool BigMatrix> // MSVC 2005 will commit suicide if BigMatrix has a default value
+  struct construct_from_matrix
+  {
+    static inline void run(Transform *transform, const MatrixBase<OtherDerived>& other)
+    {
+      transform->matrix() = other;
+    }
+  };
+
+  template<typename OtherDerived> struct construct_from_matrix<OtherDerived, true>
+  {
+    static inline void run(Transform *transform, const MatrixBase<OtherDerived>& other)
+    {
+      transform->linear() = other;
+      transform->translation().setZero();
+      transform->matrix()(Dim,Dim) = Scalar(1);
+      transform->matrix().template block<1,Dim>(Dim,0).setZero();
+    }
+  };
+
+  /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
+  template<typename OtherDerived>
+  inline explicit Transform(const MatrixBase<OtherDerived>& other)
+  {
+    construct_from_matrix<OtherDerived, int(OtherDerived::RowsAtCompileTime) == Dim>::run(this, other);
+  }
+
+  /** Set \c *this from a (Dim+1)^2 matrix. */
+  template<typename OtherDerived>
+  inline Transform& operator=(const MatrixBase<OtherDerived>& other)
+  { m_matrix = other; return *this; }
+
+  #ifdef EIGEN_QT_SUPPORT
+  inline Transform(const QMatrix& other);
+  inline Transform& operator=(const QMatrix& other);
+  inline QMatrix toQMatrix(void) const;
+  inline Transform(const QTransform& other);
+  inline Transform& operator=(const QTransform& other);
+  inline QTransform toQTransform(void) const;
+  #endif
+
+  /** shortcut for m_matrix(row,col);
+    * \sa MatrixBase::operaror(int,int) const */
+  inline Scalar operator() (int row, int col) const { return m_matrix(row,col); }
+  /** shortcut for m_matrix(row,col);
+    * \sa MatrixBase::operaror(int,int) */
+  inline Scalar& operator() (int row, int col) { return m_matrix(row,col); }
+
+  /** \returns a read-only expression of the transformation matrix */
+  inline const MatrixType& matrix() const { return m_matrix; }
+  /** \returns a writable expression of the transformation matrix */
+  inline MatrixType& matrix() { return m_matrix; }
+
+  /** \returns a read-only expression of the linear (linear) part of the transformation */
+  inline ConstLinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
+  /** \returns a writable expression of the linear (linear) part of the transformation */
+  inline LinearPart linear() { return m_matrix.template block<Dim,Dim>(0,0); }
+
+  /** \returns a read-only expression of the translation vector of the transformation */
+  inline ConstTranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
+  /** \returns a writable expression of the translation vector of the transformation */
+  inline TranslationPart translation() { return m_matrix.template block<Dim,1>(0,Dim); }
+
+  /** \returns an expression of the product between the transform \c *this and a matrix expression \a other
+  *
+  * The right hand side \a other might be either:
+  * \li a vector of size Dim,
+  * \li an homogeneous vector of size Dim+1,
+  * \li a transformation matrix of size Dim+1 x Dim+1.
+  */
+  // note: this function is defined here because some compilers cannot find the respective declaration
+  template<typename OtherDerived>
+  inline const typename ei_transform_product_impl<OtherDerived,_Dim,_Dim+1>::ResultType
+  operator * (const MatrixBase<OtherDerived> &other) const
+  { return ei_transform_product_impl<OtherDerived,Dim,HDim>::run(*this,other.derived()); }
+
+  /** \returns the product expression of a transformation matrix \a a times a transform \a b
+    * The transformation matrix \a a must have a Dim+1 x Dim+1 sizes. */
+  template<typename OtherDerived>
+  friend inline const typename ProductReturnType<OtherDerived,MatrixType>::Type
+  operator * (const MatrixBase<OtherDerived> &a, const Transform &b)
+  { return a.derived() * b.matrix(); }
+
+  /** Contatenates two transformations */
+  inline const Transform
+  operator * (const Transform& other) const
+  { return Transform(m_matrix * other.matrix()); }
+
+  /** \sa MatrixBase::setIdentity() */
+  void setIdentity() { m_matrix.setIdentity(); }
+  static const typename MatrixType::IdentityReturnType Identity()
+  {
+    return MatrixType::Identity();
+  }
+
+  template<typename OtherDerived>
+  inline Transform& scale(const MatrixBase<OtherDerived> &other);
+
+  template<typename OtherDerived>
+  inline Transform& prescale(const MatrixBase<OtherDerived> &other);
+
+  inline Transform& scale(Scalar s);
+  inline Transform& prescale(Scalar s);
+
+  template<typename OtherDerived>
+  inline Transform& translate(const MatrixBase<OtherDerived> &other);
+
+  template<typename OtherDerived>
+  inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
+
+  template<typename RotationType>
+  inline Transform& rotate(const RotationType& rotation);
+
+  template<typename RotationType>
+  inline Transform& prerotate(const RotationType& rotation);
+
+  Transform& shear(Scalar sx, Scalar sy);
+  Transform& preshear(Scalar sx, Scalar sy);
+
+  inline Transform& operator=(const TranslationType& t);
+  inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
+  inline Transform operator*(const TranslationType& t) const;
+
+  inline Transform& operator=(const ScalingType& t);
+  inline Transform& operator*=(const ScalingType& s) { return scale(s.coeffs()); }
+  inline Transform operator*(const ScalingType& s) const;
+  friend inline Transform operator*(const LinearMatrixType& mat, const Transform& t)
+  {
+    Transform res = t;
+    res.matrix().row(Dim) = t.matrix().row(Dim);
+    res.matrix().template block<Dim,HDim>(0,0) = (mat * t.matrix().template block<Dim,HDim>(0,0)).lazy();
+    return res;
+  }
+
+  template<typename Derived>
+  inline Transform& operator=(const RotationBase<Derived,Dim>& r);
+  template<typename Derived>
+  inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
+  template<typename Derived>
+  inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
+
+  LinearMatrixType rotation() const;
+  template<typename RotationMatrixType, typename ScalingMatrixType>
+  void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
+  template<typename ScalingMatrixType, typename RotationMatrixType>
+  void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
+
+  template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
+  Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
+    const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
+
+  inline const MatrixType inverse(TransformTraits traits = Affine) const;
+
+  /** \returns a const pointer to the column major internal matrix */
+  const Scalar* data() const { return m_matrix.data(); }
+  /** \returns a non-const pointer to the column major internal matrix */
+  Scalar* data() { return m_matrix.data(); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type cast() const
+  { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Transform(const Transform<OtherScalarType,Dim>& other)
+  { m_matrix = other.matrix().template cast<Scalar>(); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Transform& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
+  { return m_matrix.isApprox(other.m_matrix, prec); }
+
+  #ifdef EIGEN_TRANSFORM_PLUGIN
+  #include EIGEN_TRANSFORM_PLUGIN
+  #endif
+
+protected:
+
+};
+
+/** \ingroup Geometry_Module */
+typedef Transform<float,2> Transform2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float,3> Transform3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double,2> Transform2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double,3> Transform3d;
+
+/**************************
+*** Optional QT support ***
+**************************/
+
+#ifdef EIGEN_QT_SUPPORT
+/** Initialises \c *this from a QMatrix assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim>
+Transform<Scalar,Dim>::Transform(const QMatrix& other)
+{
+  *this = other;
+}
+
+/** Set \c *this from a QMatrix assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim>
+Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const QMatrix& other)
+{
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  m_matrix << other.m11(), other.m21(), other.dx(),
+              other.m12(), other.m22(), other.dy(),
+              0, 0, 1;
+   return *this;
+}
+
+/** \returns a QMatrix from \c *this assuming the dimension is 2.
+  *
+  * \warning this convertion might loss data if \c *this is not affine
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim>
+QMatrix Transform<Scalar,Dim>::toQMatrix(void) const
+{
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return QMatrix(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
+                 m_matrix.coeff(0,1), m_matrix.coeff(1,1),
+                 m_matrix.coeff(0,2), m_matrix.coeff(1,2));
+}
+
+/** Initialises \c *this from a QTransform assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim>
+Transform<Scalar,Dim>::Transform(const QTransform& other)
+{
+  *this = other;
+}
+
+/** Set \c *this from a QTransform assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim>
+Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const QTransform& other)
+{
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  m_matrix << other.m11(), other.m21(), other.dx(),
+              other.m12(), other.m22(), other.dy(),
+              other.m13(), other.m23(), other.m33();
+   return *this;
+}
+
+/** \returns a QTransform from \c *this assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim>
+QTransform Transform<Scalar,Dim>::toQTransform(void) const
+{
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0), m_matrix.coeff(2,0),
+                    m_matrix.coeff(0,1), m_matrix.coeff(1,1), m_matrix.coeff(2,1),
+                    m_matrix.coeff(0,2), m_matrix.coeff(1,2), m_matrix.coeff(2,2));
+}
+#endif
+
+/*********************
+*** Procedural API ***
+*********************/
+
+/** Applies on the right the non uniform scale transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \sa prescale()
+  */
+template<typename Scalar, int Dim>
+template<typename OtherDerived>
+Transform<Scalar,Dim>&
+Transform<Scalar,Dim>::scale(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  linear() = (linear() * other.asDiagonal()).lazy();
+  return *this;
+}
+
+/** Applies on the right a uniform scale of a factor \a c to \c *this
+  * and returns a reference to \c *this.
+  * \sa prescale(Scalar)
+  */
+template<typename Scalar, int Dim>
+inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::scale(Scalar s)
+{
+  linear() *= s;
+  return *this;
+}
+
+/** Applies on the left the non uniform scale transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \sa scale()
+  */
+template<typename Scalar, int Dim>
+template<typename OtherDerived>
+Transform<Scalar,Dim>&
+Transform<Scalar,Dim>::prescale(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  m_matrix.template block<Dim,HDim>(0,0) = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0)).lazy();
+  return *this;
+}
+
+/** Applies on the left a uniform scale of a factor \a c to \c *this
+  * and returns a reference to \c *this.
+  * \sa scale(Scalar)
+  */
+template<typename Scalar, int Dim>
+inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::prescale(Scalar s)
+{
+  m_matrix.template corner<Dim,HDim>(TopLeft) *= s;
+  return *this;
+}
+
+/** Applies on the right the translation matrix represented by the vector \a other
+  * to \c *this and returns a reference to \c *this.
+  * \sa pretranslate()
+  */
+template<typename Scalar, int Dim>
+template<typename OtherDerived>
+Transform<Scalar,Dim>&
+Transform<Scalar,Dim>::translate(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  translation() += linear() * other;
+  return *this;
+}
+
+/** Applies on the left the translation matrix represented by the vector \a other
+  * to \c *this and returns a reference to \c *this.
+  * \sa translate()
+  */
+template<typename Scalar, int Dim>
+template<typename OtherDerived>
+Transform<Scalar,Dim>&
+Transform<Scalar,Dim>::pretranslate(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  translation() += other;
+  return *this;
+}
+
+/** Applies on the right the rotation represented by the rotation \a rotation
+  * to \c *this and returns a reference to \c *this.
+  *
+  * The template parameter \a RotationType is the type of the rotation which
+  * must be known by ei_toRotationMatrix<>.
+  *
+  * Natively supported types includes:
+  *   - any scalar (2D),
+  *   - a Dim x Dim matrix expression,
+  *   - a Quaternion (3D),
+  *   - a AngleAxis (3D)
+  *
+  * This mechanism is easily extendable to support user types such as Euler angles,
+  * or a pair of Quaternion for 4D rotations.
+  *
+  * \sa rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)
+  */
+template<typename Scalar, int Dim>
+template<typename RotationType>
+Transform<Scalar,Dim>&
+Transform<Scalar,Dim>::rotate(const RotationType& rotation)
+{
+  linear() *= ei_toRotationMatrix<Scalar,Dim>(rotation);
+  return *this;
+}
+
+/** Applies on the left the rotation represented by the rotation \a rotation
+  * to \c *this and returns a reference to \c *this.
+  *
+  * See rotate() for further details.
+  *
+  * \sa rotate()
+  */
+template<typename Scalar, int Dim>
+template<typename RotationType>
+Transform<Scalar,Dim>&
+Transform<Scalar,Dim>::prerotate(const RotationType& rotation)
+{
+  m_matrix.template block<Dim,HDim>(0,0) = ei_toRotationMatrix<Scalar,Dim>(rotation)
+                                         * m_matrix.template block<Dim,HDim>(0,0);
+  return *this;
+}
+
+/** Applies on the right the shear transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \warning 2D only.
+  * \sa preshear()
+  */
+template<typename Scalar, int Dim>
+Transform<Scalar,Dim>&
+Transform<Scalar,Dim>::shear(Scalar sx, Scalar sy)
+{
+  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  VectorType tmp = linear().col(0)*sy + linear().col(1);
+  linear() << linear().col(0) + linear().col(1)*sx, tmp;
+  return *this;
+}
+
+/** Applies on the left the shear transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \warning 2D only.
+  * \sa shear()
+  */
+template<typename Scalar, int Dim>
+Transform<Scalar,Dim>&
+Transform<Scalar,Dim>::preshear(Scalar sx, Scalar sy)
+{
+  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
+  return *this;
+}
+
+/******************************************************
+*** Scaling, Translation and Rotation compatibility ***
+******************************************************/
+
+template<typename Scalar, int Dim>
+inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const TranslationType& t)
+{
+  linear().setIdentity();
+  translation() = t.vector();
+  m_matrix.template block<1,Dim>(Dim,0).setZero();
+  m_matrix(Dim,Dim) = Scalar(1);
+  return *this;
+}
+
+template<typename Scalar, int Dim>
+inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const TranslationType& t) const
+{
+  Transform res = *this;
+  res.translate(t.vector());
+  return res;
+}
+
+template<typename Scalar, int Dim>
+inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const ScalingType& s)
+{
+  m_matrix.setZero();
+  linear().diagonal() = s.coeffs();
+  m_matrix.coeffRef(Dim,Dim) = Scalar(1);
+  return *this;
+}
+
+template<typename Scalar, int Dim>
+inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const ScalingType& s) const
+{
+  Transform res = *this;
+  res.scale(s.coeffs());
+  return res;
+}
+
+template<typename Scalar, int Dim>
+template<typename Derived>
+inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const RotationBase<Derived,Dim>& r)
+{
+  linear() = ei_toRotationMatrix<Scalar,Dim>(r);
+  translation().setZero();
+  m_matrix.template block<1,Dim>(Dim,0).setZero();
+  m_matrix.coeffRef(Dim,Dim) = Scalar(1);
+  return *this;
+}
+
+template<typename Scalar, int Dim>
+template<typename Derived>
+inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const RotationBase<Derived,Dim>& r) const
+{
+  Transform res = *this;
+  res.rotate(r.derived());
+  return res;
+}
+
+/************************
+*** Special functions ***
+************************/
+
+/** \returns the rotation part of the transformation
+  * \nonstableyet
+  *
+  * \svd_module
+  *
+  * \sa computeRotationScaling(), computeScalingRotation(), class SVD
+  */
+template<typename Scalar, int Dim>
+typename Transform<Scalar,Dim>::LinearMatrixType
+Transform<Scalar,Dim>::rotation() const
+{
+  LinearMatrixType result;
+  computeRotationScaling(&result, (LinearMatrixType*)0);
+  return result;
+}
+
+
+/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
+  * not necessarily positive.
+  *
+  * If either pointer is zero, the corresponding computation is skipped.
+  *
+  * \nonstableyet
+  *
+  * \svd_module
+  *
+  * \sa computeScalingRotation(), rotation(), class SVD
+  */
+template<typename Scalar, int Dim>
+template<typename RotationMatrixType, typename ScalingMatrixType>
+void Transform<Scalar,Dim>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
+{
+  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU|ComputeFullV);
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
+  Matrix<Scalar, Dim, 1> sv(svd.singularValues());
+  sv.coeffRef(0) *= x;
+  if(scaling)
+  {
+    scaling->noalias() = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint();
+  }
+  if(rotation)
+  {
+    LinearMatrixType m(svd.matrixU());
+    m.col(0) /= x;
+    rotation->noalias() = m * svd.matrixV().adjoint();
+  }
+}
+
+/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
+  * not necessarily positive.
+  *
+  * If either pointer is zero, the corresponding computation is skipped.
+  *
+  * \nonstableyet
+  *
+  * \svd_module
+  *
+  * \sa computeRotationScaling(), rotation(), class SVD
+  */
+template<typename Scalar, int Dim>
+template<typename ScalingMatrixType, typename RotationMatrixType>
+void Transform<Scalar,Dim>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
+{
+  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU|ComputeFullV);
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
+  Matrix<Scalar, Dim, 1> sv(svd.singularValues());
+  sv.coeffRef(0) *= x;
+  if(scaling)
+  {
+    scaling->noalias() = svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint();
+  }
+  if(rotation)
+  {
+    LinearMatrixType m(svd.matrixU());
+    m.col(0) /= x;
+    rotation->noalias() = m * svd.matrixV().adjoint();
+  }
+}
+
+/** Convenient method to set \c *this from a position, orientation and scale
+  * of a 3D object.
+  */
+template<typename Scalar, int Dim>
+template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
+Transform<Scalar,Dim>&
+Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
+  const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
+{
+  linear() = ei_toRotationMatrix<Scalar,Dim>(orientation);
+  linear() *= scale.asDiagonal();
+  translation() = position;
+  m_matrix.template block<1,Dim>(Dim,0).setZero();
+  m_matrix(Dim,Dim) = Scalar(1);
+  return *this;
+}
+
+/** \nonstableyet
+  *
+  * \returns the inverse transformation matrix according to some given knowledge
+  * on \c *this.
+  *
+  * \param traits allows to optimize the inversion process when the transformion
+  * is known to be not a general transformation. The possible values are:
+  *  - Projective if the transformation is not necessarily affine, i.e., if the
+  *    last row is not guaranteed to be [0 ... 0 1]
+  *  - Affine is the default, the last row is assumed to be [0 ... 0 1]
+  *  - Isometry if the transformation is only a concatenations of translations
+  *    and rotations.
+  *
+  * \warning unless \a traits is always set to NoShear or NoScaling, this function
+  * requires the generic inverse method of MatrixBase defined in the LU module. If
+  * you forget to include this module, then you will get hard to debug linking errors.
+  *
+  * \sa MatrixBase::inverse()
+  */
+template<typename Scalar, int Dim>
+inline const typename Transform<Scalar,Dim>::MatrixType
+Transform<Scalar,Dim>::inverse(TransformTraits traits) const
+{
+  if (traits == Projective)
+  {
+    return m_matrix.inverse();
+  }
+  else
+  {
+    MatrixType res;
+    if (traits == Affine)
+    {
+      res.template corner<Dim,Dim>(TopLeft) = linear().inverse();
+    }
+    else if (traits == Isometry)
+    {
+      res.template corner<Dim,Dim>(TopLeft) = linear().transpose();
+    }
+    else
+    {
+      ei_assert("invalid traits value in Transform::inverse()");
+    }
+    // translation and remaining parts
+    res.template corner<Dim,1>(TopRight) = - res.template corner<Dim,Dim>(TopLeft) * translation();
+    res.template corner<1,Dim>(BottomLeft).setZero();
+    res.coeffRef(Dim,Dim) = Scalar(1);
+    return res;
+  }
+}
+
+/*****************************************************
+*** Specializations of operator* with a MatrixBase ***
+*****************************************************/
+
+template<typename Other, int Dim, int HDim>
+struct ei_transform_product_impl<Other,Dim,HDim, HDim,HDim>
+{
+  typedef Transform<typename Other::Scalar,Dim> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
+  static ResultType run(const TransformType& tr, const Other& other)
+  { return tr.matrix() * other; }
+};
+
+template<typename Other, int Dim, int HDim>
+struct ei_transform_product_impl<Other,Dim,HDim, Dim,Dim>
+{
+  typedef Transform<typename Other::Scalar,Dim> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef TransformType ResultType;
+  static ResultType run(const TransformType& tr, const Other& other)
+  {
+    TransformType res;
+    res.translation() = tr.translation();
+    res.matrix().row(Dim) = tr.matrix().row(Dim);
+    res.linear() = (tr.linear() * other).lazy();
+    return res;
+  }
+};
+
+template<typename Other, int Dim, int HDim>
+struct ei_transform_product_impl<Other,Dim,HDim, HDim,1>
+{
+  typedef Transform<typename Other::Scalar,Dim> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
+  static ResultType run(const TransformType& tr, const Other& other)
+  { return tr.matrix() * other; }
+};
+
+template<typename Other, int Dim, int HDim>
+struct ei_transform_product_impl<Other,Dim,HDim, Dim,1>
+{
+  typedef typename Other::Scalar Scalar;
+  typedef Transform<Scalar,Dim> TransformType;
+  typedef Matrix<Scalar,Dim,1> ResultType;
+  static ResultType run(const TransformType& tr, const Other& other)
+  { return ((tr.linear() * other) + tr.translation())
+          * (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
+};
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Translation.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Translation.h
new file mode 100755
index 0000000..e651e31
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Geometry/Translation.h
@@ -0,0 +1,196 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Translation
+  *
+  * \brief Represents a translation transformation
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  * \param _Dim the  dimension of the space, can be a compile time value or Dynamic
+  *
+  * \note This class is not aimed to be used to store a translation transformation,
+  * but rather to make easier the constructions and updates of Transform objects.
+  *
+  * \sa class Scaling, class Transform
+  */
+template<typename _Scalar, int _Dim>
+class Translation
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
+  /** dimension of the space */
+  enum { Dim = _Dim };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  /** corresponding vector type */
+  typedef Matrix<Scalar,Dim,1> VectorType;
+  /** corresponding linear transformation matrix type */
+  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
+  /** corresponding scaling transformation type */
+  typedef Scaling<Scalar,Dim> ScalingType;
+  /** corresponding affine transformation type */
+  typedef Transform<Scalar,Dim> TransformType;
+
+protected:
+
+  VectorType m_coeffs;
+
+public:
+
+  /** Default constructor without initialization. */
+  Translation() {}
+  /**  */
+  inline Translation(const Scalar& sx, const Scalar& sy)
+  {
+    ei_assert(Dim==2);
+    m_coeffs.x() = sx;
+    m_coeffs.y() = sy;
+  }
+  /**  */
+  inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
+  {
+    ei_assert(Dim==3);
+    m_coeffs.x() = sx;
+    m_coeffs.y() = sy;
+    m_coeffs.z() = sz;
+  }
+  /** Constructs and initialize the scaling transformation from a vector of scaling coefficients */
+  explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
+
+  const VectorType& vector() const { return m_coeffs; }
+  VectorType& vector() { return m_coeffs; }
+
+  /** Concatenates two translation */
+  inline Translation operator* (const Translation& other) const
+  { return Translation(m_coeffs + other.m_coeffs); }
+
+  /** Concatenates a translation and a scaling */
+  inline TransformType operator* (const ScalingType& other) const;
+
+  /** Concatenates a translation and a linear transformation */
+  inline TransformType operator* (const LinearMatrixType& linear) const;
+
+  template<typename Derived>
+  inline TransformType operator*(const RotationBase<Derived,Dim>& r) const
+  { return *this * r.toRotationMatrix(); }
+
+  /** Concatenates a linear transformation and a translation */
+  // its a nightmare to define a templated friend function outside its declaration
+  friend inline TransformType operator* (const LinearMatrixType& linear, const Translation& t)
+  {
+    TransformType res;
+    res.matrix().setZero();
+    res.linear() = linear;
+    res.translation() = linear * t.m_coeffs;
+    res.matrix().row(Dim).setZero();
+    res(Dim,Dim) = Scalar(1);
+    return res;
+  }
+
+  /** Concatenates a translation and an affine transformation */
+  inline TransformType operator* (const TransformType& t) const;
+
+  /** Applies translation to vector */
+  inline VectorType operator* (const VectorType& other) const
+  { return m_coeffs + other; }
+
+  /** \returns the inverse translation (opposite) */
+  Translation inverse() const { return Translation(-m_coeffs); }
+
+  Translation& operator=(const Translation& other)
+  {
+    m_coeffs = other.m_coeffs;
+    return *this;
+  }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
+  { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
+  { m_coeffs = other.vector().template cast<Scalar>(); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
+  { return m_coeffs.isApprox(other.m_coeffs, prec); }
+
+};
+
+/** \addtogroup Geometry_Module */
+//@{
+typedef Translation<float, 2> Translation2f;
+typedef Translation<double,2> Translation2d;
+typedef Translation<float, 3> Translation3f;
+typedef Translation<double,3> Translation3d;
+//@}
+
+
+template<typename Scalar, int Dim>
+inline typename Translation<Scalar,Dim>::TransformType
+Translation<Scalar,Dim>::operator* (const ScalingType& other) const
+{
+  TransformType res;
+  res.matrix().setZero();
+  res.linear().diagonal() = other.coeffs();
+  res.translation() = m_coeffs;
+  res(Dim,Dim) = Scalar(1);
+  return res;
+}
+
+template<typename Scalar, int Dim>
+inline typename Translation<Scalar,Dim>::TransformType
+Translation<Scalar,Dim>::operator* (const LinearMatrixType& linear) const
+{
+  TransformType res;
+  res.matrix().setZero();
+  res.linear() = linear;
+  res.translation() = m_coeffs;
+  res.matrix().row(Dim).setZero();
+  res(Dim,Dim) = Scalar(1);
+  return res;
+}
+
+template<typename Scalar, int Dim>
+inline typename Translation<Scalar,Dim>::TransformType
+Translation<Scalar,Dim>::operator* (const TransformType& t) const
+{
+  TransformType res = t;
+  res.pretranslate(m_coeffs);
+  return res;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/LU.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/LU.h
new file mode 100755
index 0000000..c23c11b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/LU.h
@@ -0,0 +1,133 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_LU_H
+#define EIGEN2_LU_H
+
+template<typename MatrixType>
+class LU : public FullPivLU<MatrixType>
+{
+  public:
+
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef Matrix<int, 1, MatrixType::ColsAtCompileTime, MatrixType::Options, 1, MatrixType::MaxColsAtCompileTime> IntRowVectorType;
+    typedef Matrix<int, MatrixType::RowsAtCompileTime, 1, MatrixType::Options, MatrixType::MaxRowsAtCompileTime, 1> IntColVectorType;
+    typedef Matrix<Scalar, 1, MatrixType::ColsAtCompileTime, MatrixType::Options, 1, MatrixType::MaxColsAtCompileTime> RowVectorType;
+    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1, MatrixType::Options, MatrixType::MaxRowsAtCompileTime, 1> ColVectorType;
+
+    typedef Matrix<typename MatrixType::Scalar,
+                  MatrixType::ColsAtCompileTime, // the number of rows in the "kernel matrix" is the number of cols of the original matrix
+                                                 // so that the product "matrix * kernel = zero" makes sense
+                  Dynamic,                       // we don't know at compile-time the dimension of the kernel
+                  MatrixType::Options,
+                  MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter
+                  MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space, whose dimension is the number
+                                                   // of columns of the original matrix
+    > KernelResultType;
+
+    typedef Matrix<typename MatrixType::Scalar,
+                   MatrixType::RowsAtCompileTime, // the image is a subspace of the destination space, whose dimension is the number
+                                                  // of rows of the original matrix
+                   Dynamic,                       // we don't know at compile time the dimension of the image (the rank)
+                   MatrixType::Options,
+                   MatrixType::MaxRowsAtCompileTime, // the image matrix will consist of columns from the original matrix,
+                   MatrixType::MaxColsAtCompileTime  // so it has the same number of rows and at most as many columns.
+    > ImageResultType;
+
+    typedef FullPivLU<MatrixType> Base;
+    LU() : Base() {}
+
+    template<typename T>
+    explicit LU(const T& t) : Base(t), m_originalMatrix(t) {}
+
+    template<typename OtherDerived, typename ResultType>
+    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
+    {
+      *result = static_cast<const Base*>(this)->solve(b);
+      return true;
+    }
+
+    template<typename ResultType>
+    inline void computeInverse(ResultType *result) const
+    {
+      solve(MatrixType::Identity(this->rows(), this->cols()), result);
+    }
+    
+    template<typename KernelMatrixType>
+    void computeKernel(KernelMatrixType *result) const
+    {
+      *result = static_cast<const Base*>(this)->kernel();
+    }
+    
+    template<typename ImageMatrixType>
+    void computeImage(ImageMatrixType *result) const
+    {
+      *result = static_cast<const Base*>(this)->image(m_originalMatrix);
+    }
+    
+    const ImageResultType image() const
+    {
+      return static_cast<const Base*>(this)->image(m_originalMatrix);
+    }
+    
+    const MatrixType& m_originalMatrix;
+};
+
+#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
+/** \lu_module
+  *
+  * Synonym of partialPivLu().
+  *
+  * \return the partial-pivoting LU decomposition of \c *this.
+  *
+  * \sa class PartialPivLU
+  */
+template<typename Derived>
+inline const LU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::lu() const
+{
+  return LU<PlainObject>(eval());
+}
+#endif
+
+#ifdef EIGEN2_SUPPORT
+/** \lu_module
+  *
+  * Synonym of partialPivLu().
+  *
+  * \return the partial-pivoting LU decomposition of \c *this.
+  *
+  * \sa class PartialPivLU
+  */
+template<typename Derived>
+inline const LU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::eigen2_lu() const
+{
+  return LU<PlainObject>(eval());
+}
+#endif
+
+
+#endif // EIGEN2_LU_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Lazy.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Lazy.h
new file mode 100755
index 0000000..c4288ed
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Lazy.h
@@ -0,0 +1,82 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_LAZY_H
+#define EIGEN_LAZY_H
+
+/** \deprecated it is only used by lazy() which is deprecated
+  *
+  * \returns an expression of *this with added flags
+  *
+  * Example: \include MatrixBase_marked.cpp
+  * Output: \verbinclude MatrixBase_marked.out
+  *
+  * \sa class Flagged, extract(), part()
+  */
+template<typename Derived>
+template<unsigned int Added>
+inline const Flagged<Derived, Added, 0>
+MatrixBase<Derived>::marked() const
+{
+  return derived();
+}
+
+/** \deprecated use MatrixBase::noalias()
+  *
+  * \returns an expression of *this with the EvalBeforeAssigningBit flag removed.
+  *
+  * Example: \include MatrixBase_lazy.cpp
+  * Output: \verbinclude MatrixBase_lazy.out
+  *
+  * \sa class Flagged, marked()
+  */
+template<typename Derived>
+inline const Flagged<Derived, 0, EvalBeforeAssigningBit>
+MatrixBase<Derived>::lazy() const
+{
+  return derived();
+}
+
+
+/** \internal
+  * Overloaded to perform an efficient C += (A*B).lazy() */
+template<typename Derived>
+template<typename ProductDerived, typename Lhs, typename Rhs>
+Derived& MatrixBase<Derived>::operator+=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
+                                                       EvalBeforeAssigningBit>& other)
+{
+  other._expression().derived().addTo(derived()); return derived();
+}
+
+/** \internal
+  * Overloaded to perform an efficient C -= (A*B).lazy() */
+template<typename Derived>
+template<typename ProductDerived, typename Lhs, typename Rhs>
+Derived& MatrixBase<Derived>::operator-=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
+                                                       EvalBeforeAssigningBit>& other)
+{
+  other._expression().derived().subTo(derived()); return derived();
+}
+
+#endif // EIGEN_LAZY_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/LeastSquares.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/LeastSquares.h
new file mode 100755
index 0000000..4b62ffa
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/LeastSquares.h
@@ -0,0 +1,182 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_LEASTSQUARES_H
+#define EIGEN2_LEASTSQUARES_H
+
+/** \ingroup LeastSquares_Module
+  *
+  * \leastsquares_module
+  *
+  * For a set of points, this function tries to express
+  * one of the coords as a linear (affine) function of the other coords.
+  *
+  * This is best explained by an example. This function works in full
+  * generality, for points in a space of arbitrary dimension, and also over
+  * the complex numbers, but for this example we will work in dimension 3
+  * over the real numbers (doubles).
+  *
+  * So let us work with the following set of 5 points given by their
+  * \f$(x,y,z)\f$ coordinates:
+  * @code
+    Vector3d points[5];
+    points[0] = Vector3d( 3.02, 6.89, -4.32 );
+    points[1] = Vector3d( 2.01, 5.39, -3.79 );
+    points[2] = Vector3d( 2.41, 6.01, -4.01 );
+    points[3] = Vector3d( 2.09, 5.55, -3.86 );
+    points[4] = Vector3d( 2.58, 6.32, -4.10 );
+  * @endcode
+  * Suppose that we want to express the second coordinate (\f$y\f$) as a linear
+  * expression in \f$x\f$ and \f$z\f$, that is,
+  * \f[ y=ax+bz+c \f]
+  * for some constants \f$a,b,c\f$. Thus, we want to find the best possible
+  * constants \f$a,b,c\f$ so that the plane of equation \f$y=ax+bz+c\f$ fits
+  * best the five above points. To do that, call this function as follows:
+  * @code
+    Vector3d coeffs; // will store the coefficients a, b, c
+    linearRegression(
+      5,
+      &points,
+      &coeffs,
+      1 // the coord to express as a function of
+        // the other ones. 0 means x, 1 means y, 2 means z.
+    );
+  * @endcode
+  * Now the vector \a coeffs is approximately
+  * \f$( 0.495 ,  -1.927 ,  -2.906 )\f$.
+  * Thus, we get \f$a=0.495, b = -1.927, c = -2.906\f$. Let us check for
+  * instance how near points[0] is from the plane of equation \f$y=ax+bz+c\f$.
+  * Looking at the coords of points[0], we see that:
+  * \f[ax+bz+c = 0.495 * 3.02 + (-1.927) * (-4.32) + (-2.906) = 6.91.\f]
+  * On the other hand, we have \f$y=6.89\f$. We see that the values
+  * \f$6.91\f$ and \f$6.89\f$
+  * are near, so points[0] is very near the plane of equation \f$y=ax+bz+c\f$.
+  *
+  * Let's now describe precisely the parameters:
+  * @param numPoints the number of points
+  * @param points the array of pointers to the points on which to perform the linear regression
+  * @param result pointer to the vector in which to store the result.
+                  This vector must be of the same type and size as the
+                  data points. The meaning of its coords is as follows.
+                  For brevity, let \f$n=Size\f$,
+                  \f$r_i=result[i]\f$,
+                  and \f$f=funcOfOthers\f$. Denote by
+                  \f$x_0,\ldots,x_{n-1}\f$
+                  the n coordinates in the n-dimensional space.
+                  Then the resulting equation is:
+                  \f[ x_f = r_0 x_0 + \cdots + r_{f-1}x_{f-1}
+                   + r_{f+1}x_{f+1} + \cdots + r_{n-1}x_{n-1} + r_n. \f]
+  * @param funcOfOthers Determines which coord to express as a function of the
+                        others. Coords are numbered starting from 0, so that a
+                        value of 0 means \f$x\f$, 1 means \f$y\f$,
+                        2 means \f$z\f$, ...
+  *
+  * \sa fitHyperplane()
+  */
+template<typename VectorType>
+void linearRegression(int numPoints,
+                      VectorType **points,
+                      VectorType *result,
+                      int funcOfOthers )
+{
+  typedef typename VectorType::Scalar Scalar;
+  typedef Hyperplane<Scalar, VectorType::SizeAtCompileTime> HyperplaneType;
+  const int size = points[0]->size();
+  result->resize(size);
+  HyperplaneType h(size);
+  fitHyperplane(numPoints, points, &h);
+  for(int i = 0; i < funcOfOthers; i++)
+    result->coeffRef(i) = - h.coeffs()[i] / h.coeffs()[funcOfOthers];
+  for(int i = funcOfOthers; i < size; i++)
+    result->coeffRef(i) = - h.coeffs()[i+1] / h.coeffs()[funcOfOthers];
+}
+
+/** \ingroup LeastSquares_Module
+  *
+  * \leastsquares_module
+  *
+  * This function is quite similar to linearRegression(), so we refer to the
+  * documentation of this function and only list here the differences.
+  *
+  * The main difference from linearRegression() is that this function doesn't
+  * take a \a funcOfOthers argument. Instead, it finds a general equation
+  * of the form
+  * \f[ r_0 x_0 + \cdots + r_{n-1}x_{n-1} + r_n = 0, \f]
+  * where \f$n=Size\f$, \f$r_i=retCoefficients[i]\f$, and we denote by
+  * \f$x_0,\ldots,x_{n-1}\f$ the n coordinates in the n-dimensional space.
+  *
+  * Thus, the vector \a retCoefficients has size \f$n+1\f$, which is another
+  * difference from linearRegression().
+  *
+  * In practice, this function performs an hyper-plane fit in a total least square sense
+  * via the following steps:
+  *  1 - center the data to the mean
+  *  2 - compute the covariance matrix
+  *  3 - pick the eigenvector corresponding to the smallest eigenvalue of the covariance matrix
+  * The ratio of the smallest eigenvalue and the second one gives us a hint about the relevance
+  * of the solution. This value is optionally returned in \a soundness.
+  *
+  * \sa linearRegression()
+  */
+template<typename VectorType, typename HyperplaneType>
+void fitHyperplane(int numPoints,
+                   VectorType **points,
+                   HyperplaneType *result,
+                   typename NumTraits<typename VectorType::Scalar>::Real* soundness = 0)
+{
+  typedef typename VectorType::Scalar Scalar;
+  typedef Matrix<Scalar,VectorType::SizeAtCompileTime,VectorType::SizeAtCompileTime> CovMatrixType;
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorType)
+  ei_assert(numPoints >= 1);
+  int size = points[0]->size();
+  ei_assert(size+1 == result->coeffs().size());
+
+  // compute the mean of the data
+  VectorType mean = VectorType::Zero(size);
+  for(int i = 0; i < numPoints; ++i)
+    mean += *(points[i]);
+  mean /= numPoints;
+
+  // compute the covariance matrix
+  CovMatrixType covMat = CovMatrixType::Zero(size, size);
+  VectorType remean = VectorType::Zero(size);
+  for(int i = 0; i < numPoints; ++i)
+  {
+    VectorType diff = (*(points[i]) - mean).conjugate();
+    covMat += diff * diff.adjoint();
+  }
+
+  // now we just have to pick the eigen vector with smallest eigen value
+  SelfAdjointEigenSolver<CovMatrixType> eig(covMat);
+  result->normal() = eig.eigenvectors().col(0);
+  if (soundness)
+    *soundness = eig.eigenvalues().coeff(0)/eig.eigenvalues().coeff(1);
+
+  // let's compute the constant coefficient such that the
+  // plane pass trough the mean point:
+  result->offset() = - (result->normal().cwise()* mean).sum();
+}
+
+
+#endif // EIGEN2_LEASTSQUARES_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Macros.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Macros.h
new file mode 100755
index 0000000..77e85a4
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Macros.h
@@ -0,0 +1,35 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_MACROS_H
+#define EIGEN2_MACROS_H
+
+#define ei_assert eigen_assert
+#define ei_internal_assert eigen_internal_assert
+
+#define EIGEN_ALIGN_128 EIGEN_ALIGN16
+
+#define EIGEN_ARCH_WANTS_ALIGNMENT EIGEN_ALIGN_STATICALLY
+
+#endif // EIGEN2_MACROS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/MathFunctions.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/MathFunctions.h
new file mode 100755
index 0000000..caa44e6
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/MathFunctions.h
@@ -0,0 +1,68 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_MATH_FUNCTIONS_H
+#define EIGEN2_MATH_FUNCTIONS_H
+
+template<typename T> inline typename NumTraits<T>::Real ei_real(const T& x) { return internal::real(x); }
+template<typename T> inline typename NumTraits<T>::Real ei_imag(const T& x) { return internal::imag(x); }
+template<typename T> inline T ei_conj(const T& x) { return internal::conj(x); }
+template<typename T> inline typename NumTraits<T>::Real ei_abs (const T& x) { return internal::abs(x); }
+template<typename T> inline typename NumTraits<T>::Real ei_abs2(const T& x) { return internal::abs2(x); }
+template<typename T> inline T ei_sqrt(const T& x) { return internal::sqrt(x); }
+template<typename T> inline T ei_exp (const T& x) { return internal::exp(x); }
+template<typename T> inline T ei_log (const T& x) { return internal::log(x); }
+template<typename T> inline T ei_sin (const T& x) { return internal::sin(x); }
+template<typename T> inline T ei_cos (const T& x) { return internal::cos(x); }
+template<typename T> inline T ei_atan2(const T& x,const T& y) { return internal::atan2(x,y); }
+template<typename T> inline T ei_pow (const T& x,const T& y) { return internal::pow(x,y); }
+template<typename T> inline T ei_random () { return internal::random<T>(); }
+template<typename T> inline T ei_random (const T& x, const T& y) { return internal::random(x, y); }
+
+template<typename T> inline T precision () { return NumTraits<T>::dummy_precision(); }
+template<typename T> inline T machine_epsilon () { return NumTraits<T>::epsilon(); }
+
+
+template<typename Scalar, typename OtherScalar>
+inline bool ei_isMuchSmallerThan(const Scalar& x, const OtherScalar& y,
+                                   typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return internal::isMuchSmallerThan(x, y, precision);
+}
+
+template<typename Scalar>
+inline bool ei_isApprox(const Scalar& x, const Scalar& y,
+                          typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return internal::isApprox(x, y, precision);
+}
+
+template<typename Scalar>
+inline bool ei_isApproxOrLessThan(const Scalar& x, const Scalar& y,
+                                    typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+{
+  return internal::isApproxOrLessThan(x, y, precision);
+}
+
+#endif // EIGEN2_MATH_FUNCTIONS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Memory.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Memory.h
new file mode 100755
index 0000000..0283475
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Memory.h
@@ -0,0 +1,58 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_MEMORY_H
+#define EIGEN2_MEMORY_H
+
+inline void* ei_aligned_malloc(size_t size) { return internal::aligned_malloc(size); }
+inline void  ei_aligned_free(void *ptr) { internal::aligned_free(ptr); }
+inline void* ei_aligned_realloc(void *ptr, size_t new_size, size_t old_size) { return internal::aligned_realloc(ptr, new_size, old_size); }
+inline void* ei_handmade_aligned_malloc(size_t size) { return internal::handmade_aligned_malloc(size); }
+inline void  ei_handmade_aligned_free(void *ptr) { internal::handmade_aligned_free(ptr); }
+
+template<bool Align> inline void* ei_conditional_aligned_malloc(size_t size)
+{
+  return internal::conditional_aligned_malloc<Align>(size);
+}
+template<bool Align> inline void ei_conditional_aligned_free(void *ptr)
+{
+  internal::conditional_aligned_free<Align>(ptr);
+}
+template<bool Align> inline void* ei_conditional_aligned_realloc(void* ptr, size_t new_size, size_t old_size)
+{
+  return internal::conditional_aligned_realloc<Align>(ptr, new_size, old_size);
+}
+
+template<typename T> inline T* ei_aligned_new(size_t size)
+{
+  return internal::aligned_new<T>(size);
+}
+template<typename T> inline void ei_aligned_delete(T *ptr, size_t size)
+{
+  return internal::aligned_delete(ptr, size);
+}
+
+
+
+#endif // EIGEN2_MACROS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Meta.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Meta.h
new file mode 100755
index 0000000..6e500b7
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Meta.h
@@ -0,0 +1,86 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_META_H
+#define EIGEN2_META_H
+
+template<typename T>
+struct ei_traits : internal::traits<T>
+{};
+
+struct ei_meta_true {  enum { ret = 1 }; };
+struct ei_meta_false { enum { ret = 0 }; };
+
+template<bool Condition, typename Then, typename Else>
+struct ei_meta_if { typedef Then ret; };
+
+template<typename Then, typename Else>
+struct ei_meta_if <false, Then, Else> { typedef Else ret; };
+
+template<typename T, typename U> struct ei_is_same_type { enum { ret = 0 }; };
+template<typename T> struct ei_is_same_type<T,T> { enum { ret = 1 }; };
+
+template<typename T> struct ei_unref { typedef T type; };
+template<typename T> struct ei_unref<T&> { typedef T type; };
+
+template<typename T> struct ei_unpointer { typedef T type; };
+template<typename T> struct ei_unpointer<T*> { typedef T type; };
+template<typename T> struct ei_unpointer<T*const> { typedef T type; };
+
+template<typename T> struct ei_unconst { typedef T type; };
+template<typename T> struct ei_unconst<const T> { typedef T type; };
+template<typename T> struct ei_unconst<T const &> { typedef T & type; };
+template<typename T> struct ei_unconst<T const *> { typedef T * type; };
+
+template<typename T> struct ei_cleantype { typedef T type; };
+template<typename T> struct ei_cleantype<const T>   { typedef typename ei_cleantype<T>::type type; };
+template<typename T> struct ei_cleantype<const T&>  { typedef typename ei_cleantype<T>::type type; };
+template<typename T> struct ei_cleantype<T&>        { typedef typename ei_cleantype<T>::type type; };
+template<typename T> struct ei_cleantype<const T*>  { typedef typename ei_cleantype<T>::type type; };
+template<typename T> struct ei_cleantype<T*>        { typedef typename ei_cleantype<T>::type type; };
+
+/** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
+  * Usage example: \code ei_meta_sqrt<1023>::ret \endcode
+  */
+template<int Y,
+         int InfX = 0,
+         int SupX = ((Y==1) ? 1 : Y/2),
+         bool Done = ((SupX-InfX)<=1 ? true : ((SupX*SupX <= Y) && ((SupX+1)*(SupX+1) > Y))) >
+                                // use ?: instead of || just to shut up a stupid gcc 4.3 warning
+class ei_meta_sqrt
+{
+    enum {
+      MidX = (InfX+SupX)/2,
+      TakeInf = MidX*MidX > Y ? 1 : 0,
+      NewInf = int(TakeInf) ? InfX : int(MidX),
+      NewSup = int(TakeInf) ? int(MidX) : SupX
+    };
+  public:
+    enum { ret = ei_meta_sqrt<Y,NewInf,NewSup>::ret };
+};
+
+template<int Y, int InfX, int SupX>
+class ei_meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
+
+#endif // EIGEN2_META_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Minor.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Minor.h
new file mode 100755
index 0000000..eda91cc
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/Minor.h
@@ -0,0 +1,128 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MINOR_H
+#define EIGEN_MINOR_H
+
+/**
+  * \class Minor
+  *
+  * \brief Expression of a minor
+  *
+  * \param MatrixType the type of the object in which we are taking a minor
+  *
+  * This class represents an expression of a minor. It is the return
+  * type of MatrixBase::minor() and most of the time this is the only way it
+  * is used.
+  *
+  * \sa MatrixBase::minor()
+  */
+
+namespace internal {
+template<typename MatrixType>
+struct traits<Minor<MatrixType> >
+ : traits<MatrixType>
+{
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+  typedef typename MatrixType::StorageKind StorageKind;
+  enum {
+    RowsAtCompileTime = (MatrixType::RowsAtCompileTime != Dynamic) ?
+                          int(MatrixType::RowsAtCompileTime) - 1 : Dynamic,
+    ColsAtCompileTime = (MatrixType::ColsAtCompileTime != Dynamic) ?
+                          int(MatrixType::ColsAtCompileTime) - 1 : Dynamic,
+    MaxRowsAtCompileTime = (MatrixType::MaxRowsAtCompileTime != Dynamic) ?
+                             int(MatrixType::MaxRowsAtCompileTime) - 1 : Dynamic,
+    MaxColsAtCompileTime = (MatrixType::MaxColsAtCompileTime != Dynamic) ?
+                             int(MatrixType::MaxColsAtCompileTime) - 1 : Dynamic,
+    Flags = _MatrixTypeNested::Flags & (HereditaryBits | LvalueBit),
+    CoeffReadCost = _MatrixTypeNested::CoeffReadCost // minor is used typically on tiny matrices,
+      // where loops are unrolled and the 'if' evaluates at compile time
+  };
+};
+}
+
+template<typename MatrixType> class Minor
+  : public MatrixBase<Minor<MatrixType> >
+{
+  public:
+
+    typedef MatrixBase<Minor> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Minor)
+
+    inline Minor(const MatrixType& matrix,
+                       Index row, Index col)
+      : m_matrix(matrix), m_row(row), m_col(col)
+    {
+      eigen_assert(row >= 0 && row < matrix.rows()
+          && col >= 0 && col < matrix.cols());
+    }
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Minor)
+
+    inline Index rows() const { return m_matrix.rows() - 1; }
+    inline Index cols() const { return m_matrix.cols() - 1; }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      return m_matrix.const_cast_derived().coeffRef(row + (row >= m_row), col + (col >= m_col));
+    }
+
+    inline const Scalar coeff(Index row, Index col) const
+    {
+      return m_matrix.coeff(row + (row >= m_row), col + (col >= m_col));
+    }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+    const Index m_row, m_col;
+};
+
+/**
+  * \return an expression of the (\a row, \a col)-minor of *this,
+  * i.e. an expression constructed from *this by removing the specified
+  * row and column.
+  *
+  * Example: \include MatrixBase_minor.cpp
+  * Output: \verbinclude MatrixBase_minor.out
+  *
+  * \sa class Minor
+  */
+template<typename Derived>
+inline Minor<Derived>
+MatrixBase<Derived>::minor(Index row, Index col)
+{
+  return Minor<Derived>(derived(), row, col);
+}
+
+/**
+  * This is the const version of minor(). */
+template<typename Derived>
+inline const Minor<Derived>
+MatrixBase<Derived>::minor(Index row, Index col) const
+{
+  return Minor<Derived>(derived(), row, col);
+}
+
+#endif // EIGEN_MINOR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/QR.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/QR.h
new file mode 100755
index 0000000..64f5d5c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/QR.h
@@ -0,0 +1,79 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_QR_H
+#define EIGEN2_QR_H
+
+template<typename MatrixType>
+class QR : public HouseholderQR<MatrixType>
+{
+  public:
+
+    typedef HouseholderQR<MatrixType> Base;
+    typedef Block<const MatrixType, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> MatrixRBlockType;
+
+    QR() : Base() {}
+
+    template<typename T>
+    explicit QR(const T& t) : Base(t) {}
+
+    template<typename OtherDerived, typename ResultType>
+    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
+    {
+      *result = static_cast<const Base*>(this)->solve(b);
+      return true;
+    }
+
+    MatrixType matrixQ(void) const {
+      MatrixType ret = MatrixType::Identity(this->rows(), this->cols());
+      ret = this->householderQ() * ret;
+      return ret;
+    }
+
+    bool isFullRank() const {
+      return true;
+    }
+    
+    const TriangularView<MatrixRBlockType, UpperTriangular>
+    matrixR(void) const
+    {
+      int cols = this->cols();
+      return MatrixRBlockType(this->matrixQR(), 0, 0, cols, cols).template triangularView<UpperTriangular>();
+    }
+};
+
+/** \return the QR decomposition of \c *this.
+  *
+  * \sa class QR
+  */
+template<typename Derived>
+const QR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::qr() const
+{
+  return QR<PlainObject>(eval());
+}
+
+
+#endif // EIGEN2_QR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/SVD.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/SVD.h
new file mode 100755
index 0000000..528a0dc
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/SVD.h
@@ -0,0 +1,649 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_SVD_H
+#define EIGEN2_SVD_H
+
+/** \ingroup SVD_Module
+  * \nonstableyet
+  *
+  * \class SVD
+  *
+  * \brief Standard SVD decomposition of a matrix and associated features
+  *
+  * \param MatrixType the type of the matrix of which we are computing the SVD decomposition
+  *
+  * This class performs a standard SVD decomposition of a real matrix A of size \c M x \c N
+  * with \c M \>= \c N.
+  *
+  *
+  * \sa MatrixBase::SVD()
+  */
+template<typename MatrixType> class SVD
+{
+  private:
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+
+    enum {
+      PacketSize = internal::packet_traits<Scalar>::size,
+      AlignmentMask = int(PacketSize)-1,
+      MinSize = EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime)
+    };
+
+    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> ColVector;
+    typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, 1> RowVector;
+
+    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, MinSize> MatrixUType;
+    typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> MatrixVType;
+    typedef Matrix<Scalar, MinSize, 1> SingularValuesType;
+
+  public:
+
+    SVD() {} // a user who relied on compiler-generated default compiler reported problems with MSVC in 2.0.7
+    
+    SVD(const MatrixType& matrix)
+      : m_matU(matrix.rows(), std::min(matrix.rows(), matrix.cols())),
+        m_matV(matrix.cols(),matrix.cols()),
+        m_sigma(std::min(matrix.rows(),matrix.cols()))
+    {
+      compute(matrix);
+    }
+
+    template<typename OtherDerived, typename ResultType>
+    bool solve(const MatrixBase<OtherDerived> &b, ResultType* result) const;
+
+    const MatrixUType& matrixU() const { return m_matU; }
+    const SingularValuesType& singularValues() const { return m_sigma; }
+    const MatrixVType& matrixV() const { return m_matV; }
+
+    void compute(const MatrixType& matrix);
+    SVD& sort();
+
+    template<typename UnitaryType, typename PositiveType>
+    void computeUnitaryPositive(UnitaryType *unitary, PositiveType *positive) const;
+    template<typename PositiveType, typename UnitaryType>
+    void computePositiveUnitary(PositiveType *positive, UnitaryType *unitary) const;
+    template<typename RotationType, typename ScalingType>
+    void computeRotationScaling(RotationType *unitary, ScalingType *positive) const;
+    template<typename ScalingType, typename RotationType>
+    void computeScalingRotation(ScalingType *positive, RotationType *unitary) const;
+
+  protected:
+    /** \internal */
+    MatrixUType m_matU;
+    /** \internal */
+    MatrixVType m_matV;
+    /** \internal */
+    SingularValuesType m_sigma;
+};
+
+/** Computes / recomputes the SVD decomposition A = U S V^* of \a matrix
+  *
+  * \note this code has been adapted from JAMA (public domain)
+  */
+template<typename MatrixType>
+void SVD<MatrixType>::compute(const MatrixType& matrix)
+{
+  const int m = matrix.rows();
+  const int n = matrix.cols();
+  const int nu = std::min(m,n);
+  ei_assert(m>=n && "In Eigen 2.0, SVD only works for MxN matrices with M>=N. Sorry!");
+  ei_assert(m>1 && "In Eigen 2.0, SVD doesn't work on 1x1 matrices");
+
+  m_matU.resize(m, nu);
+  m_matU.setZero();
+  m_sigma.resize(std::min(m,n));
+  m_matV.resize(n,n);
+
+  RowVector e(n);
+  ColVector work(m);
+  MatrixType matA(matrix);
+  const bool wantu = true;
+  const bool wantv = true;
+  int i=0, j=0, k=0;
+
+  // Reduce A to bidiagonal form, storing the diagonal elements
+  // in s and the super-diagonal elements in e.
+  int nct = std::min(m-1,n);
+  int nrt = std::max(0,std::min(n-2,m));
+  for (k = 0; k < std::max(nct,nrt); ++k)
+  {
+    if (k < nct)
+    {
+      // Compute the transformation for the k-th column and
+      // place the k-th diagonal in m_sigma[k].
+      m_sigma[k] = matA.col(k).end(m-k).norm();
+      if (m_sigma[k] != 0.0) // FIXME
+      {
+        if (matA(k,k) < 0.0)
+          m_sigma[k] = -m_sigma[k];
+        matA.col(k).end(m-k) /= m_sigma[k];
+        matA(k,k) += 1.0;
+      }
+      m_sigma[k] = -m_sigma[k];
+    }
+
+    for (j = k+1; j < n; ++j)
+    {
+      if ((k < nct) && (m_sigma[k] != 0.0))
+      {
+        // Apply the transformation.
+        Scalar t = matA.col(k).end(m-k).eigen2_dot(matA.col(j).end(m-k)); // FIXME dot product or cwise prod + .sum() ??
+        t = -t/matA(k,k);
+        matA.col(j).end(m-k) += t * matA.col(k).end(m-k);
+      }
+
+      // Place the k-th row of A into e for the
+      // subsequent calculation of the row transformation.
+      e[j] = matA(k,j);
+    }
+
+    // Place the transformation in U for subsequent back multiplication.
+    if (wantu & (k < nct))
+      m_matU.col(k).end(m-k) = matA.col(k).end(m-k);
+
+    if (k < nrt)
+    {
+      // Compute the k-th row transformation and place the
+      // k-th super-diagonal in e[k].
+      e[k] = e.end(n-k-1).norm();
+      if (e[k] != 0.0)
+      {
+          if (e[k+1] < 0.0)
+            e[k] = -e[k];
+          e.end(n-k-1) /= e[k];
+          e[k+1] += 1.0;
+      }
+      e[k] = -e[k];
+      if ((k+1 < m) & (e[k] != 0.0))
+      {
+        // Apply the transformation.
+        work.end(m-k-1) = matA.corner(BottomRight,m-k-1,n-k-1) * e.end(n-k-1);
+        for (j = k+1; j < n; ++j)
+          matA.col(j).end(m-k-1) += (-e[j]/e[k+1]) * work.end(m-k-1);
+      }
+
+      // Place the transformation in V for subsequent back multiplication.
+      if (wantv)
+        m_matV.col(k).end(n-k-1) = e.end(n-k-1);
+    }
+  }
+
+
+  // Set up the final bidiagonal matrix or order p.
+  int p = std::min(n,m+1);
+  if (nct < n)
+    m_sigma[nct] = matA(nct,nct);
+  if (m < p)
+    m_sigma[p-1] = 0.0;
+  if (nrt+1 < p)
+    e[nrt] = matA(nrt,p-1);
+  e[p-1] = 0.0;
+
+  // If required, generate U.
+  if (wantu)
+  {
+    for (j = nct; j < nu; ++j)
+    {
+      m_matU.col(j).setZero();
+      m_matU(j,j) = 1.0;
+    }
+    for (k = nct-1; k >= 0; k--)
+    {
+      if (m_sigma[k] != 0.0)
+      {
+        for (j = k+1; j < nu; ++j)
+        {
+          Scalar t = m_matU.col(k).end(m-k).eigen2_dot(m_matU.col(j).end(m-k)); // FIXME is it really a dot product we want ?
+          t = -t/m_matU(k,k);
+          m_matU.col(j).end(m-k) += t * m_matU.col(k).end(m-k);
+        }
+        m_matU.col(k).end(m-k) = - m_matU.col(k).end(m-k);
+        m_matU(k,k) = Scalar(1) + m_matU(k,k);
+        if (k-1>0)
+          m_matU.col(k).start(k-1).setZero();
+      }
+      else
+      {
+        m_matU.col(k).setZero();
+        m_matU(k,k) = 1.0;
+      }
+    }
+  }
+
+  // If required, generate V.
+  if (wantv)
+  {
+    for (k = n-1; k >= 0; k--)
+    {
+      if ((k < nrt) & (e[k] != 0.0))
+      {
+        for (j = k+1; j < nu; ++j)
+        {
+          Scalar t = m_matV.col(k).end(n-k-1).eigen2_dot(m_matV.col(j).end(n-k-1)); // FIXME is it really a dot product we want ?
+          t = -t/m_matV(k+1,k);
+          m_matV.col(j).end(n-k-1) += t * m_matV.col(k).end(n-k-1);
+        }
+      }
+      m_matV.col(k).setZero();
+      m_matV(k,k) = 1.0;
+    }
+  }
+
+  // Main iteration loop for the singular values.
+  int pp = p-1;
+  int iter = 0;
+  Scalar eps = ei_pow(Scalar(2),ei_is_same_type<Scalar,float>::ret ? Scalar(-23) : Scalar(-52));
+  while (p > 0)
+  {
+    int k=0;
+    int kase=0;
+
+    // Here is where a test for too many iterations would go.
+
+    // This section of the program inspects for
+    // negligible elements in the s and e arrays.  On
+    // completion the variables kase and k are set as follows.
+
+    // kase = 1     if s(p) and e[k-1] are negligible and k<p
+    // kase = 2     if s(k) is negligible and k<p
+    // kase = 3     if e[k-1] is negligible, k<p, and
+    //              s(k), ..., s(p) are not negligible (qr step).
+    // kase = 4     if e(p-1) is negligible (convergence).
+
+    for (k = p-2; k >= -1; --k)
+    {
+      if (k == -1)
+          break;
+      if (ei_abs(e[k]) <= eps*(ei_abs(m_sigma[k]) + ei_abs(m_sigma[k+1])))
+      {
+          e[k] = 0.0;
+          break;
+      }
+    }
+    if (k == p-2)
+    {
+      kase = 4;
+    }
+    else
+    {
+      int ks;
+      for (ks = p-1; ks >= k; --ks)
+      {
+        if (ks == k)
+          break;
+        Scalar t = (ks != p ? ei_abs(e[ks]) : Scalar(0)) + (ks != k+1 ? ei_abs(e[ks-1]) : Scalar(0));
+        if (ei_abs(m_sigma[ks]) <= eps*t)
+        {
+          m_sigma[ks] = 0.0;
+          break;
+        }
+      }
+      if (ks == k)
+      {
+        kase = 3;
+      }
+      else if (ks == p-1)
+      {
+        kase = 1;
+      }
+      else
+      {
+        kase = 2;
+        k = ks;
+      }
+    }
+    ++k;
+
+    // Perform the task indicated by kase.
+    switch (kase)
+    {
+
+      // Deflate negligible s(p).
+      case 1:
+      {
+        Scalar f(e[p-2]);
+        e[p-2] = 0.0;
+        for (j = p-2; j >= k; --j)
+        {
+          Scalar t(internal::hypot(m_sigma[j],f));
+          Scalar cs(m_sigma[j]/t);
+          Scalar sn(f/t);
+          m_sigma[j] = t;
+          if (j != k)
+          {
+            f = -sn*e[j-1];
+            e[j-1] = cs*e[j-1];
+          }
+          if (wantv)
+          {
+            for (i = 0; i < n; ++i)
+            {
+              t = cs*m_matV(i,j) + sn*m_matV(i,p-1);
+              m_matV(i,p-1) = -sn*m_matV(i,j) + cs*m_matV(i,p-1);
+              m_matV(i,j) = t;
+            }
+          }
+        }
+      }
+      break;
+
+      // Split at negligible s(k).
+      case 2:
+      {
+        Scalar f(e[k-1]);
+        e[k-1] = 0.0;
+        for (j = k; j < p; ++j)
+        {
+          Scalar t(internal::hypot(m_sigma[j],f));
+          Scalar cs( m_sigma[j]/t);
+          Scalar sn(f/t);
+          m_sigma[j] = t;
+          f = -sn*e[j];
+          e[j] = cs*e[j];
+          if (wantu)
+          {
+            for (i = 0; i < m; ++i)
+            {
+              t = cs*m_matU(i,j) + sn*m_matU(i,k-1);
+              m_matU(i,k-1) = -sn*m_matU(i,j) + cs*m_matU(i,k-1);
+              m_matU(i,j) = t;
+            }
+          }
+        }
+      }
+      break;
+
+      // Perform one qr step.
+      case 3:
+      {
+        // Calculate the shift.
+        Scalar scale = std::max(std::max(std::max(std::max(
+                        ei_abs(m_sigma[p-1]),ei_abs(m_sigma[p-2])),ei_abs(e[p-2])),
+                        ei_abs(m_sigma[k])),ei_abs(e[k]));
+        Scalar sp = m_sigma[p-1]/scale;
+        Scalar spm1 = m_sigma[p-2]/scale;
+        Scalar epm1 = e[p-2]/scale;
+        Scalar sk = m_sigma[k]/scale;
+        Scalar ek = e[k]/scale;
+        Scalar b = ((spm1 + sp)*(spm1 - sp) + epm1*epm1)/Scalar(2);
+        Scalar c = (sp*epm1)*(sp*epm1);
+        Scalar shift = 0.0;
+        if ((b != 0.0) || (c != 0.0))
+        {
+          shift = ei_sqrt(b*b + c);
+          if (b < 0.0)
+            shift = -shift;
+          shift = c/(b + shift);
+        }
+        Scalar f = (sk + sp)*(sk - sp) + shift;
+        Scalar g = sk*ek;
+
+        // Chase zeros.
+
+        for (j = k; j < p-1; ++j)
+        {
+          Scalar t = internal::hypot(f,g);
+          Scalar cs = f/t;
+          Scalar sn = g/t;
+          if (j != k)
+            e[j-1] = t;
+          f = cs*m_sigma[j] + sn*e[j];
+          e[j] = cs*e[j] - sn*m_sigma[j];
+          g = sn*m_sigma[j+1];
+          m_sigma[j+1] = cs*m_sigma[j+1];
+          if (wantv)
+          {
+            for (i = 0; i < n; ++i)
+            {
+              t = cs*m_matV(i,j) + sn*m_matV(i,j+1);
+              m_matV(i,j+1) = -sn*m_matV(i,j) + cs*m_matV(i,j+1);
+              m_matV(i,j) = t;
+            }
+          }
+          t = internal::hypot(f,g);
+          cs = f/t;
+          sn = g/t;
+          m_sigma[j] = t;
+          f = cs*e[j] + sn*m_sigma[j+1];
+          m_sigma[j+1] = -sn*e[j] + cs*m_sigma[j+1];
+          g = sn*e[j+1];
+          e[j+1] = cs*e[j+1];
+          if (wantu && (j < m-1))
+          {
+            for (i = 0; i < m; ++i)
+            {
+              t = cs*m_matU(i,j) + sn*m_matU(i,j+1);
+              m_matU(i,j+1) = -sn*m_matU(i,j) + cs*m_matU(i,j+1);
+              m_matU(i,j) = t;
+            }
+          }
+        }
+        e[p-2] = f;
+        iter = iter + 1;
+      }
+      break;
+
+      // Convergence.
+      case 4:
+      {
+        // Make the singular values positive.
+        if (m_sigma[k] <= 0.0)
+        {
+          m_sigma[k] = m_sigma[k] < Scalar(0) ? -m_sigma[k] : Scalar(0);
+          if (wantv)
+            m_matV.col(k).start(pp+1) = -m_matV.col(k).start(pp+1);
+        }
+
+        // Order the singular values.
+        while (k < pp)
+        {
+          if (m_sigma[k] >= m_sigma[k+1])
+            break;
+          Scalar t = m_sigma[k];
+          m_sigma[k] = m_sigma[k+1];
+          m_sigma[k+1] = t;
+          if (wantv && (k < n-1))
+            m_matV.col(k).swap(m_matV.col(k+1));
+          if (wantu && (k < m-1))
+            m_matU.col(k).swap(m_matU.col(k+1));
+          ++k;
+        }
+        iter = 0;
+        p--;
+      }
+      break;
+    } // end big switch
+  } // end iterations
+}
+
+template<typename MatrixType>
+SVD<MatrixType>& SVD<MatrixType>::sort()
+{
+  int mu = m_matU.rows();
+  int mv = m_matV.rows();
+  int n  = m_matU.cols();
+
+  for (int i=0; i<n; ++i)
+  {
+    int  k = i;
+    Scalar p = m_sigma.coeff(i);
+
+    for (int j=i+1; j<n; ++j)
+    {
+      if (m_sigma.coeff(j) > p)
+      {
+        k = j;
+        p = m_sigma.coeff(j);
+      }
+    }
+    if (k != i)
+    {
+      m_sigma.coeffRef(k) = m_sigma.coeff(i);  // i.e.
+      m_sigma.coeffRef(i) = p;                 // swaps the i-th and the k-th elements
+
+      int j = mu;
+      for(int s=0; j!=0; ++s, --j)
+        std::swap(m_matU.coeffRef(s,i), m_matU.coeffRef(s,k));
+
+      j = mv;
+      for (int s=0; j!=0; ++s, --j)
+        std::swap(m_matV.coeffRef(s,i), m_matV.coeffRef(s,k));
+    }
+  }
+  return *this;
+}
+
+/** \returns the solution of \f$ A x = b \f$ using the current SVD decomposition of A.
+  * The parts of the solution corresponding to zero singular values are ignored.
+  *
+  * \sa MatrixBase::svd(), LU::solve(), LLT::solve()
+  */
+template<typename MatrixType>
+template<typename OtherDerived, typename ResultType>
+bool SVD<MatrixType>::solve(const MatrixBase<OtherDerived> &b, ResultType* result) const
+{
+  const int rows = m_matU.rows();
+  ei_assert(b.rows() == rows);
+
+  Scalar maxVal = m_sigma.cwise().abs().maxCoeff();
+  for (int j=0; j<b.cols(); ++j)
+  {
+    Matrix<Scalar,MatrixUType::RowsAtCompileTime,1> aux = m_matU.transpose() * b.col(j);
+
+    for (int i = 0; i <m_matU.cols(); ++i)
+    {
+      Scalar si = m_sigma.coeff(i);
+      if (ei_isMuchSmallerThan(ei_abs(si),maxVal))
+        aux.coeffRef(i) = 0;
+      else
+        aux.coeffRef(i) /= si;
+    }
+
+    result->col(j) = m_matV * aux;
+  }
+  return true;
+}
+
+/** Computes the polar decomposition of the matrix, as a product unitary x positive.
+  *
+  * If either pointer is zero, the corresponding computation is skipped.
+  *
+  * Only for square matrices.
+  *
+  * \sa computePositiveUnitary(), computeRotationScaling()
+  */
+template<typename MatrixType>
+template<typename UnitaryType, typename PositiveType>
+void SVD<MatrixType>::computeUnitaryPositive(UnitaryType *unitary,
+                                             PositiveType *positive) const
+{
+  ei_assert(m_matU.cols() == m_matV.cols() && "Polar decomposition is only for square matrices");
+  if(unitary) *unitary = m_matU * m_matV.adjoint();
+  if(positive) *positive = m_matV * m_sigma.asDiagonal() * m_matV.adjoint();
+}
+
+/** Computes the polar decomposition of the matrix, as a product positive x unitary.
+  *
+  * If either pointer is zero, the corresponding computation is skipped.
+  *
+  * Only for square matrices.
+  *
+  * \sa computeUnitaryPositive(), computeRotationScaling()
+  */
+template<typename MatrixType>
+template<typename UnitaryType, typename PositiveType>
+void SVD<MatrixType>::computePositiveUnitary(UnitaryType *positive,
+                                             PositiveType *unitary) const
+{
+  ei_assert(m_matU.rows() == m_matV.rows() && "Polar decomposition is only for square matrices");
+  if(unitary) *unitary = m_matU * m_matV.adjoint();
+  if(positive) *positive = m_matU * m_sigma.asDiagonal() * m_matU.adjoint();
+}
+
+/** decomposes the matrix as a product rotation x scaling, the scaling being
+  * not necessarily positive.
+  *
+  * If either pointer is zero, the corresponding computation is skipped.
+  *
+  * This method requires the Geometry module.
+  *
+  * \sa computeScalingRotation(), computeUnitaryPositive()
+  */
+template<typename MatrixType>
+template<typename RotationType, typename ScalingType>
+void SVD<MatrixType>::computeRotationScaling(RotationType *rotation, ScalingType *scaling) const
+{
+  ei_assert(m_matU.rows() == m_matV.rows() && "Polar decomposition is only for square matrices");
+  Scalar x = (m_matU * m_matV.adjoint()).determinant(); // so x has absolute value 1
+  Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> sv(m_sigma);
+  sv.coeffRef(0) *= x;
+  if(scaling) scaling->lazyAssign(m_matV * sv.asDiagonal() * m_matV.adjoint());
+  if(rotation)
+  {
+    MatrixType m(m_matU);
+    m.col(0) /= x;
+    rotation->lazyAssign(m * m_matV.adjoint());
+  }
+}
+
+/** decomposes the matrix as a product scaling x rotation, the scaling being
+  * not necessarily positive.
+  *
+  * If either pointer is zero, the corresponding computation is skipped.
+  *
+  * This method requires the Geometry module.
+  *
+  * \sa computeRotationScaling(), computeUnitaryPositive()
+  */
+template<typename MatrixType>
+template<typename ScalingType, typename RotationType>
+void SVD<MatrixType>::computeScalingRotation(ScalingType *scaling, RotationType *rotation) const
+{
+  ei_assert(m_matU.rows() == m_matV.rows() && "Polar decomposition is only for square matrices");
+  Scalar x = (m_matU * m_matV.adjoint()).determinant(); // so x has absolute value 1
+  Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> sv(m_sigma);
+  sv.coeffRef(0) *= x;
+  if(scaling) scaling->lazyAssign(m_matU * sv.asDiagonal() * m_matU.adjoint());
+  if(rotation)
+  {
+    MatrixType m(m_matU);
+    m.col(0) /= x;
+    rotation->lazyAssign(m * m_matV.adjoint());
+  }
+}
+
+
+/** \svd_module
+  * \returns the SVD decomposition of \c *this
+  */
+template<typename Derived>
+inline SVD<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::svd() const
+{
+  return SVD<PlainObject>(derived());
+}
+
+#endif // EIGEN2_SVD_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/TriangularSolver.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/TriangularSolver.h
new file mode 100755
index 0000000..e94e47a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/TriangularSolver.h
@@ -0,0 +1,53 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIANGULAR_SOLVER2_H
+#define EIGEN_TRIANGULAR_SOLVER2_H
+
+const unsigned int UnitDiagBit = UnitDiag;
+const unsigned int SelfAdjointBit = SelfAdjoint;
+const unsigned int UpperTriangularBit = Upper;
+const unsigned int LowerTriangularBit = Lower;
+
+const unsigned int UpperTriangular = Upper;
+const unsigned int LowerTriangular = Lower;
+const unsigned int UnitUpperTriangular = UnitUpper;
+const unsigned int UnitLowerTriangular = UnitLower;
+
+template<typename ExpressionType, unsigned int Added, unsigned int Removed>
+template<typename OtherDerived>
+typename ExpressionType::PlainObject
+Flagged<ExpressionType,Added,Removed>::solveTriangular(const MatrixBase<OtherDerived>& other) const
+{
+  return m_matrix.template triangularView<Added>().solve(other.derived());
+}
+
+template<typename ExpressionType, unsigned int Added, unsigned int Removed>
+template<typename OtherDerived>
+void Flagged<ExpressionType,Added,Removed>::solveTriangularInPlace(const MatrixBase<OtherDerived>& other) const
+{
+  m_matrix.template triangularView<Added>().solveInPlace(other.derived());
+}
+    
+#endif // EIGEN_TRIANGULAR_SOLVER2_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/VectorBlock.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/VectorBlock.h
new file mode 100755
index 0000000..010031d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigen2Support/VectorBlock.h
@@ -0,0 +1,105 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN2_VECTORBLOCK_H
+#define EIGEN2_VECTORBLOCK_H
+
+/** \deprecated use DenseMase::head(Index) */
+template<typename Derived>
+inline VectorBlock<Derived>
+MatrixBase<Derived>::start(Index size)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<Derived>(derived(), 0, size);
+}
+
+/** \deprecated use DenseMase::head(Index) */
+template<typename Derived>
+inline const VectorBlock<const Derived>
+MatrixBase<Derived>::start(Index size) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<const Derived>(derived(), 0, size);
+}
+
+/** \deprecated use DenseMase::tail(Index) */
+template<typename Derived>
+inline VectorBlock<Derived>
+MatrixBase<Derived>::end(Index size)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<Derived>(derived(), this->size() - size, size);
+}
+
+/** \deprecated use DenseMase::tail(Index) */
+template<typename Derived>
+inline const VectorBlock<const Derived>
+MatrixBase<Derived>::end(Index size) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<const Derived>(derived(), this->size() - size, size);
+}
+
+/** \deprecated use DenseMase::head() */
+template<typename Derived>
+template<int Size>
+inline VectorBlock<Derived,Size>
+MatrixBase<Derived>::start()
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<Derived,Size>(derived(), 0);
+}
+
+/** \deprecated use DenseMase::head() */
+template<typename Derived>
+template<int Size>
+inline const VectorBlock<const Derived,Size>
+MatrixBase<Derived>::start() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<const Derived,Size>(derived(), 0);
+}
+
+/** \deprecated use DenseMase::tail() */
+template<typename Derived>
+template<int Size>
+inline VectorBlock<Derived,Size>
+MatrixBase<Derived>::end()
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<Derived, Size>(derived(), size() - Size);
+}
+
+/** \deprecated use DenseMase::tail() */
+template<typename Derived>
+template<int Size>
+inline const VectorBlock<const Derived,Size>
+MatrixBase<Derived>::end() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return VectorBlock<const Derived, Size>(derived(), size() - Size);
+}
+
+#endif // EIGEN2_VECTORBLOCK_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/CMakeLists.txt
new file mode 100755
index 0000000..193e026
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_EIGENVALUES_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_EIGENVALUES_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Eigenvalues COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/ComplexEigenSolver.h
new file mode 100755
index 0000000..57e0022
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/ComplexEigenSolver.h
@@ -0,0 +1,332 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Claire Maurice
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPLEX_EIGEN_SOLVER_H
+#define EIGEN_COMPLEX_EIGEN_SOLVER_H
+
+#include "./EigenvaluesCommon.h"
+#include "./ComplexSchur.h"
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class ComplexEigenSolver
+  *
+  * \brief Computes eigenvalues and eigenvectors of general complex matrices
+  *
+  * \tparam _MatrixType the type of the matrix of which we are
+  * computing the eigendecomposition; this is expected to be an
+  * instantiation of the Matrix class template.
+  *
+  * The eigenvalues and eigenvectors of a matrix \f$ A \f$ are scalars
+  * \f$ \lambda \f$ and vectors \f$ v \f$ such that \f$ Av = \lambda v
+  * \f$.  If \f$ D \f$ is a diagonal matrix with the eigenvalues on
+  * the diagonal, and \f$ V \f$ is a matrix with the eigenvectors as
+  * its columns, then \f$ A V = V D \f$. The matrix \f$ V \f$ is
+  * almost always invertible, in which case we have \f$ A = V D V^{-1}
+  * \f$. This is called the eigendecomposition.
+  *
+  * The main function in this class is compute(), which computes the
+  * eigenvalues and eigenvectors of a given function. The
+  * documentation for that function contains an example showing the
+  * main features of the class.
+  *
+  * \sa class EigenSolver, class SelfAdjointEigenSolver
+  */
+template<typename _MatrixType> class ComplexEigenSolver
+{
+  public:
+
+    /** \brief Synonym for the template parameter \p _MatrixType. */
+    typedef _MatrixType MatrixType;
+
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+
+    /** \brief Scalar type for matrices of type #MatrixType. */
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+
+    /** \brief Complex scalar type for #MatrixType.
+      *
+      * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
+      * \c float or \c double) and just \c Scalar if #Scalar is
+      * complex.
+      */
+    typedef std::complex<RealScalar> ComplexScalar;
+
+    /** \brief Type for vector of eigenvalues as returned by eigenvalues().
+      *
+      * This is a column vector with entries of type #ComplexScalar.
+      * The length of the vector is the size of #MatrixType.
+      */
+    typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options&(~RowMajor), MaxColsAtCompileTime, 1> EigenvalueType;
+
+    /** \brief Type for matrix of eigenvectors as returned by eigenvectors().
+      *
+      * This is a square matrix with entries of type #ComplexScalar.
+      * The size is the same as the size of #MatrixType.
+      */
+    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> EigenvectorType;
+
+    /** \brief Default constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute().
+      */
+    ComplexEigenSolver()
+            : m_eivec(),
+              m_eivalues(),
+              m_schur(),
+              m_isInitialized(false),
+              m_eigenvectorsOk(false),
+              m_matX()
+    {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa ComplexEigenSolver()
+      */
+    ComplexEigenSolver(Index size)
+            : m_eivec(size, size),
+              m_eivalues(size),
+              m_schur(size),
+              m_isInitialized(false),
+              m_eigenvectorsOk(false),
+              m_matX(size, size)
+    {}
+
+    /** \brief Constructor; computes eigendecomposition of given matrix.
+      *
+      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
+      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
+      *    eigenvalues are computed; if false, only the eigenvalues are
+      *    computed.
+      *
+      * This constructor calls compute() to compute the eigendecomposition.
+      */
+      ComplexEigenSolver(const MatrixType& matrix, bool computeEigenvectors = true)
+            : m_eivec(matrix.rows(),matrix.cols()),
+              m_eivalues(matrix.cols()),
+              m_schur(matrix.rows()),
+              m_isInitialized(false),
+              m_eigenvectorsOk(false),
+              m_matX(matrix.rows(),matrix.cols())
+    {
+      compute(matrix, computeEigenvectors);
+    }
+
+    /** \brief Returns the eigenvectors of given matrix.
+      *
+      * \returns  A const reference to the matrix whose columns are the eigenvectors.
+      *
+      * \pre Either the constructor
+      * ComplexEigenSolver(const MatrixType& matrix, bool) or the member
+      * function compute(const MatrixType& matrix, bool) has been called before
+      * to compute the eigendecomposition of a matrix, and
+      * \p computeEigenvectors was set to true (the default).
+      *
+      * This function returns a matrix whose columns are the eigenvectors. Column
+      * \f$ k \f$ is an eigenvector corresponding to eigenvalue number \f$ k
+      * \f$ as returned by eigenvalues().  The eigenvectors are normalized to
+      * have (Euclidean) norm equal to one. The matrix returned by this
+      * function is the matrix \f$ V \f$ in the eigendecomposition \f$ A = V D
+      * V^{-1} \f$, if it exists.
+      *
+      * Example: \include ComplexEigenSolver_eigenvectors.cpp
+      * Output: \verbinclude ComplexEigenSolver_eigenvectors.out
+      */
+    const EigenvectorType& eigenvectors() const
+    {
+      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+      return m_eivec;
+    }
+
+    /** \brief Returns the eigenvalues of given matrix.
+      *
+      * \returns A const reference to the column vector containing the eigenvalues.
+      *
+      * \pre Either the constructor
+      * ComplexEigenSolver(const MatrixType& matrix, bool) or the member
+      * function compute(const MatrixType& matrix, bool) has been called before
+      * to compute the eigendecomposition of a matrix.
+      *
+      * This function returns a column vector containing the
+      * eigenvalues. Eigenvalues are repeated according to their
+      * algebraic multiplicity, so there are as many eigenvalues as
+      * rows in the matrix. The eigenvalues are not sorted in any particular
+      * order.
+      *
+      * Example: \include ComplexEigenSolver_eigenvalues.cpp
+      * Output: \verbinclude ComplexEigenSolver_eigenvalues.out
+      */
+    const EigenvalueType& eigenvalues() const
+    {
+      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+      return m_eivalues;
+    }
+
+    /** \brief Computes eigendecomposition of given matrix.
+      *
+      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
+      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
+      *    eigenvalues are computed; if false, only the eigenvalues are
+      *    computed.
+      * \returns    Reference to \c *this
+      *
+      * This function computes the eigenvalues of the complex matrix \p matrix.
+      * The eigenvalues() function can be used to retrieve them.  If
+      * \p computeEigenvectors is true, then the eigenvectors are also computed
+      * and can be retrieved by calling eigenvectors().
+      *
+      * The matrix is first reduced to Schur form using the
+      * ComplexSchur class. The Schur decomposition is then used to
+      * compute the eigenvalues and eigenvectors.
+      *
+      * The cost of the computation is dominated by the cost of the
+      * Schur decomposition, which is \f$ O(n^3) \f$ where \f$ n \f$
+      * is the size of the matrix.
+      *
+      * Example: \include ComplexEigenSolver_compute.cpp
+      * Output: \verbinclude ComplexEigenSolver_compute.out
+      */
+    ComplexEigenSolver& compute(const MatrixType& matrix, bool computeEigenvectors = true);
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+      return m_schur.info();
+    }
+
+  protected:
+    EigenvectorType m_eivec;
+    EigenvalueType m_eivalues;
+    ComplexSchur<MatrixType> m_schur;
+    bool m_isInitialized;
+    bool m_eigenvectorsOk;
+    EigenvectorType m_matX;
+
+  private:
+    void doComputeEigenvectors(RealScalar matrixnorm);
+    void sortEigenvalues(bool computeEigenvectors);
+};
+
+
+template<typename MatrixType>
+ComplexEigenSolver<MatrixType>& ComplexEigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvectors)
+{
+  // this code is inspired from Jampack
+  assert(matrix.cols() == matrix.rows());
+
+  // Do a complex Schur decomposition, A = U T U^*
+  // The eigenvalues are on the diagonal of T.
+  m_schur.compute(matrix, computeEigenvectors);
+
+  if(m_schur.info() == Success)
+  {
+    m_eivalues = m_schur.matrixT().diagonal();
+    if(computeEigenvectors)
+      doComputeEigenvectors(matrix.norm());
+    sortEigenvalues(computeEigenvectors);
+  }
+
+  m_isInitialized = true;
+  m_eigenvectorsOk = computeEigenvectors;
+  return *this;
+}
+
+
+template<typename MatrixType>
+void ComplexEigenSolver<MatrixType>::doComputeEigenvectors(RealScalar matrixnorm)
+{
+  const Index n = m_eivalues.size();
+
+  // Compute X such that T = X D X^(-1), where D is the diagonal of T.
+  // The matrix X is unit triangular.
+  m_matX = EigenvectorType::Zero(n, n);
+  for(Index k=n-1 ; k>=0 ; k--)
+  {
+    m_matX.coeffRef(k,k) = ComplexScalar(1.0,0.0);
+    // Compute X(i,k) using the (i,k) entry of the equation X T = D X
+    for(Index i=k-1 ; i>=0 ; i--)
+    {
+      m_matX.coeffRef(i,k) = -m_schur.matrixT().coeff(i,k);
+      if(k-i-1>0)
+        m_matX.coeffRef(i,k) -= (m_schur.matrixT().row(i).segment(i+1,k-i-1) * m_matX.col(k).segment(i+1,k-i-1)).value();
+      ComplexScalar z = m_schur.matrixT().coeff(i,i) - m_schur.matrixT().coeff(k,k);
+      if(z==ComplexScalar(0))
+      {
+        // If the i-th and k-th eigenvalue are equal, then z equals 0.
+        // Use a small value instead, to prevent division by zero.
+        internal::real_ref(z) = NumTraits<RealScalar>::epsilon() * matrixnorm;
+      }
+      m_matX.coeffRef(i,k) = m_matX.coeff(i,k) / z;
+    }
+  }
+
+  // Compute V as V = U X; now A = U T U^* = U X D X^(-1) U^* = V D V^(-1)
+  m_eivec.noalias() = m_schur.matrixU() * m_matX;
+  // .. and normalize the eigenvectors
+  for(Index k=0 ; k<n ; k++)
+  {
+    m_eivec.col(k).normalize();
+  }
+}
+
+
+template<typename MatrixType>
+void ComplexEigenSolver<MatrixType>::sortEigenvalues(bool computeEigenvectors)
+{
+  const Index n =  m_eivalues.size();
+  for (Index i=0; i<n; i++)
+  {
+    Index k;
+    m_eivalues.cwiseAbs().tail(n-i).minCoeff(&k);
+    if (k != 0)
+    {
+      k += i;
+      std::swap(m_eivalues[k],m_eivalues[i]);
+      if(computeEigenvectors)
+	m_eivec.col(i).swap(m_eivec.col(k));
+    }
+  }
+}
+
+
+#endif // EIGEN_COMPLEX_EIGEN_SOLVER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/ComplexSchur.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/ComplexSchur.h
new file mode 100755
index 0000000..b1830f6
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/ComplexSchur.h
@@ -0,0 +1,448 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Claire Maurice
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPLEX_SCHUR_H
+#define EIGEN_COMPLEX_SCHUR_H
+
+#include "./EigenvaluesCommon.h"
+#include "./HessenbergDecomposition.h"
+
+namespace internal {
+template<typename MatrixType, bool IsComplex> struct complex_schur_reduce_to_hessenberg;
+}
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class ComplexSchur
+  *
+  * \brief Performs a complex Schur decomposition of a real or complex square matrix
+  *
+  * \tparam _MatrixType the type of the matrix of which we are
+  * computing the Schur decomposition; this is expected to be an
+  * instantiation of the Matrix class template.
+  *
+  * Given a real or complex square matrix A, this class computes the
+  * Schur decomposition: \f$ A = U T U^*\f$ where U is a unitary
+  * complex matrix, and T is a complex upper triangular matrix.  The
+  * diagonal of the matrix T corresponds to the eigenvalues of the
+  * matrix A.
+  *
+  * Call the function compute() to compute the Schur decomposition of
+  * a given matrix. Alternatively, you can use the 
+  * ComplexSchur(const MatrixType&, bool) constructor which computes
+  * the Schur decomposition at construction time. Once the
+  * decomposition is computed, you can use the matrixU() and matrixT()
+  * functions to retrieve the matrices U and V in the decomposition.
+  *
+  * \note This code is inspired from Jampack
+  *
+  * \sa class RealSchur, class EigenSolver, class ComplexEigenSolver
+  */
+template<typename _MatrixType> class ComplexSchur
+{
+  public:
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+
+    /** \brief Scalar type for matrices of type \p _MatrixType. */
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+
+    /** \brief Complex scalar type for \p _MatrixType. 
+      *
+      * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
+      * \c float or \c double) and just \c Scalar if #Scalar is
+      * complex.
+      */
+    typedef std::complex<RealScalar> ComplexScalar;
+
+    /** \brief Type for the matrices in the Schur decomposition.
+      *
+      * This is a square matrix with entries of type #ComplexScalar. 
+      * The size is the same as the size of \p _MatrixType.
+      */
+    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> ComplexMatrixType;
+
+    /** \brief Default constructor.
+      *
+      * \param [in] size  Positive integer, size of the matrix whose Schur decomposition will be computed.
+      *
+      * The default constructor is useful in cases in which the user
+      * intends to perform decompositions via compute().  The \p size
+      * parameter is only used as a hint. It is not an error to give a
+      * wrong \p size, but it may impair performance.
+      *
+      * \sa compute() for an example.
+      */
+    ComplexSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
+      : m_matT(size,size),
+        m_matU(size,size),
+        m_hess(size),
+        m_isInitialized(false),
+        m_matUisUptodate(false)
+    {}
+
+    /** \brief Constructor; computes Schur decomposition of given matrix. 
+      * 
+      * \param[in]  matrix    Square matrix whose Schur decomposition is to be computed.
+      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
+      *
+      * This constructor calls compute() to compute the Schur decomposition.
+      *
+      * \sa matrixT() and matrixU() for examples.
+      */
+    ComplexSchur(const MatrixType& matrix, bool computeU = true)
+            : m_matT(matrix.rows(),matrix.cols()),
+              m_matU(matrix.rows(),matrix.cols()),
+              m_hess(matrix.rows()),
+              m_isInitialized(false),
+              m_matUisUptodate(false)
+    {
+      compute(matrix, computeU);
+    }
+
+    /** \brief Returns the unitary matrix in the Schur decomposition. 
+      *
+      * \returns A const reference to the matrix U.
+      *
+      * It is assumed that either the constructor
+      * ComplexSchur(const MatrixType& matrix, bool computeU) or the
+      * member function compute(const MatrixType& matrix, bool computeU)
+      * has been called before to compute the Schur decomposition of a
+      * matrix, and that \p computeU was set to true (the default
+      * value).
+      *
+      * Example: \include ComplexSchur_matrixU.cpp
+      * Output: \verbinclude ComplexSchur_matrixU.out
+      */
+    const ComplexMatrixType& matrixU() const
+    {
+      eigen_assert(m_isInitialized && "ComplexSchur is not initialized.");
+      eigen_assert(m_matUisUptodate && "The matrix U has not been computed during the ComplexSchur decomposition.");
+      return m_matU;
+    }
+
+    /** \brief Returns the triangular matrix in the Schur decomposition. 
+      *
+      * \returns A const reference to the matrix T.
+      *
+      * It is assumed that either the constructor
+      * ComplexSchur(const MatrixType& matrix, bool computeU) or the
+      * member function compute(const MatrixType& matrix, bool computeU)
+      * has been called before to compute the Schur decomposition of a
+      * matrix.
+      *
+      * Note that this function returns a plain square matrix. If you want to reference
+      * only the upper triangular part, use:
+      * \code schur.matrixT().triangularView<Upper>() \endcode 
+      *
+      * Example: \include ComplexSchur_matrixT.cpp
+      * Output: \verbinclude ComplexSchur_matrixT.out
+      */
+    const ComplexMatrixType& matrixT() const
+    {
+      eigen_assert(m_isInitialized && "ComplexSchur is not initialized.");
+      return m_matT;
+    }
+
+    /** \brief Computes Schur decomposition of given matrix. 
+      * 
+      * \param[in]  matrix  Square matrix whose Schur decomposition is to be computed.
+      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
+      * \returns    Reference to \c *this
+      *
+      * The Schur decomposition is computed by first reducing the
+      * matrix to Hessenberg form using the class
+      * HessenbergDecomposition. The Hessenberg matrix is then reduced
+      * to triangular form by performing QR iterations with a single
+      * shift. The cost of computing the Schur decomposition depends
+      * on the number of iterations; as a rough guide, it may be taken
+      * on the number of iterations; as a rough guide, it may be taken
+      * to be \f$25n^3\f$ complex flops, or \f$10n^3\f$ complex flops
+      * if \a computeU is false.
+      *
+      * Example: \include ComplexSchur_compute.cpp
+      * Output: \verbinclude ComplexSchur_compute.out
+      */
+    ComplexSchur& compute(const MatrixType& matrix, bool computeU = true);
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+      return m_info;
+    }
+
+    /** \brief Maximum number of iterations.
+      *
+      * Maximum number of iterations allowed for an eigenvalue to converge. 
+      */
+    static const int m_maxIterations = 30;
+
+  protected:
+    ComplexMatrixType m_matT, m_matU;
+    HessenbergDecomposition<MatrixType> m_hess;
+    ComputationInfo m_info;
+    bool m_isInitialized;
+    bool m_matUisUptodate;
+
+  private:  
+    bool subdiagonalEntryIsNeglegible(Index i);
+    ComplexScalar computeShift(Index iu, Index iter);
+    void reduceToTriangularForm(bool computeU);
+    friend struct internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>;
+};
+
+namespace internal {
+
+/** Computes the principal value of the square root of the complex \a z. */
+template<typename RealScalar>
+std::complex<RealScalar> sqrt(const std::complex<RealScalar> &z)
+{
+  RealScalar t, tre, tim;
+
+  t = abs(z);
+
+  if (abs(real(z)) <= abs(imag(z)))
+  {
+    // No cancellation in these formulas
+    tre = sqrt(RealScalar(0.5)*(t + real(z)));
+    tim = sqrt(RealScalar(0.5)*(t - real(z)));
+  }
+  else
+  {
+    // Stable computation of the above formulas
+    if (z.real() > RealScalar(0))
+    {
+      tre = t + z.real();
+      tim = abs(imag(z))*sqrt(RealScalar(0.5)/tre);
+      tre = sqrt(RealScalar(0.5)*tre);
+    }
+    else
+    {
+      tim = t - z.real();
+      tre = abs(imag(z))*sqrt(RealScalar(0.5)/tim);
+      tim = sqrt(RealScalar(0.5)*tim);
+    }
+  }
+  if(z.imag() < RealScalar(0))
+    tim = -tim;
+
+  return (std::complex<RealScalar>(tre,tim));
+}
+} // end namespace internal
+
+
+/** If m_matT(i+1,i) is neglegible in floating point arithmetic
+  * compared to m_matT(i,i) and m_matT(j,j), then set it to zero and
+  * return true, else return false. */
+template<typename MatrixType>
+inline bool ComplexSchur<MatrixType>::subdiagonalEntryIsNeglegible(Index i)
+{
+  RealScalar d = internal::norm1(m_matT.coeff(i,i)) + internal::norm1(m_matT.coeff(i+1,i+1));
+  RealScalar sd = internal::norm1(m_matT.coeff(i+1,i));
+  if (internal::isMuchSmallerThan(sd, d, NumTraits<RealScalar>::epsilon()))
+  {
+    m_matT.coeffRef(i+1,i) = ComplexScalar(0);
+    return true;
+  }
+  return false;
+}
+
+
+/** Compute the shift in the current QR iteration. */
+template<typename MatrixType>
+typename ComplexSchur<MatrixType>::ComplexScalar ComplexSchur<MatrixType>::computeShift(Index iu, Index iter)
+{
+  if (iter == 10 || iter == 20) 
+  {
+    // exceptional shift, taken from http://www.netlib.org/eispack/comqr.f
+    return internal::abs(internal::real(m_matT.coeff(iu,iu-1))) + internal::abs(internal::real(m_matT.coeff(iu-1,iu-2)));
+  }
+
+  // compute the shift as one of the eigenvalues of t, the 2x2
+  // diagonal block on the bottom of the active submatrix
+  Matrix<ComplexScalar,2,2> t = m_matT.template block<2,2>(iu-1,iu-1);
+  RealScalar normt = t.cwiseAbs().sum();
+  t /= normt;     // the normalization by sf is to avoid under/overflow
+
+  ComplexScalar b = t.coeff(0,1) * t.coeff(1,0);
+  ComplexScalar c = t.coeff(0,0) - t.coeff(1,1);
+  ComplexScalar disc = internal::sqrt(c*c + RealScalar(4)*b);
+  ComplexScalar det = t.coeff(0,0) * t.coeff(1,1) - b;
+  ComplexScalar trace = t.coeff(0,0) + t.coeff(1,1);
+  ComplexScalar eival1 = (trace + disc) / RealScalar(2);
+  ComplexScalar eival2 = (trace - disc) / RealScalar(2);
+
+  if(internal::norm1(eival1) > internal::norm1(eival2))
+    eival2 = det / eival1;
+  else
+    eival1 = det / eival2;
+
+  // choose the eigenvalue closest to the bottom entry of the diagonal
+  if(internal::norm1(eival1-t.coeff(1,1)) < internal::norm1(eival2-t.coeff(1,1)))
+    return normt * eival1;
+  else
+    return normt * eival2;
+}
+
+
+template<typename MatrixType>
+ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::compute(const MatrixType& matrix, bool computeU)
+{
+  m_matUisUptodate = false;
+  eigen_assert(matrix.cols() == matrix.rows());
+
+  if(matrix.cols() == 1)
+  {
+    m_matT = matrix.template cast<ComplexScalar>();
+    if(computeU)  m_matU = ComplexMatrixType::Identity(1,1);
+    m_info = Success;
+    m_isInitialized = true;
+    m_matUisUptodate = computeU;
+    return *this;
+  }
+
+  internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>::run(*this, matrix, computeU);
+  reduceToTriangularForm(computeU);
+  return *this;
+}
+
+namespace internal {
+
+/* Reduce given matrix to Hessenberg form */
+template<typename MatrixType, bool IsComplex>
+struct complex_schur_reduce_to_hessenberg
+{
+  // this is the implementation for the case IsComplex = true
+  static void run(ComplexSchur<MatrixType>& _this, const MatrixType& matrix, bool computeU)
+  {
+    _this.m_hess.compute(matrix);
+    _this.m_matT = _this.m_hess.matrixH();
+    if(computeU)  _this.m_matU = _this.m_hess.matrixQ();
+  }
+};
+
+template<typename MatrixType>
+struct complex_schur_reduce_to_hessenberg<MatrixType, false>
+{
+  static void run(ComplexSchur<MatrixType>& _this, const MatrixType& matrix, bool computeU)
+  {
+    typedef typename ComplexSchur<MatrixType>::ComplexScalar ComplexScalar;
+    typedef typename ComplexSchur<MatrixType>::ComplexMatrixType ComplexMatrixType;
+
+    // Note: m_hess is over RealScalar; m_matT and m_matU is over ComplexScalar
+    _this.m_hess.compute(matrix);
+    _this.m_matT = _this.m_hess.matrixH().template cast<ComplexScalar>();
+    if(computeU)  
+    {
+      // This may cause an allocation which seems to be avoidable
+      MatrixType Q = _this.m_hess.matrixQ(); 
+      _this.m_matU = Q.template cast<ComplexScalar>();
+    }
+  }
+};
+
+} // end namespace internal
+
+// Reduce the Hessenberg matrix m_matT to triangular form by QR iteration.
+template<typename MatrixType>
+void ComplexSchur<MatrixType>::reduceToTriangularForm(bool computeU)
+{  
+  // The matrix m_matT is divided in three parts. 
+  // Rows 0,...,il-1 are decoupled from the rest because m_matT(il,il-1) is zero. 
+  // Rows il,...,iu is the part we are working on (the active submatrix).
+  // Rows iu+1,...,end are already brought in triangular form.
+  Index iu = m_matT.cols() - 1;
+  Index il;
+  Index iter = 0; // number of iterations we are working on the (iu,iu) element
+
+  while(true)
+  {
+    // find iu, the bottom row of the active submatrix
+    while(iu > 0)
+    {
+      if(!subdiagonalEntryIsNeglegible(iu-1)) break;
+      iter = 0;
+      --iu;
+    }
+
+    // if iu is zero then we are done; the whole matrix is triangularized
+    if(iu==0) break;
+
+    // if we spent too many iterations on the current element, we give up
+    iter++;
+    if(iter > m_maxIterations) break;
+
+    // find il, the top row of the active submatrix
+    il = iu-1;
+    while(il > 0 && !subdiagonalEntryIsNeglegible(il-1))
+    {
+      --il;
+    }
+
+    /* perform the QR step using Givens rotations. The first rotation
+       creates a bulge; the (il+2,il) element becomes nonzero. This
+       bulge is chased down to the bottom of the active submatrix. */
+
+    ComplexScalar shift = computeShift(iu, iter);
+    JacobiRotation<ComplexScalar> rot;
+    rot.makeGivens(m_matT.coeff(il,il) - shift, m_matT.coeff(il+1,il));
+    m_matT.rightCols(m_matT.cols()-il).applyOnTheLeft(il, il+1, rot.adjoint());
+    m_matT.topRows(std::min(il+2,iu)+1).applyOnTheRight(il, il+1, rot);
+    if(computeU) m_matU.applyOnTheRight(il, il+1, rot);
+
+    for(Index i=il+1 ; i<iu ; i++)
+    {
+      rot.makeGivens(m_matT.coeffRef(i,i-1), m_matT.coeffRef(i+1,i-1), &m_matT.coeffRef(i,i-1));
+      m_matT.coeffRef(i+1,i-1) = ComplexScalar(0);
+      m_matT.rightCols(m_matT.cols()-i).applyOnTheLeft(i, i+1, rot.adjoint());
+      m_matT.topRows(std::min(i+2,iu)+1).applyOnTheRight(i, i+1, rot);
+      if(computeU) m_matU.applyOnTheRight(i, i+1, rot);
+    }
+  }
+
+  if(iter <= m_maxIterations) 
+    m_info = Success;
+  else
+    m_info = NoConvergence;
+
+  m_isInitialized = true;
+  m_matUisUptodate = computeU;
+}
+
+#endif // EIGEN_COMPLEX_SCHUR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/EigenSolver.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/EigenSolver.h
new file mode 100755
index 0000000..b359465
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/EigenSolver.h
@@ -0,0 +1,582 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_EIGENSOLVER_H
+#define EIGEN_EIGENSOLVER_H
+
+#include "./EigenvaluesCommon.h"
+#include "./RealSchur.h"
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class EigenSolver
+  *
+  * \brief Computes eigenvalues and eigenvectors of general matrices
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the
+  * eigendecomposition; this is expected to be an instantiation of the Matrix
+  * class template. Currently, only real matrices are supported.
+  *
+  * The eigenvalues and eigenvectors of a matrix \f$ A \f$ are scalars
+  * \f$ \lambda \f$ and vectors \f$ v \f$ such that \f$ Av = \lambda v \f$.  If
+  * \f$ D \f$ is a diagonal matrix with the eigenvalues on the diagonal, and
+  * \f$ V \f$ is a matrix with the eigenvectors as its columns, then \f$ A V =
+  * V D \f$. The matrix \f$ V \f$ is almost always invertible, in which case we
+  * have \f$ A = V D V^{-1} \f$. This is called the eigendecomposition.
+  *
+  * The eigenvalues and eigenvectors of a matrix may be complex, even when the
+  * matrix is real. However, we can choose real matrices \f$ V \f$ and \f$ D
+  * \f$ satisfying \f$ A V = V D \f$, just like the eigendecomposition, if the
+  * matrix \f$ D \f$ is not required to be diagonal, but if it is allowed to
+  * have blocks of the form
+  * \f[ \begin{bmatrix} u & v \\ -v & u \end{bmatrix} \f]
+  * (where \f$ u \f$ and \f$ v \f$ are real numbers) on the diagonal.  These
+  * blocks correspond to complex eigenvalue pairs \f$ u \pm iv \f$. We call
+  * this variant of the eigendecomposition the pseudo-eigendecomposition.
+  *
+  * Call the function compute() to compute the eigenvalues and eigenvectors of
+  * a given matrix. Alternatively, you can use the 
+  * EigenSolver(const MatrixType&, bool) constructor which computes the
+  * eigenvalues and eigenvectors at construction time. Once the eigenvalue and
+  * eigenvectors are computed, they can be retrieved with the eigenvalues() and
+  * eigenvectors() functions. The pseudoEigenvalueMatrix() and
+  * pseudoEigenvectors() methods allow the construction of the
+  * pseudo-eigendecomposition.
+  *
+  * The documentation for EigenSolver(const MatrixType&, bool) contains an
+  * example of the typical use of this class.
+  *
+  * \note The implementation is adapted from
+  * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> (public domain).
+  * Their code is based on EISPACK.
+  *
+  * \sa MatrixBase::eigenvalues(), class ComplexEigenSolver, class SelfAdjointEigenSolver
+  */
+template<typename _MatrixType> class EigenSolver
+{
+  public:
+
+    /** \brief Synonym for the template parameter \p _MatrixType. */
+    typedef _MatrixType MatrixType;
+
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+
+    /** \brief Scalar type for matrices of type #MatrixType. */
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+
+    /** \brief Complex scalar type for #MatrixType. 
+      *
+      * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
+      * \c float or \c double) and just \c Scalar if #Scalar is
+      * complex.
+      */
+    typedef std::complex<RealScalar> ComplexScalar;
+
+    /** \brief Type for vector of eigenvalues as returned by eigenvalues(). 
+      *
+      * This is a column vector with entries of type #ComplexScalar.
+      * The length of the vector is the size of #MatrixType.
+      */
+    typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
+
+    /** \brief Type for matrix of eigenvectors as returned by eigenvectors(). 
+      *
+      * This is a square matrix with entries of type #ComplexScalar. 
+      * The size is the same as the size of #MatrixType.
+      */
+    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> EigenvectorsType;
+
+    /** \brief Default constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via EigenSolver::compute(const MatrixType&, bool).
+      *
+      * \sa compute() for an example.
+      */
+ EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false), m_realSchur(), m_matT(), m_tmp() {}
+
+    /** \brief Default constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa EigenSolver()
+      */
+    EigenSolver(Index size)
+      : m_eivec(size, size),
+        m_eivalues(size),
+        m_isInitialized(false),
+        m_eigenvectorsOk(false),
+        m_realSchur(size),
+        m_matT(size, size), 
+        m_tmp(size)
+    {}
+
+    /** \brief Constructor; computes eigendecomposition of given matrix. 
+      * 
+      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
+      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
+      *    eigenvalues are computed; if false, only the eigenvalues are
+      *    computed. 
+      *
+      * This constructor calls compute() to compute the eigenvalues
+      * and eigenvectors.
+      *
+      * Example: \include EigenSolver_EigenSolver_MatrixType.cpp
+      * Output: \verbinclude EigenSolver_EigenSolver_MatrixType.out
+      *
+      * \sa compute()
+      */
+    EigenSolver(const MatrixType& matrix, bool computeEigenvectors = true)
+      : m_eivec(matrix.rows(), matrix.cols()),
+        m_eivalues(matrix.cols()),
+        m_isInitialized(false),
+        m_eigenvectorsOk(false),
+        m_realSchur(matrix.cols()),
+        m_matT(matrix.rows(), matrix.cols()), 
+        m_tmp(matrix.cols())
+    {
+      compute(matrix, computeEigenvectors);
+    }
+
+    /** \brief Returns the eigenvectors of given matrix. 
+      *
+      * \returns  %Matrix whose columns are the (possibly complex) eigenvectors.
+      *
+      * \pre Either the constructor 
+      * EigenSolver(const MatrixType&,bool) or the member function
+      * compute(const MatrixType&, bool) has been called before, and
+      * \p computeEigenvectors was set to true (the default).
+      *
+      * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
+      * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
+      * eigenvectors are normalized to have (Euclidean) norm equal to one. The
+      * matrix returned by this function is the matrix \f$ V \f$ in the
+      * eigendecomposition \f$ A = V D V^{-1} \f$, if it exists.
+      *
+      * Example: \include EigenSolver_eigenvectors.cpp
+      * Output: \verbinclude EigenSolver_eigenvectors.out
+      *
+      * \sa eigenvalues(), pseudoEigenvectors()
+      */
+    EigenvectorsType eigenvectors() const;
+
+    /** \brief Returns the pseudo-eigenvectors of given matrix. 
+      *
+      * \returns  Const reference to matrix whose columns are the pseudo-eigenvectors.
+      *
+      * \pre Either the constructor 
+      * EigenSolver(const MatrixType&,bool) or the member function
+      * compute(const MatrixType&, bool) has been called before, and
+      * \p computeEigenvectors was set to true (the default).
+      *
+      * The real matrix \f$ V \f$ returned by this function and the
+      * block-diagonal matrix \f$ D \f$ returned by pseudoEigenvalueMatrix()
+      * satisfy \f$ AV = VD \f$.
+      *
+      * Example: \include EigenSolver_pseudoEigenvectors.cpp
+      * Output: \verbinclude EigenSolver_pseudoEigenvectors.out
+      *
+      * \sa pseudoEigenvalueMatrix(), eigenvectors()
+      */
+    const MatrixType& pseudoEigenvectors() const
+    {
+      eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+      return m_eivec;
+    }
+
+    /** \brief Returns the block-diagonal matrix in the pseudo-eigendecomposition.
+      *
+      * \returns  A block-diagonal matrix.
+      *
+      * \pre Either the constructor 
+      * EigenSolver(const MatrixType&,bool) or the member function
+      * compute(const MatrixType&, bool) has been called before.
+      *
+      * The matrix \f$ D \f$ returned by this function is real and
+      * block-diagonal. The blocks on the diagonal are either 1-by-1 or 2-by-2
+      * blocks of the form
+      * \f$ \begin{bmatrix} u & v \\ -v & u \end{bmatrix} \f$.
+      * These blocks are not sorted in any particular order.
+      * The matrix \f$ D \f$ and the matrix \f$ V \f$ returned by
+      * pseudoEigenvectors() satisfy \f$ AV = VD \f$.
+      *
+      * \sa pseudoEigenvectors() for an example, eigenvalues()
+      */
+    MatrixType pseudoEigenvalueMatrix() const;
+
+    /** \brief Returns the eigenvalues of given matrix. 
+      *
+      * \returns A const reference to the column vector containing the eigenvalues.
+      *
+      * \pre Either the constructor 
+      * EigenSolver(const MatrixType&,bool) or the member function
+      * compute(const MatrixType&, bool) has been called before.
+      *
+      * The eigenvalues are repeated according to their algebraic multiplicity,
+      * so there are as many eigenvalues as rows in the matrix. The eigenvalues 
+      * are not sorted in any particular order.
+      *
+      * Example: \include EigenSolver_eigenvalues.cpp
+      * Output: \verbinclude EigenSolver_eigenvalues.out
+      *
+      * \sa eigenvectors(), pseudoEigenvalueMatrix(),
+      *     MatrixBase::eigenvalues()
+      */
+    const EigenvalueType& eigenvalues() const
+    {
+      eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+      return m_eivalues;
+    }
+
+    /** \brief Computes eigendecomposition of given matrix. 
+      * 
+      * \param[in]  matrix  Square matrix whose eigendecomposition is to be computed.
+      * \param[in]  computeEigenvectors  If true, both the eigenvectors and the
+      *    eigenvalues are computed; if false, only the eigenvalues are
+      *    computed. 
+      * \returns    Reference to \c *this
+      *
+      * This function computes the eigenvalues of the real matrix \p matrix.
+      * The eigenvalues() function can be used to retrieve them.  If 
+      * \p computeEigenvectors is true, then the eigenvectors are also computed
+      * and can be retrieved by calling eigenvectors().
+      *
+      * The matrix is first reduced to real Schur form using the RealSchur
+      * class. The Schur decomposition is then used to compute the eigenvalues
+      * and eigenvectors.
+      *
+      * The cost of the computation is dominated by the cost of the
+      * Schur decomposition, which is very approximately \f$ 25n^3 \f$
+      * (where \f$ n \f$ is the size of the matrix) if \p computeEigenvectors 
+      * is true, and \f$ 10n^3 \f$ if \p computeEigenvectors is false.
+      *
+      * This method reuses of the allocated data in the EigenSolver object.
+      *
+      * Example: \include EigenSolver_compute.cpp
+      * Output: \verbinclude EigenSolver_compute.out
+      */
+    EigenSolver& compute(const MatrixType& matrix, bool computeEigenvectors = true);
+
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+      return m_realSchur.info();
+    }
+
+  private:
+    void doComputeEigenvectors();
+
+  protected:
+    MatrixType m_eivec;
+    EigenvalueType m_eivalues;
+    bool m_isInitialized;
+    bool m_eigenvectorsOk;
+    RealSchur<MatrixType> m_realSchur;
+    MatrixType m_matT;
+
+    typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
+    ColumnVectorType m_tmp;
+};
+
+template<typename MatrixType>
+MatrixType EigenSolver<MatrixType>::pseudoEigenvalueMatrix() const
+{
+  eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+  Index n = m_eivalues.rows();
+  MatrixType matD = MatrixType::Zero(n,n);
+  for (Index i=0; i<n; ++i)
+  {
+    if (internal::isMuchSmallerThan(internal::imag(m_eivalues.coeff(i)), internal::real(m_eivalues.coeff(i))))
+      matD.coeffRef(i,i) = internal::real(m_eivalues.coeff(i));
+    else
+    {
+      matD.template block<2,2>(i,i) <<  internal::real(m_eivalues.coeff(i)), internal::imag(m_eivalues.coeff(i)),
+                                       -internal::imag(m_eivalues.coeff(i)), internal::real(m_eivalues.coeff(i));
+      ++i;
+    }
+  }
+  return matD;
+}
+
+template<typename MatrixType>
+typename EigenSolver<MatrixType>::EigenvectorsType EigenSolver<MatrixType>::eigenvectors() const
+{
+  eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+  eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+  Index n = m_eivec.cols();
+  EigenvectorsType matV(n,n);
+  for (Index j=0; j<n; ++j)
+  {
+    if (internal::isMuchSmallerThan(internal::imag(m_eivalues.coeff(j)), internal::real(m_eivalues.coeff(j))))
+    {
+      // we have a real eigen value
+      matV.col(j) = m_eivec.col(j).template cast<ComplexScalar>();
+    }
+    else
+    {
+      // we have a pair of complex eigen values
+      for (Index i=0; i<n; ++i)
+      {
+        matV.coeffRef(i,j)   = ComplexScalar(m_eivec.coeff(i,j),  m_eivec.coeff(i,j+1));
+        matV.coeffRef(i,j+1) = ComplexScalar(m_eivec.coeff(i,j), -m_eivec.coeff(i,j+1));
+      }
+      matV.col(j).normalize();
+      matV.col(j+1).normalize();
+      ++j;
+    }
+  }
+  return matV;
+}
+
+template<typename MatrixType>
+EigenSolver<MatrixType>& EigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvectors)
+{
+  assert(matrix.cols() == matrix.rows());
+
+  // Reduce to real Schur form.
+  m_realSchur.compute(matrix, computeEigenvectors);
+  if (m_realSchur.info() == Success)
+  {
+    m_matT = m_realSchur.matrixT();
+    if (computeEigenvectors)
+      m_eivec = m_realSchur.matrixU();
+  
+    // Compute eigenvalues from matT
+    m_eivalues.resize(matrix.cols());
+    Index i = 0;
+    while (i < matrix.cols()) 
+    {
+      if (i == matrix.cols() - 1 || m_matT.coeff(i+1, i) == Scalar(0)) 
+      {
+        m_eivalues.coeffRef(i) = m_matT.coeff(i, i);
+        ++i;
+      }
+      else
+      {
+        Scalar p = Scalar(0.5) * (m_matT.coeff(i, i) - m_matT.coeff(i+1, i+1));
+        Scalar z = internal::sqrt(internal::abs(p * p + m_matT.coeff(i+1, i) * m_matT.coeff(i, i+1)));
+        m_eivalues.coeffRef(i)   = ComplexScalar(m_matT.coeff(i+1, i+1) + p, z);
+        m_eivalues.coeffRef(i+1) = ComplexScalar(m_matT.coeff(i+1, i+1) + p, -z);
+        i += 2;
+      }
+    }
+    
+    // Compute eigenvectors.
+    if (computeEigenvectors)
+      doComputeEigenvectors();
+  }
+
+  m_isInitialized = true;
+  m_eigenvectorsOk = computeEigenvectors;
+
+  return *this;
+}
+
+// Complex scalar division.
+template<typename Scalar>
+std::complex<Scalar> cdiv(Scalar xr, Scalar xi, Scalar yr, Scalar yi)
+{
+  Scalar r,d;
+  if (internal::abs(yr) > internal::abs(yi))
+  {
+      r = yi/yr;
+      d = yr + r*yi;
+      return std::complex<Scalar>((xr + r*xi)/d, (xi - r*xr)/d);
+  }
+  else
+  {
+      r = yr/yi;
+      d = yi + r*yr;
+      return std::complex<Scalar>((r*xr + xi)/d, (r*xi - xr)/d);
+  }
+}
+
+
+template<typename MatrixType>
+void EigenSolver<MatrixType>::doComputeEigenvectors()
+{
+  const Index size = m_eivec.cols();
+  const Scalar eps = NumTraits<Scalar>::epsilon();
+
+  // inefficient! this is already computed in RealSchur
+  Scalar norm = 0.0;
+  for (Index j = 0; j < size; ++j)
+  {
+    norm += m_matT.row(j).segment(std::max(j-1,Index(0)), size-std::max(j-1,Index(0))).cwiseAbs().sum();
+  }
+  
+  // Backsubstitute to find vectors of upper triangular form
+  if (norm == 0.0)
+  {
+    return;
+  }
+
+  for (Index n = size-1; n >= 0; n--)
+  {
+    Scalar p = m_eivalues.coeff(n).real();
+    Scalar q = m_eivalues.coeff(n).imag();
+
+    // Scalar vector
+    if (q == 0)
+    {
+      Scalar lastr=0, lastw=0;
+      Index l = n;
+
+      m_matT.coeffRef(n,n) = 1.0;
+      for (Index i = n-1; i >= 0; i--)
+      {
+        Scalar w = m_matT.coeff(i,i) - p;
+        Scalar r = m_matT.row(i).segment(l,n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
+
+        if (m_eivalues.coeff(i).imag() < 0.0)
+        {
+          lastw = w;
+          lastr = r;
+        }
+        else
+        {
+          l = i;
+          if (m_eivalues.coeff(i).imag() == 0.0)
+          {
+            if (w != 0.0)
+              m_matT.coeffRef(i,n) = -r / w;
+            else
+              m_matT.coeffRef(i,n) = -r / (eps * norm);
+          }
+          else // Solve real equations
+          {
+            Scalar x = m_matT.coeff(i,i+1);
+            Scalar y = m_matT.coeff(i+1,i);
+            Scalar denom = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag();
+            Scalar t = (x * lastr - lastw * r) / denom;
+            m_matT.coeffRef(i,n) = t;
+            if (internal::abs(x) > internal::abs(lastw))
+              m_matT.coeffRef(i+1,n) = (-r - w * t) / x;
+            else
+              m_matT.coeffRef(i+1,n) = (-lastr - y * t) / lastw;
+          }
+
+          // Overflow control
+          Scalar t = internal::abs(m_matT.coeff(i,n));
+          if ((eps * t) * t > 1)
+            m_matT.col(n).tail(size-i) /= t;
+        }
+      }
+    }
+    else if (q < 0) // Complex vector
+    {
+      Scalar lastra=0, lastsa=0, lastw=0;
+      Index l = n-1;
+
+      // Last vector component imaginary so matrix is triangular
+      if (internal::abs(m_matT.coeff(n,n-1)) > internal::abs(m_matT.coeff(n-1,n)))
+      {
+        m_matT.coeffRef(n-1,n-1) = q / m_matT.coeff(n,n-1);
+        m_matT.coeffRef(n-1,n) = -(m_matT.coeff(n,n) - p) / m_matT.coeff(n,n-1);
+      }
+      else
+      {
+        std::complex<Scalar> cc = cdiv<Scalar>(0.0,-m_matT.coeff(n-1,n),m_matT.coeff(n-1,n-1)-p,q);
+        m_matT.coeffRef(n-1,n-1) = internal::real(cc);
+        m_matT.coeffRef(n-1,n) = internal::imag(cc);
+      }
+      m_matT.coeffRef(n,n-1) = 0.0;
+      m_matT.coeffRef(n,n) = 1.0;
+      for (Index i = n-2; i >= 0; i--)
+      {
+        Scalar ra = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n-1).segment(l, n-l+1));
+        Scalar sa = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
+        Scalar w = m_matT.coeff(i,i) - p;
+
+        if (m_eivalues.coeff(i).imag() < 0.0)
+        {
+          lastw = w;
+          lastra = ra;
+          lastsa = sa;
+        }
+        else
+        {
+          l = i;
+          if (m_eivalues.coeff(i).imag() == 0)
+          {
+            std::complex<Scalar> cc = cdiv(-ra,-sa,w,q);
+            m_matT.coeffRef(i,n-1) = internal::real(cc);
+            m_matT.coeffRef(i,n) = internal::imag(cc);
+          }
+          else
+          {
+            // Solve complex equations
+            Scalar x = m_matT.coeff(i,i+1);
+            Scalar y = m_matT.coeff(i+1,i);
+            Scalar vr = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag() - q * q;
+            Scalar vi = (m_eivalues.coeff(i).real() - p) * Scalar(2) * q;
+            if ((vr == 0.0) && (vi == 0.0))
+              vr = eps * norm * (internal::abs(w) + internal::abs(q) + internal::abs(x) + internal::abs(y) + internal::abs(lastw));
+
+	    std::complex<Scalar> cc = cdiv(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra,vr,vi);
+            m_matT.coeffRef(i,n-1) = internal::real(cc);
+            m_matT.coeffRef(i,n) = internal::imag(cc);
+            if (internal::abs(x) > (internal::abs(lastw) + internal::abs(q)))
+            {
+              m_matT.coeffRef(i+1,n-1) = (-ra - w * m_matT.coeff(i,n-1) + q * m_matT.coeff(i,n)) / x;
+              m_matT.coeffRef(i+1,n) = (-sa - w * m_matT.coeff(i,n) - q * m_matT.coeff(i,n-1)) / x;
+            }
+            else
+            {
+              cc = cdiv(-lastra-y*m_matT.coeff(i,n-1),-lastsa-y*m_matT.coeff(i,n),lastw,q);
+              m_matT.coeffRef(i+1,n-1) = internal::real(cc);
+              m_matT.coeffRef(i+1,n) = internal::imag(cc);
+            }
+          }
+
+          // Overflow control
+          Scalar t = std::max(internal::abs(m_matT.coeff(i,n-1)),internal::abs(m_matT.coeff(i,n)));
+          if ((eps * t) * t > 1)
+            m_matT.block(i, n-1, size-i, 2) /= t;
+
+        }
+      }
+    }
+  }
+
+  // Back transformation to get eigenvectors of original matrix
+  for (Index j = size-1; j >= 0; j--)
+  {
+    m_tmp.noalias() = m_eivec.leftCols(j+1) * m_matT.col(j).segment(0, j+1);
+    m_eivec.col(j) = m_tmp;
+  }
+}
+
+#endif // EIGEN_EIGENSOLVER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/EigenvaluesCommon.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/EigenvaluesCommon.h
new file mode 100755
index 0000000..749bea7
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/EigenvaluesCommon.h
@@ -0,0 +1,31 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_EIGENVALUES_COMMON_H
+#define EIGEN_EIGENVALUES_COMMON_H
+
+
+
+#endif // EIGEN_EIGENVALUES_COMMON_H
+
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
new file mode 100755
index 0000000..a0ece70
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
@@ -0,0 +1,239 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
+#define EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
+
+#include "./EigenvaluesCommon.h"
+#include "./Tridiagonalization.h"
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class GeneralizedSelfAdjointEigenSolver
+  *
+  * \brief Computes eigenvalues and eigenvectors of the generalized selfadjoint eigen problem
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the
+  * eigendecomposition; this is expected to be an instantiation of the Matrix
+  * class template.
+  *
+  * This class solves the generalized eigenvalue problem
+  * \f$ Av = \lambda Bv \f$. In this case, the matrix \f$ A \f$ should be
+  * selfadjoint and the matrix \f$ B \f$ should be positive definite.
+  *
+  * Only the \b lower \b triangular \b part of the input matrix is referenced.
+  *
+  * Call the function compute() to compute the eigenvalues and eigenvectors of
+  * a given matrix. Alternatively, you can use the
+  * GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
+  * constructor which computes the eigenvalues and eigenvectors at construction time.
+  * Once the eigenvalue and eigenvectors are computed, they can be retrieved with the eigenvalues()
+  * and eigenvectors() functions.
+  *
+  * The documentation for GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
+  * contains an example of the typical use of this class.
+  *
+  * \sa class SelfAdjointEigenSolver, class EigenSolver, class ComplexEigenSolver
+  */
+template<typename _MatrixType>
+class GeneralizedSelfAdjointEigenSolver : public SelfAdjointEigenSolver<_MatrixType>
+{
+    typedef SelfAdjointEigenSolver<_MatrixType> Base;
+  public:
+
+    typedef typename Base::Index Index;
+    typedef _MatrixType MatrixType;
+
+    /** \brief Default constructor for fixed-size matrices.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute(). This constructor
+      * can only be used if \p _MatrixType is a fixed-size matrix; use
+      * GeneralizedSelfAdjointEigenSolver(Index) for dynamic-size matrices.
+      */
+    GeneralizedSelfAdjointEigenSolver() : Base() {}
+
+    /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
+      *
+      * \param [in]  size  Positive integer, size of the matrix whose
+      * eigenvalues and eigenvectors will be computed.
+      *
+      * This constructor is useful for dynamic-size matrices, when the user
+      * intends to perform decompositions via compute(). The \p size
+      * parameter is only used as a hint. It is not an error to give a wrong
+      * \p size, but it may impair performance.
+      *
+      * \sa compute() for an example
+      */
+    GeneralizedSelfAdjointEigenSolver(Index size)
+        : Base(size)
+    {}
+
+    /** \brief Constructor; computes generalized eigendecomposition of given matrix pencil.
+      *
+      * \param[in]  matA  Selfadjoint matrix in matrix pencil.
+      *                   Only the lower triangular part of the matrix is referenced.
+      * \param[in]  matB  Positive-definite matrix in matrix pencil.
+      *                   Only the lower triangular part of the matrix is referenced.
+      * \param[in]  options A or-ed set of flags {ComputeEigenvectors,EigenvaluesOnly} | {Ax_lBx,ABx_lx,BAx_lx}.
+      *                     Default is ComputeEigenvectors|Ax_lBx.
+      *
+      * This constructor calls compute(const MatrixType&, const MatrixType&, int)
+      * to compute the eigenvalues and (if requested) the eigenvectors of the
+      * generalized eigenproblem \f$ Ax = \lambda B x \f$ with \a matA the
+      * selfadjoint matrix \f$ A \f$ and \a matB the positive definite matrix
+      * \f$ B \f$. Each eigenvector \f$ x \f$ satisfies the property
+      * \f$ x^* B x = 1 \f$. The eigenvectors are computed if
+      * \a options contains ComputeEigenvectors.
+      *
+      * In addition, the two following variants can be solved via \p options:
+      * - \c ABx_lx: \f$ ABx = \lambda x \f$
+      * - \c BAx_lx: \f$ BAx = \lambda x \f$
+      *
+      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.out
+      *
+      * \sa compute(const MatrixType&, const MatrixType&, int)
+      */
+    GeneralizedSelfAdjointEigenSolver(const MatrixType& matA, const MatrixType& matB,
+                                      int options = ComputeEigenvectors|Ax_lBx)
+      : Base(matA.cols())
+    {
+      compute(matA, matB, options);
+    }
+
+    /** \brief Computes generalized eigendecomposition of given matrix pencil.
+      *
+      * \param[in]  matA  Selfadjoint matrix in matrix pencil.
+      *                   Only the lower triangular part of the matrix is referenced.
+      * \param[in]  matB  Positive-definite matrix in matrix pencil.
+      *                   Only the lower triangular part of the matrix is referenced.
+      * \param[in]  options A or-ed set of flags {ComputeEigenvectors,EigenvaluesOnly} | {Ax_lBx,ABx_lx,BAx_lx}.
+      *                     Default is ComputeEigenvectors|Ax_lBx.
+      *
+      * \returns    Reference to \c *this
+      *
+      * Accoring to \p options, this function computes eigenvalues and (if requested)
+      * the eigenvectors of one of the following three generalized eigenproblems:
+      * - \c Ax_lBx: \f$ Ax = \lambda B x \f$
+      * - \c ABx_lx: \f$ ABx = \lambda x \f$
+      * - \c BAx_lx: \f$ BAx = \lambda x \f$
+      * with \a matA the selfadjoint matrix \f$ A \f$ and \a matB the positive definite
+      * matrix \f$ B \f$.
+      * In addition, each eigenvector \f$ x \f$ satisfies the property \f$ x^* B x = 1 \f$.
+      *
+      * The eigenvalues() function can be used to retrieve
+      * the eigenvalues. If \p options contains ComputeEigenvectors, then the
+      * eigenvectors are also computed and can be retrieved by calling
+      * eigenvectors().
+      *
+      * The implementation uses LLT to compute the Cholesky decomposition
+      * \f$ B = LL^* \f$ and computes the classical eigendecomposition
+      * of the selfadjoint matrix \f$ L^{-1} A (L^*)^{-1} \f$ if \p options contains Ax_lBx
+      * and of \f$ L^{*} A L \f$ otherwise. This solves the
+      * generalized eigenproblem, because any solution of the generalized
+      * eigenproblem \f$ Ax = \lambda B x \f$ corresponds to a solution
+      * \f$ L^{-1} A (L^*)^{-1} (L^* x) = \lambda (L^* x) \f$ of the
+      * eigenproblem for \f$ L^{-1} A (L^*)^{-1} \f$. Similar statements
+      * can be made for the two other variants.
+      *
+      * Example: \include SelfAdjointEigenSolver_compute_MatrixType2.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_compute_MatrixType2.out
+      *
+      * \sa GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
+      */
+    GeneralizedSelfAdjointEigenSolver& compute(const MatrixType& matA, const MatrixType& matB,
+                                               int options = ComputeEigenvectors|Ax_lBx);
+
+  protected:
+
+};
+
+
+template<typename MatrixType>
+GeneralizedSelfAdjointEigenSolver<MatrixType>& GeneralizedSelfAdjointEigenSolver<MatrixType>::
+compute(const MatrixType& matA, const MatrixType& matB, int options)
+{
+  eigen_assert(matA.cols()==matA.rows() && matB.rows()==matA.rows() && matB.cols()==matB.rows());
+  eigen_assert((options&~(EigVecMask|GenEigMask))==0
+          && (options&EigVecMask)!=EigVecMask
+          && ((options&GenEigMask)==0 || (options&GenEigMask)==Ax_lBx
+           || (options&GenEigMask)==ABx_lx || (options&GenEigMask)==BAx_lx)
+          && "invalid option parameter");
+
+  bool computeEigVecs = ((options&EigVecMask)==0) || ((options&EigVecMask)==ComputeEigenvectors);
+
+  // Compute the cholesky decomposition of matB = L L' = U'U
+  LLT<MatrixType> cholB(matB);
+
+  int type = (options&GenEigMask);
+  if(type==0)
+    type = Ax_lBx;
+
+  if(type==Ax_lBx)
+  {
+    // compute C = inv(L) A inv(L')
+    MatrixType matC = matA.template selfadjointView<Lower>();
+    cholB.matrixL().template solveInPlace<OnTheLeft>(matC);
+    cholB.matrixU().template solveInPlace<OnTheRight>(matC);
+
+    Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly );
+
+    // transform back the eigen vectors: evecs = inv(U) * evecs
+    if(computeEigVecs)
+      cholB.matrixU().solveInPlace(Base::m_eivec);
+  }
+  else if(type==ABx_lx)
+  {
+    // compute C = L' A L
+    MatrixType matC = matA.template selfadjointView<Lower>();
+    matC = matC * cholB.matrixL();
+    matC = cholB.matrixU() * matC;
+
+    Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly);
+
+    // transform back the eigen vectors: evecs = inv(U) * evecs
+    if(computeEigVecs)
+      cholB.matrixU().solveInPlace(Base::m_eivec);
+  }
+  else if(type==BAx_lx)
+  {
+    // compute C = L' A L
+    MatrixType matC = matA.template selfadjointView<Lower>();
+    matC = matC * cholB.matrixL();
+    matC = cholB.matrixU() * matC;
+
+    Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly);
+
+    // transform back the eigen vectors: evecs = L * evecs
+    if(computeEigVecs)
+      Base::m_eivec = cholB.matrixL() * Base::m_eivec;
+  }
+
+  return *this;
+}
+
+#endif // EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/HessenbergDecomposition.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/HessenbergDecomposition.h
new file mode 100755
index 0000000..c17f155
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/HessenbergDecomposition.h
@@ -0,0 +1,384 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_HESSENBERGDECOMPOSITION_H
+#define EIGEN_HESSENBERGDECOMPOSITION_H
+
+namespace internal {
+  
+template<typename MatrixType> struct HessenbergDecompositionMatrixHReturnType;
+template<typename MatrixType>
+struct traits<HessenbergDecompositionMatrixHReturnType<MatrixType> >
+{
+  typedef MatrixType ReturnType;
+};
+
+}
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class HessenbergDecomposition
+  *
+  * \brief Reduces a square matrix to Hessenberg form by an orthogonal similarity transformation
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the Hessenberg decomposition
+  *
+  * This class performs an Hessenberg decomposition of a matrix \f$ A \f$. In
+  * the real case, the Hessenberg decomposition consists of an orthogonal
+  * matrix \f$ Q \f$ and a Hessenberg matrix \f$ H \f$ such that \f$ A = Q H
+  * Q^T \f$. An orthogonal matrix is a matrix whose inverse equals its
+  * transpose (\f$ Q^{-1} = Q^T \f$). A Hessenberg matrix has zeros below the
+  * subdiagonal, so it is almost upper triangular. The Hessenberg decomposition
+  * of a complex matrix is \f$ A = Q H Q^* \f$ with \f$ Q \f$ unitary (that is,
+  * \f$ Q^{-1} = Q^* \f$).
+  *
+  * Call the function compute() to compute the Hessenberg decomposition of a
+  * given matrix. Alternatively, you can use the
+  * HessenbergDecomposition(const MatrixType&) constructor which computes the
+  * Hessenberg decomposition at construction time. Once the decomposition is
+  * computed, you can use the matrixH() and matrixQ() functions to construct
+  * the matrices H and Q in the decomposition.
+  *
+  * The documentation for matrixH() contains an example of the typical use of
+  * this class.
+  *
+  * \sa class ComplexSchur, class Tridiagonalization, \ref QR_Module "QR Module"
+  */
+template<typename _MatrixType> class HessenbergDecomposition
+{
+  public:
+
+    /** \brief Synonym for the template parameter \p _MatrixType. */
+    typedef _MatrixType MatrixType;
+
+    enum {
+      Size = MatrixType::RowsAtCompileTime,
+      SizeMinusOne = Size == Dynamic ? Dynamic : Size - 1,
+      Options = MatrixType::Options,
+      MaxSize = MatrixType::MaxRowsAtCompileTime,
+      MaxSizeMinusOne = MaxSize == Dynamic ? Dynamic : MaxSize - 1
+    };
+
+    /** \brief Scalar type for matrices of type #MatrixType. */
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+
+    /** \brief Type for vector of Householder coefficients.
+      *
+      * This is column vector with entries of type #Scalar. The length of the
+      * vector is one less than the size of #MatrixType, if it is a fixed-side
+      * type.
+      */
+    typedef Matrix<Scalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> CoeffVectorType;
+
+    /** \brief Return type of matrixQ() */
+    typedef typename HouseholderSequence<MatrixType,CoeffVectorType>::ConjugateReturnType HouseholderSequenceType;
+    
+    typedef internal::HessenbergDecompositionMatrixHReturnType<MatrixType> MatrixHReturnType;
+
+    /** \brief Default constructor; the decomposition will be computed later.
+      *
+      * \param [in] size  The size of the matrix whose Hessenberg decomposition will be computed.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute().  The \p size parameter is only
+      * used as a hint. It is not an error to give a wrong \p size, but it may
+      * impair performance.
+      *
+      * \sa compute() for an example.
+      */
+    HessenbergDecomposition(Index size = Size==Dynamic ? 2 : Size)
+      : m_matrix(size,size),
+        m_temp(size),
+        m_isInitialized(false)
+    {
+      if(size>1)
+        m_hCoeffs.resize(size-1);
+    }
+
+    /** \brief Constructor; computes Hessenberg decomposition of given matrix.
+      *
+      * \param[in]  matrix  Square matrix whose Hessenberg decomposition is to be computed.
+      *
+      * This constructor calls compute() to compute the Hessenberg
+      * decomposition.
+      *
+      * \sa matrixH() for an example.
+      */
+    HessenbergDecomposition(const MatrixType& matrix)
+      : m_matrix(matrix),
+        m_temp(matrix.rows()),
+        m_isInitialized(false)
+    {
+      if(matrix.rows()<2)
+      {
+        m_isInitialized = true;
+        return;
+      }
+      m_hCoeffs.resize(matrix.rows()-1,1);
+      _compute(m_matrix, m_hCoeffs, m_temp);
+      m_isInitialized = true;
+    }
+
+    /** \brief Computes Hessenberg decomposition of given matrix.
+      *
+      * \param[in]  matrix  Square matrix whose Hessenberg decomposition is to be computed.
+      * \returns    Reference to \c *this
+      *
+      * The Hessenberg decomposition is computed by bringing the columns of the
+      * matrix successively in the required form using Householder reflections
+      * (see, e.g., Algorithm 7.4.2 in Golub \& Van Loan, <i>%Matrix
+      * Computations</i>). The cost is \f$ 10n^3/3 \f$ flops, where \f$ n \f$
+      * denotes the size of the given matrix.
+      *
+      * This method reuses of the allocated data in the HessenbergDecomposition
+      * object.
+      *
+      * Example: \include HessenbergDecomposition_compute.cpp
+      * Output: \verbinclude HessenbergDecomposition_compute.out
+      */
+    HessenbergDecomposition& compute(const MatrixType& matrix)
+    {
+      m_matrix = matrix;
+      if(matrix.rows()<2)
+      {
+        m_isInitialized = true;
+        return *this;
+      }
+      m_hCoeffs.resize(matrix.rows()-1,1);
+      _compute(m_matrix, m_hCoeffs, m_temp);
+      m_isInitialized = true;
+      return *this;
+    }
+
+    /** \brief Returns the Householder coefficients.
+      *
+      * \returns a const reference to the vector of Householder coefficients
+      *
+      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+      * or the member function compute(const MatrixType&) has been called
+      * before to compute the Hessenberg decomposition of a matrix.
+      *
+      * The Householder coefficients allow the reconstruction of the matrix
+      * \f$ Q \f$ in the Hessenberg decomposition from the packed data.
+      *
+      * \sa packedMatrix(), \ref Householder_Module "Householder module"
+      */
+    const CoeffVectorType& householderCoefficients() const
+    {
+      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+      return m_hCoeffs;
+    }
+
+    /** \brief Returns the internal representation of the decomposition
+      *
+      *	\returns a const reference to a matrix with the internal representation
+      *	         of the decomposition.
+      *
+      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+      * or the member function compute(const MatrixType&) has been called
+      * before to compute the Hessenberg decomposition of a matrix.
+      *
+      * The returned matrix contains the following information:
+      *  - the upper part and lower sub-diagonal represent the Hessenberg matrix H
+      *  - the rest of the lower part contains the Householder vectors that, combined with
+      *    Householder coefficients returned by householderCoefficients(),
+      *    allows to reconstruct the matrix Q as
+      *       \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
+      *    Here, the matrices \f$ H_i \f$ are the Householder transformations
+      *       \f$ H_i = (I - h_i v_i v_i^T) \f$
+      *    where \f$ h_i \f$ is the \f$ i \f$th Householder coefficient and
+      *    \f$ v_i \f$ is the Householder vector defined by
+      *       \f$ v_i = [ 0, \ldots, 0, 1, M(i+2,i), \ldots, M(N-1,i) ]^T \f$
+      *    with M the matrix returned by this function.
+      *
+      * See LAPACK for further details on this packed storage.
+      *
+      * Example: \include HessenbergDecomposition_packedMatrix.cpp
+      * Output: \verbinclude HessenbergDecomposition_packedMatrix.out
+      *
+      * \sa householderCoefficients()
+      */
+    const MatrixType& packedMatrix() const
+    {
+      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+      return m_matrix;
+    }
+
+    /** \brief Reconstructs the orthogonal matrix Q in the decomposition
+      *
+      * \returns object representing the matrix Q
+      *
+      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+      * or the member function compute(const MatrixType&) has been called
+      * before to compute the Hessenberg decomposition of a matrix.
+      *
+      * This function returns a light-weight object of template class
+      * HouseholderSequence. You can either apply it directly to a matrix or
+      * you can convert it to a matrix of type #MatrixType.
+      *
+      * \sa matrixH() for an example, class HouseholderSequence
+      */
+    HouseholderSequenceType matrixQ() const
+    {
+      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+      return HouseholderSequenceType(m_matrix, m_hCoeffs.conjugate())
+             .setLength(m_matrix.rows() - 1)
+             .setShift(1);
+    }
+
+    /** \brief Constructs the Hessenberg matrix H in the decomposition
+      *
+      * \returns expression object representing the matrix H
+      *
+      * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+      * or the member function compute(const MatrixType&) has been called
+      * before to compute the Hessenberg decomposition of a matrix.
+      *
+      * The object returned by this function constructs the Hessenberg matrix H
+      * when it is assigned to a matrix or otherwise evaluated. The matrix H is
+      * constructed from the packed matrix as returned by packedMatrix(): The
+      * upper part (including the subdiagonal) of the packed matrix contains
+      * the matrix H. It may sometimes be better to directly use the packed
+      * matrix instead of constructing the matrix H.
+      *
+      * Example: \include HessenbergDecomposition_matrixH.cpp
+      * Output: \verbinclude HessenbergDecomposition_matrixH.out
+      *
+      * \sa matrixQ(), packedMatrix()
+      */
+    MatrixHReturnType matrixH() const
+    {
+      eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+      return MatrixHReturnType(*this);
+    }
+
+  private:
+
+    typedef Matrix<Scalar, 1, Size, Options | RowMajor, 1, MaxSize> VectorType;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    static void _compute(MatrixType& matA, CoeffVectorType& hCoeffs, VectorType& temp);
+
+  protected:
+    MatrixType m_matrix;
+    CoeffVectorType m_hCoeffs;
+    VectorType m_temp;
+    bool m_isInitialized;
+};
+
+/** \internal
+  * Performs a tridiagonal decomposition of \a matA in place.
+  *
+  * \param matA the input selfadjoint matrix
+  * \param hCoeffs returned Householder coefficients
+  *
+  * The result is written in the lower triangular part of \a matA.
+  *
+  * Implemented from Golub's "%Matrix Computations", algorithm 8.3.1.
+  *
+  * \sa packedMatrix()
+  */
+template<typename MatrixType>
+void HessenbergDecomposition<MatrixType>::_compute(MatrixType& matA, CoeffVectorType& hCoeffs, VectorType& temp)
+{
+  assert(matA.rows()==matA.cols());
+  Index n = matA.rows();
+  temp.resize(n);
+  for (Index i = 0; i<n-1; ++i)
+  {
+    // let's consider the vector v = i-th column starting at position i+1
+    Index remainingSize = n-i-1;
+    RealScalar beta;
+    Scalar h;
+    matA.col(i).tail(remainingSize).makeHouseholderInPlace(h, beta);
+    matA.col(i).coeffRef(i+1) = beta;
+    hCoeffs.coeffRef(i) = h;
+
+    // Apply similarity transformation to remaining columns,
+    // i.e., compute A = H A H'
+
+    // A = H A
+    matA.bottomRightCorner(remainingSize, remainingSize)
+        .applyHouseholderOnTheLeft(matA.col(i).tail(remainingSize-1), h, &temp.coeffRef(0));
+
+    // A = A H'
+    matA.rightCols(remainingSize)
+        .applyHouseholderOnTheRight(matA.col(i).tail(remainingSize-1).conjugate(), internal::conj(h), &temp.coeffRef(0));
+  }
+}
+
+namespace internal {
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \brief Expression type for return value of HessenbergDecomposition::matrixH()
+  *
+  * \tparam MatrixType type of matrix in the Hessenberg decomposition
+  *
+  * Objects of this type represent the Hessenberg matrix in the Hessenberg
+  * decomposition of some matrix. The object holds a reference to the
+  * HessenbergDecomposition class until the it is assigned or evaluated for
+  * some other reason (the reference should remain valid during the life time
+  * of this object). This class is the return type of
+  * HessenbergDecomposition::matrixH(); there is probably no other use for this
+  * class.
+  */
+template<typename MatrixType> struct HessenbergDecompositionMatrixHReturnType
+: public ReturnByValue<HessenbergDecompositionMatrixHReturnType<MatrixType> >
+{
+    typedef typename MatrixType::Index Index;
+  public:
+    /** \brief Constructor.
+      *
+      * \param[in] hess  Hessenberg decomposition
+      */
+    HessenbergDecompositionMatrixHReturnType(const HessenbergDecomposition<MatrixType>& hess) : m_hess(hess) { }
+
+    /** \brief Hessenberg matrix in decomposition.
+      *
+      * \param[out] result  Hessenberg matrix in decomposition \p hess which
+      *                     was passed to the constructor
+      */
+    template <typename ResultType>
+    inline void evalTo(ResultType& result) const
+    {
+      result = m_hess.packedMatrix();
+      Index n = result.rows();
+      if (n>2)
+        result.bottomLeftCorner(n-2, n-2).template triangularView<Lower>().setZero();
+    }
+
+    Index rows() const { return m_hess.packedMatrix().rows(); }
+    Index cols() const { return m_hess.packedMatrix().cols(); }
+
+  protected:
+    const HessenbergDecomposition<MatrixType>& m_hess;
+};
+
+}
+
+#endif // EIGEN_HESSENBERGDECOMPOSITION_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
new file mode 100755
index 0000000..5591519
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
@@ -0,0 +1,170 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MATRIXBASEEIGENVALUES_H
+#define EIGEN_MATRIXBASEEIGENVALUES_H
+
+namespace internal {
+
+template<typename Derived, bool IsComplex>
+struct eigenvalues_selector
+{
+  // this is the implementation for the case IsComplex = true
+  static inline typename MatrixBase<Derived>::EigenvaluesReturnType const
+  run(const MatrixBase<Derived>& m)
+  {
+    typedef typename Derived::PlainObject PlainObject;
+    PlainObject m_eval(m);
+    return ComplexEigenSolver<PlainObject>(m_eval, false).eigenvalues();
+  }
+};
+
+template<typename Derived>
+struct eigenvalues_selector<Derived, false>
+{
+  static inline typename MatrixBase<Derived>::EigenvaluesReturnType const
+  run(const MatrixBase<Derived>& m)
+  {
+    typedef typename Derived::PlainObject PlainObject;
+    PlainObject m_eval(m);
+    return EigenSolver<PlainObject>(m_eval, false).eigenvalues();
+  }
+};
+
+} // end namespace internal
+
+/** \brief Computes the eigenvalues of a matrix 
+  * \returns Column vector containing the eigenvalues.
+  *
+  * \eigenvalues_module
+  * This function computes the eigenvalues with the help of the EigenSolver
+  * class (for real matrices) or the ComplexEigenSolver class (for complex
+  * matrices). 
+  *
+  * The eigenvalues are repeated according to their algebraic multiplicity,
+  * so there are as many eigenvalues as rows in the matrix.
+  *
+  * The SelfAdjointView class provides a better algorithm for selfadjoint
+  * matrices.
+  *
+  * Example: \include MatrixBase_eigenvalues.cpp
+  * Output: \verbinclude MatrixBase_eigenvalues.out
+  *
+  * \sa EigenSolver::eigenvalues(), ComplexEigenSolver::eigenvalues(),
+  *     SelfAdjointView::eigenvalues()
+  */
+template<typename Derived>
+inline typename MatrixBase<Derived>::EigenvaluesReturnType
+MatrixBase<Derived>::eigenvalues() const
+{
+  typedef typename internal::traits<Derived>::Scalar Scalar;
+  return internal::eigenvalues_selector<Derived, NumTraits<Scalar>::IsComplex>::run(derived());
+}
+
+/** \brief Computes the eigenvalues of a matrix
+  * \returns Column vector containing the eigenvalues.
+  *
+  * \eigenvalues_module
+  * This function computes the eigenvalues with the help of the
+  * SelfAdjointEigenSolver class.  The eigenvalues are repeated according to
+  * their algebraic multiplicity, so there are as many eigenvalues as rows in
+  * the matrix.
+  *
+  * Example: \include SelfAdjointView_eigenvalues.cpp
+  * Output: \verbinclude SelfAdjointView_eigenvalues.out
+  *
+  * \sa SelfAdjointEigenSolver::eigenvalues(), MatrixBase::eigenvalues()
+  */
+template<typename MatrixType, unsigned int UpLo> 
+inline typename SelfAdjointView<MatrixType, UpLo>::EigenvaluesReturnType
+SelfAdjointView<MatrixType, UpLo>::eigenvalues() const
+{
+  typedef typename SelfAdjointView<MatrixType, UpLo>::PlainObject PlainObject;
+  PlainObject thisAsMatrix(*this);
+  return SelfAdjointEigenSolver<PlainObject>(thisAsMatrix, false).eigenvalues();
+}
+
+
+
+/** \brief Computes the L2 operator norm
+  * \returns Operator norm of the matrix.
+  *
+  * \eigenvalues_module
+  * This function computes the L2 operator norm of a matrix, which is also
+  * known as the spectral norm. The norm of a matrix \f$ A \f$ is defined to be
+  * \f[ \|A\|_2 = \max_x \frac{\|Ax\|_2}{\|x\|_2} \f]
+  * where the maximum is over all vectors and the norm on the right is the
+  * Euclidean vector norm. The norm equals the largest singular value, which is
+  * the square root of the largest eigenvalue of the positive semi-definite
+  * matrix \f$ A^*A \f$.
+  *
+  * The current implementation uses the eigenvalues of \f$ A^*A \f$, as computed
+  * by SelfAdjointView::eigenvalues(), to compute the operator norm of a
+  * matrix.  The SelfAdjointView class provides a better algorithm for
+  * selfadjoint matrices.
+  *
+  * Example: \include MatrixBase_operatorNorm.cpp
+  * Output: \verbinclude MatrixBase_operatorNorm.out
+  *
+  * \sa SelfAdjointView::eigenvalues(), SelfAdjointView::operatorNorm()
+  */
+template<typename Derived>
+inline typename MatrixBase<Derived>::RealScalar
+MatrixBase<Derived>::operatorNorm() const
+{
+  typename Derived::PlainObject m_eval(derived());
+  // FIXME if it is really guaranteed that the eigenvalues are already sorted,
+  // then we don't need to compute a maxCoeff() here, comparing the 1st and last ones is enough.
+  return internal::sqrt((m_eval*m_eval.adjoint())
+                 .eval()
+		 .template selfadjointView<Lower>()
+		 .eigenvalues()
+		 .maxCoeff()
+		 );
+}
+
+/** \brief Computes the L2 operator norm
+  * \returns Operator norm of the matrix.
+  *
+  * \eigenvalues_module
+  * This function computes the L2 operator norm of a self-adjoint matrix. For a
+  * self-adjoint matrix, the operator norm is the largest eigenvalue.
+  *
+  * The current implementation uses the eigenvalues of the matrix, as computed
+  * by eigenvalues(), to compute the operator norm of the matrix.
+  *
+  * Example: \include SelfAdjointView_operatorNorm.cpp
+  * Output: \verbinclude SelfAdjointView_operatorNorm.out
+  *
+  * \sa eigenvalues(), MatrixBase::operatorNorm()
+  */
+template<typename MatrixType, unsigned int UpLo>
+inline typename SelfAdjointView<MatrixType, UpLo>::RealScalar
+SelfAdjointView<MatrixType, UpLo>::operatorNorm() const
+{
+  return eigenvalues().cwiseAbs().maxCoeff();
+}
+
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/RealSchur.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/RealSchur.h
new file mode 100755
index 0000000..e8b2f1a
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/RealSchur.h
@@ -0,0 +1,474 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_REAL_SCHUR_H
+#define EIGEN_REAL_SCHUR_H
+
+#include "./EigenvaluesCommon.h"
+#include "./HessenbergDecomposition.h"
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class RealSchur
+  *
+  * \brief Performs a real Schur decomposition of a square matrix
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the
+  * real Schur decomposition; this is expected to be an instantiation of the
+  * Matrix class template.
+  *
+  * Given a real square matrix A, this class computes the real Schur
+  * decomposition: \f$ A = U T U^T \f$ where U is a real orthogonal matrix and
+  * T is a real quasi-triangular matrix. An orthogonal matrix is a matrix whose
+  * inverse is equal to its transpose, \f$ U^{-1} = U^T \f$. A quasi-triangular
+  * matrix is a block-triangular matrix whose diagonal consists of 1-by-1
+  * blocks and 2-by-2 blocks with complex eigenvalues. The eigenvalues of the
+  * blocks on the diagonal of T are the same as the eigenvalues of the matrix
+  * A, and thus the real Schur decomposition is used in EigenSolver to compute
+  * the eigendecomposition of a matrix.
+  *
+  * Call the function compute() to compute the real Schur decomposition of a
+  * given matrix. Alternatively, you can use the RealSchur(const MatrixType&, bool)
+  * constructor which computes the real Schur decomposition at construction
+  * time. Once the decomposition is computed, you can use the matrixU() and
+  * matrixT() functions to retrieve the matrices U and T in the decomposition.
+  *
+  * The documentation of RealSchur(const MatrixType&, bool) contains an example
+  * of the typical use of this class.
+  *
+  * \note The implementation is adapted from
+  * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> (public domain).
+  * Their code is based on EISPACK.
+  *
+  * \sa class ComplexSchur, class EigenSolver, class ComplexEigenSolver
+  */
+template<typename _MatrixType> class RealSchur
+{
+  public:
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
+    typedef typename MatrixType::Index Index;
+
+    typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
+    typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
+
+    /** \brief Default constructor.
+      *
+      * \param [in] size  Positive integer, size of the matrix whose Schur decomposition will be computed.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute().  The \p size parameter is only
+      * used as a hint. It is not an error to give a wrong \p size, but it may
+      * impair performance.
+      *
+      * \sa compute() for an example.
+      */
+    RealSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
+            : m_matT(size, size),
+              m_matU(size, size),
+              m_workspaceVector(size),
+              m_hess(size),
+              m_isInitialized(false),
+              m_matUisUptodate(false)
+    { }
+
+    /** \brief Constructor; computes real Schur decomposition of given matrix. 
+      * 
+      * \param[in]  matrix    Square matrix whose Schur decomposition is to be computed.
+      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
+      *
+      * This constructor calls compute() to compute the Schur decomposition.
+      *
+      * Example: \include RealSchur_RealSchur_MatrixType.cpp
+      * Output: \verbinclude RealSchur_RealSchur_MatrixType.out
+      */
+    RealSchur(const MatrixType& matrix, bool computeU = true)
+            : m_matT(matrix.rows(),matrix.cols()),
+              m_matU(matrix.rows(),matrix.cols()),
+              m_workspaceVector(matrix.rows()),
+              m_hess(matrix.rows()),
+              m_isInitialized(false),
+              m_matUisUptodate(false)
+    {
+      compute(matrix, computeU);
+    }
+
+    /** \brief Returns the orthogonal matrix in the Schur decomposition. 
+      *
+      * \returns A const reference to the matrix U.
+      *
+      * \pre Either the constructor RealSchur(const MatrixType&, bool) or the
+      * member function compute(const MatrixType&, bool) has been called before
+      * to compute the Schur decomposition of a matrix, and \p computeU was set
+      * to true (the default value).
+      *
+      * \sa RealSchur(const MatrixType&, bool) for an example
+      */
+    const MatrixType& matrixU() const
+    {
+      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+      eigen_assert(m_matUisUptodate && "The matrix U has not been computed during the RealSchur decomposition.");
+      return m_matU;
+    }
+
+    /** \brief Returns the quasi-triangular matrix in the Schur decomposition. 
+      *
+      * \returns A const reference to the matrix T.
+      *
+      * \pre Either the constructor RealSchur(const MatrixType&, bool) or the
+      * member function compute(const MatrixType&, bool) has been called before
+      * to compute the Schur decomposition of a matrix.
+      *
+      * \sa RealSchur(const MatrixType&, bool) for an example
+      */
+    const MatrixType& matrixT() const
+    {
+      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+      return m_matT;
+    }
+  
+    /** \brief Computes Schur decomposition of given matrix. 
+      * 
+      * \param[in]  matrix    Square matrix whose Schur decomposition is to be computed.
+      * \param[in]  computeU  If true, both T and U are computed; if false, only T is computed.
+      * \returns    Reference to \c *this
+      *
+      * The Schur decomposition is computed by first reducing the matrix to
+      * Hessenberg form using the class HessenbergDecomposition. The Hessenberg
+      * matrix is then reduced to triangular form by performing Francis QR
+      * iterations with implicit double shift. The cost of computing the Schur
+      * decomposition depends on the number of iterations; as a rough guide, it
+      * may be taken to be \f$25n^3\f$ flops if \a computeU is true and
+      * \f$10n^3\f$ flops if \a computeU is false.
+      *
+      * Example: \include RealSchur_compute.cpp
+      * Output: \verbinclude RealSchur_compute.out
+      */
+    RealSchur& compute(const MatrixType& matrix, bool computeU = true);
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+      return m_info;
+    }
+
+    /** \brief Maximum number of iterations.
+      *
+      * Maximum number of iterations allowed for an eigenvalue to converge. 
+      */
+    static const int m_maxIterations = 40;
+
+  private:
+    
+    MatrixType m_matT;
+    MatrixType m_matU;
+    ColumnVectorType m_workspaceVector;
+    HessenbergDecomposition<MatrixType> m_hess;
+    ComputationInfo m_info;
+    bool m_isInitialized;
+    bool m_matUisUptodate;
+
+    typedef Matrix<Scalar,3,1> Vector3s;
+
+    Scalar computeNormOfT();
+    Index findSmallSubdiagEntry(Index iu, Scalar norm);
+    void splitOffTwoRows(Index iu, bool computeU, Scalar exshift);
+    void computeShift(Index iu, Index iter, Scalar& exshift, Vector3s& shiftInfo);
+    void initFrancisQRStep(Index il, Index iu, const Vector3s& shiftInfo, Index& im, Vector3s& firstHouseholderVector);
+    void performFrancisQRStep(Index il, Index im, Index iu, bool computeU, const Vector3s& firstHouseholderVector, Scalar* workspace);
+};
+
+
+template<typename MatrixType>
+RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const MatrixType& matrix, bool computeU)
+{
+  assert(matrix.cols() == matrix.rows());
+
+  // Step 1. Reduce to Hessenberg form
+  m_hess.compute(matrix);
+  m_matT = m_hess.matrixH();
+  if (computeU)
+    m_matU = m_hess.matrixQ();
+
+  // Step 2. Reduce to real Schur form  
+  m_workspaceVector.resize(m_matT.cols());
+  Scalar* workspace = &m_workspaceVector.coeffRef(0);
+
+  // The matrix m_matT is divided in three parts. 
+  // Rows 0,...,il-1 are decoupled from the rest because m_matT(il,il-1) is zero. 
+  // Rows il,...,iu is the part we are working on (the active window).
+  // Rows iu+1,...,end are already brought in triangular form.
+  Index iu = m_matT.cols() - 1;
+  Index iter = 0; // iteration count
+  Scalar exshift = 0.0; // sum of exceptional shifts
+  Scalar norm = computeNormOfT();
+
+  while (iu >= 0)
+  {
+    Index il = findSmallSubdiagEntry(iu, norm);
+
+    // Check for convergence
+    if (il == iu) // One root found
+    {
+      m_matT.coeffRef(iu,iu) = m_matT.coeff(iu,iu) + exshift;
+      if (iu > 0) 
+        m_matT.coeffRef(iu, iu-1) = Scalar(0);
+      iu--;
+      iter = 0;
+    }
+    else if (il == iu-1) // Two roots found
+    {
+      splitOffTwoRows(iu, computeU, exshift);
+      iu -= 2;
+      iter = 0;
+    }
+    else // No convergence yet
+    {
+      // The firstHouseholderVector vector has to be initialized to something to get rid of a silly GCC warning (-O1 -Wall -DNDEBUG )
+      Vector3s firstHouseholderVector(0,0,0), shiftInfo;
+      computeShift(iu, iter, exshift, shiftInfo);
+      iter = iter + 1; 
+      if (iter > m_maxIterations) break;
+      Index im;
+      initFrancisQRStep(il, iu, shiftInfo, im, firstHouseholderVector);
+      performFrancisQRStep(il, im, iu, computeU, firstHouseholderVector, workspace);
+    }
+  } 
+
+  if(iter <= m_maxIterations) 
+    m_info = Success;
+  else
+    m_info = NoConvergence;
+
+  m_isInitialized = true;
+  m_matUisUptodate = computeU;
+  return *this;
+}
+
+/** \internal Computes and returns vector L1 norm of T */
+template<typename MatrixType>
+inline typename MatrixType::Scalar RealSchur<MatrixType>::computeNormOfT()
+{
+  const Index size = m_matT.cols();
+  // FIXME to be efficient the following would requires a triangular reduxion code
+  // Scalar norm = m_matT.upper().cwiseAbs().sum() 
+  //               + m_matT.bottomLeftCorner(size-1,size-1).diagonal().cwiseAbs().sum();
+  Scalar norm = 0.0;
+  for (Index j = 0; j < size; ++j)
+    norm += m_matT.row(j).segment(std::max(j-1,Index(0)), size-std::max(j-1,Index(0))).cwiseAbs().sum();
+  return norm;
+}
+
+/** \internal Look for single small sub-diagonal element and returns its index */
+template<typename MatrixType>
+inline typename MatrixType::Index RealSchur<MatrixType>::findSmallSubdiagEntry(Index iu, Scalar norm)
+{
+  Index res = iu;
+  while (res > 0)
+  {
+    Scalar s = internal::abs(m_matT.coeff(res-1,res-1)) + internal::abs(m_matT.coeff(res,res));
+    if (s == 0.0)
+      s = norm;
+    if (internal::abs(m_matT.coeff(res,res-1)) < NumTraits<Scalar>::epsilon() * s)
+      break;
+    res--;
+  }
+  return res;
+}
+
+/** \internal Update T given that rows iu-1 and iu decouple from the rest. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::splitOffTwoRows(Index iu, bool computeU, Scalar exshift)
+{
+  const Index size = m_matT.cols();
+
+  // The eigenvalues of the 2x2 matrix [a b; c d] are 
+  // trace +/- sqrt(discr/4) where discr = tr^2 - 4*det, tr = a + d, det = ad - bc
+  Scalar p = Scalar(0.5) * (m_matT.coeff(iu-1,iu-1) - m_matT.coeff(iu,iu));
+  Scalar q = p * p + m_matT.coeff(iu,iu-1) * m_matT.coeff(iu-1,iu);   // q = tr^2 / 4 - det = discr/4
+  m_matT.coeffRef(iu,iu) += exshift;
+  m_matT.coeffRef(iu-1,iu-1) += exshift;
+
+  if (q >= 0) // Two real eigenvalues
+  {
+    Scalar z = internal::sqrt(internal::abs(q));
+    JacobiRotation<Scalar> rot;
+    if (p >= 0)
+      rot.makeGivens(p + z, m_matT.coeff(iu, iu-1));
+    else
+      rot.makeGivens(p - z, m_matT.coeff(iu, iu-1));
+
+    m_matT.rightCols(size-iu+1).applyOnTheLeft(iu-1, iu, rot.adjoint());
+    m_matT.topRows(iu+1).applyOnTheRight(iu-1, iu, rot);
+    m_matT.coeffRef(iu, iu-1) = Scalar(0); 
+    if (computeU)
+      m_matU.applyOnTheRight(iu-1, iu, rot);
+  }
+
+  if (iu > 1) 
+    m_matT.coeffRef(iu-1, iu-2) = Scalar(0);
+}
+
+/** \internal Form shift in shiftInfo, and update exshift if an exceptional shift is performed. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::computeShift(Index iu, Index iter, Scalar& exshift, Vector3s& shiftInfo)
+{
+  shiftInfo.coeffRef(0) = m_matT.coeff(iu,iu);
+  shiftInfo.coeffRef(1) = m_matT.coeff(iu-1,iu-1);
+  shiftInfo.coeffRef(2) = m_matT.coeff(iu,iu-1) * m_matT.coeff(iu-1,iu);
+
+  // Wilkinson's original ad hoc shift
+  if (iter == 10)
+  {
+    exshift += shiftInfo.coeff(0);
+    for (Index i = 0; i <= iu; ++i)
+      m_matT.coeffRef(i,i) -= shiftInfo.coeff(0);
+    Scalar s = internal::abs(m_matT.coeff(iu,iu-1)) + internal::abs(m_matT.coeff(iu-1,iu-2));
+    shiftInfo.coeffRef(0) = Scalar(0.75) * s;
+    shiftInfo.coeffRef(1) = Scalar(0.75) * s;
+    shiftInfo.coeffRef(2) = Scalar(-0.4375) * s * s;
+  }
+
+  // MATLAB's new ad hoc shift
+  if (iter == 30)
+  {
+    Scalar s = (shiftInfo.coeff(1) - shiftInfo.coeff(0)) / Scalar(2.0);
+    s = s * s + shiftInfo.coeff(2);
+    if (s > 0)
+    {
+      s = internal::sqrt(s);
+      if (shiftInfo.coeff(1) < shiftInfo.coeff(0))
+        s = -s;
+      s = s + (shiftInfo.coeff(1) - shiftInfo.coeff(0)) / Scalar(2.0);
+      s = shiftInfo.coeff(0) - shiftInfo.coeff(2) / s;
+      exshift += s;
+      for (Index i = 0; i <= iu; ++i)
+        m_matT.coeffRef(i,i) -= s;
+      shiftInfo.setConstant(Scalar(0.964));
+    }
+  }
+}
+
+/** \internal Compute index im at which Francis QR step starts and the first Householder vector. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::initFrancisQRStep(Index il, Index iu, const Vector3s& shiftInfo, Index& im, Vector3s& firstHouseholderVector)
+{
+  Vector3s& v = firstHouseholderVector; // alias to save typing
+
+  for (im = iu-2; im >= il; --im)
+  {
+    const Scalar Tmm = m_matT.coeff(im,im);
+    const Scalar r = shiftInfo.coeff(0) - Tmm;
+    const Scalar s = shiftInfo.coeff(1) - Tmm;
+    v.coeffRef(0) = (r * s - shiftInfo.coeff(2)) / m_matT.coeff(im+1,im) + m_matT.coeff(im,im+1);
+    v.coeffRef(1) = m_matT.coeff(im+1,im+1) - Tmm - r - s;
+    v.coeffRef(2) = m_matT.coeff(im+2,im+1);
+    if (im == il) {
+      break;
+    }
+    const Scalar lhs = m_matT.coeff(im,im-1) * (internal::abs(v.coeff(1)) + internal::abs(v.coeff(2)));
+    const Scalar rhs = v.coeff(0) * (internal::abs(m_matT.coeff(im-1,im-1)) + internal::abs(Tmm) + internal::abs(m_matT.coeff(im+1,im+1)));
+    if (internal::abs(lhs) < NumTraits<Scalar>::epsilon() * rhs)
+    {
+      break;
+    }
+  }
+}
+
+/** \internal Perform a Francis QR step involving rows il:iu and columns im:iu. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::performFrancisQRStep(Index il, Index im, Index iu, bool computeU, const Vector3s& firstHouseholderVector, Scalar* workspace)
+{
+  assert(im >= il);
+  assert(im <= iu-2);
+
+  const Index size = m_matT.cols();
+
+  for (Index k = im; k <= iu-2; ++k)
+  {
+    bool firstIteration = (k == im);
+
+    Vector3s v;
+    if (firstIteration)
+      v = firstHouseholderVector;
+    else
+      v = m_matT.template block<3,1>(k,k-1);
+
+    Scalar tau, beta;
+    Matrix<Scalar, 2, 1> ess;
+    v.makeHouseholder(ess, tau, beta);
+    
+    if (beta != Scalar(0)) // if v is not zero
+    {
+      if (firstIteration && k > il)
+        m_matT.coeffRef(k,k-1) = -m_matT.coeff(k,k-1);
+      else if (!firstIteration)
+        m_matT.coeffRef(k,k-1) = beta;
+
+      // These Householder transformations form the O(n^3) part of the algorithm
+      m_matT.block(k, k, 3, size-k).applyHouseholderOnTheLeft(ess, tau, workspace);
+      m_matT.block(0, k, std::min(iu,k+3) + 1, 3).applyHouseholderOnTheRight(ess, tau, workspace);
+      if (computeU)
+        m_matU.block(0, k, size, 3).applyHouseholderOnTheRight(ess, tau, workspace);
+    }
+  }
+
+  Matrix<Scalar, 2, 1> v = m_matT.template block<2,1>(iu-1, iu-2);
+  Scalar tau, beta;
+  Matrix<Scalar, 1, 1> ess;
+  v.makeHouseholder(ess, tau, beta);
+
+  if (beta != Scalar(0)) // if v is not zero
+  {
+    m_matT.coeffRef(iu-1, iu-2) = beta;
+    m_matT.block(iu-1, iu-1, 2, size-iu+1).applyHouseholderOnTheLeft(ess, tau, workspace);
+    m_matT.block(0, iu-1, iu+1, 2).applyHouseholderOnTheRight(ess, tau, workspace);
+    if (computeU)
+      m_matU.block(0, iu-1, size, 2).applyHouseholderOnTheRight(ess, tau, workspace);
+  }
+
+  // clean up pollution due to round-off errors
+  for (Index i = im+2; i <= iu; ++i)
+  {
+    m_matT.coeffRef(i,i-2) = Scalar(0);
+    if (i > im+2)
+      m_matT.coeffRef(i,i-3) = Scalar(0);
+  }
+}
+
+#endif // EIGEN_REAL_SCHUR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
new file mode 100755
index 0000000..f794928
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
@@ -0,0 +1,520 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SELFADJOINTEIGENSOLVER_H
+#define EIGEN_SELFADJOINTEIGENSOLVER_H
+
+#include "./EigenvaluesCommon.h"
+#include "./Tridiagonalization.h"
+
+template<typename _MatrixType>
+class GeneralizedSelfAdjointEigenSolver;
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class SelfAdjointEigenSolver
+  *
+  * \brief Computes eigenvalues and eigenvectors of selfadjoint matrices
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the
+  * eigendecomposition; this is expected to be an instantiation of the Matrix
+  * class template.
+  *
+  * A matrix \f$ A \f$ is selfadjoint if it equals its adjoint. For real
+  * matrices, this means that the matrix is symmetric: it equals its
+  * transpose. This class computes the eigenvalues and eigenvectors of a
+  * selfadjoint matrix. These are the scalars \f$ \lambda \f$ and vectors
+  * \f$ v \f$ such that \f$ Av = \lambda v \f$.  The eigenvalues of a
+  * selfadjoint matrix are always real. If \f$ D \f$ is a diagonal matrix with
+  * the eigenvalues on the diagonal, and \f$ V \f$ is a matrix with the
+  * eigenvectors as its columns, then \f$ A = V D V^{-1} \f$ (for selfadjoint
+  * matrices, the matrix \f$ V \f$ is always invertible). This is called the
+  * eigendecomposition.
+  *
+  * The algorithm exploits the fact that the matrix is selfadjoint, making it
+  * faster and more accurate than the general purpose eigenvalue algorithms
+  * implemented in EigenSolver and ComplexEigenSolver.
+  *
+  * Only the \b lower \b triangular \b part of the input matrix is referenced.
+  *
+  * Call the function compute() to compute the eigenvalues and eigenvectors of
+  * a given matrix. Alternatively, you can use the
+  * SelfAdjointEigenSolver(const MatrixType&, int) constructor which computes
+  * the eigenvalues and eigenvectors at construction time. Once the eigenvalue
+  * and eigenvectors are computed, they can be retrieved with the eigenvalues()
+  * and eigenvectors() functions.
+  *
+  * The documentation for SelfAdjointEigenSolver(const MatrixType&, int)
+  * contains an example of the typical use of this class.
+  *
+  * To solve the \em generalized eigenvalue problem \f$ Av = \lambda Bv \f$ and
+  * the likes, see the class GeneralizedSelfAdjointEigenSolver.
+  *
+  * \sa MatrixBase::eigenvalues(), class EigenSolver, class ComplexEigenSolver
+  */
+template<typename _MatrixType> class SelfAdjointEigenSolver
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      Size = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+
+    /** \brief Scalar type for matrices of type \p _MatrixType. */
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+
+    /** \brief Real scalar type for \p _MatrixType.
+      *
+      * This is just \c Scalar if #Scalar is real (e.g., \c float or
+      * \c double), and the type of the real part of \c Scalar if #Scalar is
+      * complex.
+      */
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    /** \brief Type for vector of eigenvalues as returned by eigenvalues().
+      *
+      * This is a column vector with entries of type #RealScalar.
+      * The length of the vector is the size of \p _MatrixType.
+      */
+    typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVectorType;
+    typedef Tridiagonalization<MatrixType> TridiagonalizationType;
+
+    /** \brief Default constructor for fixed-size matrices.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute(). This constructor
+      * can only be used if \p _MatrixType is a fixed-size matrix; use
+      * SelfAdjointEigenSolver(Index) for dynamic-size matrices.
+      *
+      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver.out
+      */
+    SelfAdjointEigenSolver()
+        : m_eivec(),
+          m_eivalues(),
+          m_subdiag(),
+          m_isInitialized(false)
+    { }
+
+    /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
+      *
+      * \param [in]  size  Positive integer, size of the matrix whose
+      * eigenvalues and eigenvectors will be computed.
+      *
+      * This constructor is useful for dynamic-size matrices, when the user
+      * intends to perform decompositions via compute(). The \p size
+      * parameter is only used as a hint. It is not an error to give a wrong
+      * \p size, but it may impair performance.
+      *
+      * \sa compute() for an example
+      */
+    SelfAdjointEigenSolver(Index size)
+        : m_eivec(size, size),
+          m_eivalues(size),
+          m_subdiag(size > 1 ? size - 1 : 1),
+          m_isInitialized(false)
+    {}
+
+    /** \brief Constructor; computes eigendecomposition of given matrix.
+      *
+      * \param[in]  matrix  Selfadjoint matrix whose eigendecomposition is to
+      *    be computed. Only the lower triangular part of the matrix is referenced.
+      * \param[in]  options Can be ComputeEigenvectors (default) or EigenvaluesOnly.
+      *
+      * This constructor calls compute(const MatrixType&, int) to compute the
+      * eigenvalues of the matrix \p matrix. The eigenvectors are computed if
+      * \p options equals ComputeEigenvectors.
+      *
+      * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.out
+      *
+      * \sa compute(const MatrixType&, int)
+      */
+    SelfAdjointEigenSolver(const MatrixType& matrix, int options = ComputeEigenvectors)
+      : m_eivec(matrix.rows(), matrix.cols()),
+        m_eivalues(matrix.cols()),
+        m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
+        m_isInitialized(false)
+    {
+      compute(matrix, options);
+    }
+
+    /** \brief Computes eigendecomposition of given matrix.
+      *
+      * \param[in]  matrix  Selfadjoint matrix whose eigendecomposition is to
+      *    be computed. Only the lower triangular part of the matrix is referenced.
+      * \param[in]  options Can be ComputeEigenvectors (default) or EigenvaluesOnly.
+      * \returns    Reference to \c *this
+      *
+      * This function computes the eigenvalues of \p matrix.  The eigenvalues()
+      * function can be used to retrieve them.  If \p options equals ComputeEigenvectors,
+      * then the eigenvectors are also computed and can be retrieved by
+      * calling eigenvectors().
+      *
+      * This implementation uses a symmetric QR algorithm. The matrix is first
+      * reduced to tridiagonal form using the Tridiagonalization class. The
+      * tridiagonal matrix is then brought to diagonal form with implicit
+      * symmetric QR steps with Wilkinson shift. Details can be found in
+      * Section 8.3 of Golub \& Van Loan, <i>%Matrix Computations</i>.
+      *
+      * The cost of the computation is about \f$ 9n^3 \f$ if the eigenvectors
+      * are required and \f$ 4n^3/3 \f$ if they are not required.
+      *
+      * This method reuses the memory in the SelfAdjointEigenSolver object that
+      * was allocated when the object was constructed, if the size of the
+      * matrix does not change.
+      *
+      * Example: \include SelfAdjointEigenSolver_compute_MatrixType.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_compute_MatrixType.out
+      *
+      * \sa SelfAdjointEigenSolver(const MatrixType&, int)
+      */
+    SelfAdjointEigenSolver& compute(const MatrixType& matrix, int options = ComputeEigenvectors);
+
+    /** \brief Returns the eigenvectors of given matrix.
+      *
+      * \returns  A const reference to the matrix whose columns are the eigenvectors.
+      *
+      * \pre The eigenvectors have been computed before.
+      *
+      * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
+      * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
+      * eigenvectors are normalized to have (Euclidean) norm equal to one. If
+      * this object was used to solve the eigenproblem for the selfadjoint
+      * matrix \f$ A \f$, then the matrix returned by this function is the
+      * matrix \f$ V \f$ in the eigendecomposition \f$ A = V D V^{-1} \f$.
+      *
+      * Example: \include SelfAdjointEigenSolver_eigenvectors.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_eigenvectors.out
+      *
+      * \sa eigenvalues()
+      */
+    const MatrixType& eigenvectors() const
+    {
+      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+      return m_eivec;
+    }
+
+    /** \brief Returns the eigenvalues of given matrix.
+      *
+      * \returns A const reference to the column vector containing the eigenvalues.
+      *
+      * \pre The eigenvalues have been computed before.
+      *
+      * The eigenvalues are repeated according to their algebraic multiplicity,
+      * so there are as many eigenvalues as rows in the matrix. The eigenvalues
+      * are sorted in increasing order.
+      *
+      * Example: \include SelfAdjointEigenSolver_eigenvalues.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_eigenvalues.out
+      *
+      * \sa eigenvectors(), MatrixBase::eigenvalues()
+      */
+    const RealVectorType& eigenvalues() const
+    {
+      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+      return m_eivalues;
+    }
+
+    /** \brief Computes the positive-definite square root of the matrix.
+      *
+      * \returns the positive-definite square root of the matrix
+      *
+      * \pre The eigenvalues and eigenvectors of a positive-definite matrix
+      * have been computed before.
+      *
+      * The square root of a positive-definite matrix \f$ A \f$ is the
+      * positive-definite matrix whose square equals \f$ A \f$. This function
+      * uses the eigendecomposition \f$ A = V D V^{-1} \f$ to compute the
+      * square root as \f$ A^{1/2} = V D^{1/2} V^{-1} \f$.
+      *
+      * Example: \include SelfAdjointEigenSolver_operatorSqrt.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_operatorSqrt.out
+      *
+      * \sa operatorInverseSqrt(),
+      *     \ref MatrixFunctions_Module "MatrixFunctions Module"
+      */
+    MatrixType operatorSqrt() const
+    {
+      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+      return m_eivec * m_eivalues.cwiseSqrt().asDiagonal() * m_eivec.adjoint();
+    }
+
+    /** \brief Computes the inverse square root of the matrix.
+      *
+      * \returns the inverse positive-definite square root of the matrix
+      *
+      * \pre The eigenvalues and eigenvectors of a positive-definite matrix
+      * have been computed before.
+      *
+      * This function uses the eigendecomposition \f$ A = V D V^{-1} \f$ to
+      * compute the inverse square root as \f$ V D^{-1/2} V^{-1} \f$. This is
+      * cheaper than first computing the square root with operatorSqrt() and
+      * then its inverse with MatrixBase::inverse().
+      *
+      * Example: \include SelfAdjointEigenSolver_operatorInverseSqrt.cpp
+      * Output: \verbinclude SelfAdjointEigenSolver_operatorInverseSqrt.out
+      *
+      * \sa operatorSqrt(), MatrixBase::inverse(),
+      *     \ref MatrixFunctions_Module "MatrixFunctions Module"
+      */
+    MatrixType operatorInverseSqrt() const
+    {
+      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+      eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+      return m_eivec * m_eivalues.cwiseInverse().cwiseSqrt().asDiagonal() * m_eivec.adjoint();
+    }
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+      return m_info;
+    }
+
+    /** \brief Maximum number of iterations.
+      *
+      * Maximum number of iterations allowed for an eigenvalue to converge.
+      */
+    static const int m_maxIterations = 30;
+
+    #ifdef EIGEN2_SUPPORT
+    SelfAdjointEigenSolver(const MatrixType& matrix, bool computeEigenvectors)
+      : m_eivec(matrix.rows(), matrix.cols()),
+        m_eivalues(matrix.cols()),
+        m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
+        m_isInitialized(false)
+    {
+      compute(matrix, computeEigenvectors);
+    }
+    
+    SelfAdjointEigenSolver(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true)
+        : m_eivec(matA.cols(), matA.cols()),
+          m_eivalues(matA.cols()),
+          m_subdiag(matA.cols() > 1 ? matA.cols() - 1 : 1),
+          m_isInitialized(false)
+    {
+      static_cast<GeneralizedSelfAdjointEigenSolver<MatrixType>*>(this)->compute(matA, matB, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
+    }
+    
+    void compute(const MatrixType& matrix, bool computeEigenvectors)
+    {
+      compute(matrix, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
+    }
+
+    void compute(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true)
+    {
+      compute(matA, matB, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
+    }
+    #endif // EIGEN2_SUPPORT
+
+  protected:
+    MatrixType m_eivec;
+    RealVectorType m_eivalues;
+    typename TridiagonalizationType::SubDiagonalType m_subdiag;
+    ComputationInfo m_info;
+    bool m_isInitialized;
+    bool m_eigenvectorsOk;
+};
+
+/** \internal
+  *
+  * \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  * Performs a QR step on a tridiagonal symmetric matrix represented as a
+  * pair of two vectors \a diag and \a subdiag.
+  *
+  * \param matA the input selfadjoint matrix
+  * \param hCoeffs returned Householder coefficients
+  *
+  * For compilation efficiency reasons, this procedure does not use eigen expression
+  * for its arguments.
+  *
+  * Implemented from Golub's "Matrix Computations", algorithm 8.3.2:
+  * "implicit symmetric QR step with Wilkinson shift"
+  */
+namespace internal {
+template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
+static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n);
+}
+
+template<typename MatrixType>
+SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
+::compute(const MatrixType& matrix, int options)
+{
+  eigen_assert(matrix.cols() == matrix.rows());
+  eigen_assert((options&~(EigVecMask|GenEigMask))==0
+          && (options&EigVecMask)!=EigVecMask
+          && "invalid option parameter");
+  bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
+  Index n = matrix.cols();
+  m_eivalues.resize(n,1);
+
+  if(n==1)
+  {
+    m_eivalues.coeffRef(0,0) = internal::real(matrix.coeff(0,0));
+    if(computeEigenvectors)
+      m_eivec.setOnes();
+    m_info = Success;
+    m_isInitialized = true;
+    m_eigenvectorsOk = computeEigenvectors;
+    return *this;
+  }
+
+  // declare some aliases
+  RealVectorType& diag = m_eivalues;
+  MatrixType& mat = m_eivec;
+
+  // map the matrix coefficients to [-1:1] to avoid over- and underflow.
+  RealScalar scale = matrix.cwiseAbs().maxCoeff();
+  if(scale==Scalar(0)) scale = 1;
+  mat = matrix / scale;
+  m_subdiag.resize(n-1);
+  internal::tridiagonalization_inplace(mat, diag, m_subdiag, computeEigenvectors);
+  
+  Index end = n-1;
+  Index start = 0;
+  Index iter = 0; // number of iterations we are working on one element
+
+  while (end>0)
+  {
+    for (Index i = start; i<end; ++i)
+      if (internal::isMuchSmallerThan(internal::abs(m_subdiag[i]),(internal::abs(diag[i])+internal::abs(diag[i+1]))))
+        m_subdiag[i] = 0;
+
+    // find the largest unreduced block
+    while (end>0 && m_subdiag[end-1]==0)
+    {
+      iter = 0;
+      end--;
+    }
+    if (end<=0)
+      break;
+
+    // if we spent too many iterations on the current element, we give up
+    iter++;
+    if(iter > m_maxIterations) break;
+
+    start = end - 1;
+    while (start>0 && m_subdiag[start-1]!=0)
+      start--;
+
+    internal::tridiagonal_qr_step<MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor>(diag.data(), m_subdiag.data(), start, end, computeEigenvectors ? m_eivec.data() : (Scalar*)0, n);
+  }
+
+  if (iter <= m_maxIterations)
+    m_info = Success;
+  else
+    m_info = NoConvergence;
+
+  // Sort eigenvalues and corresponding vectors.
+  // TODO make the sort optional ?
+  // TODO use a better sort algorithm !!
+  if (m_info == Success)
+  {
+    for (Index i = 0; i < n-1; ++i)
+    {
+      Index k;
+      m_eivalues.segment(i,n-i).minCoeff(&k);
+      if (k > 0)
+      {
+        std::swap(m_eivalues[i], m_eivalues[k+i]);
+        if(computeEigenvectors)
+          m_eivec.col(i).swap(m_eivec.col(k+i));
+      }
+    }
+  }
+  
+  // scale back the eigen values
+  m_eivalues *= scale;
+
+  m_isInitialized = true;
+  m_eigenvectorsOk = computeEigenvectors;
+  return *this;
+}
+
+namespace internal {
+template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
+static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n)
+{
+  // NOTE this version avoids over & underflow, however since the matrix is prescaled, overflow cannot occur,
+  // and underflows should be meaningless anyway. So I don't any reason to enable this version, but I keep
+  // it here for reference:
+//   RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
+//   RealScalar e = subdiag[end-1];
+//   RealScalar mu = diag[end] - (e / (td + (td>0 ? 1 : -1))) * (e / hypot(td,e));
+  RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
+  RealScalar e2 = abs2(subdiag[end-1]);
+  RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
+  RealScalar x = diag[start] - mu;
+  RealScalar z = subdiag[start];
+  for (Index k = start; k < end; ++k)
+  {
+    JacobiRotation<RealScalar> rot;
+    rot.makeGivens(x, z);
+
+    // do T = G' T G
+    RealScalar sdk = rot.s() * diag[k] + rot.c() * subdiag[k];
+    RealScalar dkp1 = rot.s() * subdiag[k] + rot.c() * diag[k+1];
+
+    diag[k] = rot.c() * (rot.c() * diag[k] - rot.s() * subdiag[k]) - rot.s() * (rot.c() * subdiag[k] - rot.s() * diag[k+1]);
+    diag[k+1] = rot.s() * sdk + rot.c() * dkp1;
+    subdiag[k] = rot.c() * sdk - rot.s() * dkp1;
+    
+
+    if (k > start)
+      subdiag[k - 1] = rot.c() * subdiag[k-1] - rot.s() * z;
+
+    x = subdiag[k];
+
+    if (k < end - 1)
+    {
+      z = -rot.s() * subdiag[k+1];
+      subdiag[k + 1] = rot.c() * subdiag[k+1];
+    }
+    
+    // apply the givens rotation to the unit matrix Q = Q * G
+    if (matrixQ)
+    {
+      // FIXME if StorageOrder == RowMajor this operation is not very efficient
+      Map<Matrix<Scalar,Dynamic,Dynamic,StorageOrder> > q(matrixQ,n,n);
+      q.applyOnTheRight(k,k+1,rot);
+    }
+  }
+}
+} // end namespace internal
+
+#endif // EIGEN_SELFADJOINTEIGENSOLVER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/Tridiagonalization.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/Tridiagonalization.h
new file mode 100755
index 0000000..ae4cdce
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Eigenvalues/Tridiagonalization.h
@@ -0,0 +1,568 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRIDIAGONALIZATION_H
+#define EIGEN_TRIDIAGONALIZATION_H
+
+namespace internal {
+  
+template<typename MatrixType> struct TridiagonalizationMatrixTReturnType;
+template<typename MatrixType>
+struct traits<TridiagonalizationMatrixTReturnType<MatrixType> >
+{
+  typedef typename MatrixType::PlainObject ReturnType;
+};
+
+template<typename MatrixType, typename CoeffVectorType>
+void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs);
+}
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  *
+  * \class Tridiagonalization
+  *
+  * \brief Tridiagonal decomposition of a selfadjoint matrix
+  *
+  * \tparam _MatrixType the type of the matrix of which we are computing the
+  * tridiagonal decomposition; this is expected to be an instantiation of the
+  * Matrix class template.
+  *
+  * This class performs a tridiagonal decomposition of a selfadjoint matrix \f$ A \f$ such that:
+  * \f$ A = Q T Q^* \f$ where \f$ Q \f$ is unitary and \f$ T \f$ a real symmetric tridiagonal matrix.
+  *
+  * A tridiagonal matrix is a matrix which has nonzero elements only on the
+  * main diagonal and the first diagonal below and above it. The Hessenberg
+  * decomposition of a selfadjoint matrix is in fact a tridiagonal
+  * decomposition. This class is used in SelfAdjointEigenSolver to compute the
+  * eigenvalues and eigenvectors of a selfadjoint matrix.
+  *
+  * Call the function compute() to compute the tridiagonal decomposition of a
+  * given matrix. Alternatively, you can use the Tridiagonalization(const MatrixType&)
+  * constructor which computes the tridiagonal Schur decomposition at
+  * construction time. Once the decomposition is computed, you can use the
+  * matrixQ() and matrixT() functions to retrieve the matrices Q and T in the
+  * decomposition.
+  *
+  * The documentation of Tridiagonalization(const MatrixType&) contains an
+  * example of the typical use of this class.
+  *
+  * \sa class HessenbergDecomposition, class SelfAdjointEigenSolver
+  */
+template<typename _MatrixType> class Tridiagonalization
+{
+  public:
+
+    /** \brief Synonym for the template parameter \p _MatrixType. */
+    typedef _MatrixType MatrixType;
+
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+
+    enum {
+      Size = MatrixType::RowsAtCompileTime,
+      SizeMinusOne = Size == Dynamic ? Dynamic : (Size > 1 ? Size - 1 : 1),
+      Options = MatrixType::Options,
+      MaxSize = MatrixType::MaxRowsAtCompileTime,
+      MaxSizeMinusOne = MaxSize == Dynamic ? Dynamic : (MaxSize > 1 ? MaxSize - 1 : 1)
+    };
+
+    typedef Matrix<Scalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> CoeffVectorType;
+    typedef typename internal::plain_col_type<MatrixType, RealScalar>::type DiagonalType;
+    typedef Matrix<RealScalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> SubDiagonalType;
+    typedef typename internal::remove_all<typename MatrixType::RealReturnType>::type MatrixTypeRealView;
+    typedef internal::TridiagonalizationMatrixTReturnType<MatrixTypeRealView> MatrixTReturnType;
+
+    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+              const typename Diagonal<const MatrixType>::RealReturnType,
+              const Diagonal<const MatrixType>
+            >::type DiagonalReturnType;
+
+    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+              const typename Diagonal<
+                Block<const MatrixType,SizeMinusOne,SizeMinusOne> >::RealReturnType,
+              const Diagonal<
+                Block<const MatrixType,SizeMinusOne,SizeMinusOne> >
+            >::type SubDiagonalReturnType;
+
+    /** \brief Return type of matrixQ() */
+    typedef typename HouseholderSequence<MatrixType,CoeffVectorType>::ConjugateReturnType HouseholderSequenceType;
+
+    /** \brief Default constructor.
+      *
+      * \param [in]  size  Positive integer, size of the matrix whose tridiagonal
+      * decomposition will be computed.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via compute().  The \p size parameter is only
+      * used as a hint. It is not an error to give a wrong \p size, but it may
+      * impair performance.
+      *
+      * \sa compute() for an example.
+      */
+    Tridiagonalization(Index size = Size==Dynamic ? 2 : Size)
+      : m_matrix(size,size),
+        m_hCoeffs(size > 1 ? size-1 : 1),
+        m_isInitialized(false)
+    {}
+
+    /** \brief Constructor; computes tridiagonal decomposition of given matrix.
+      *
+      * \param[in]  matrix  Selfadjoint matrix whose tridiagonal decomposition
+      * is to be computed.
+      *
+      * This constructor calls compute() to compute the tridiagonal decomposition.
+      *
+      * Example: \include Tridiagonalization_Tridiagonalization_MatrixType.cpp
+      * Output: \verbinclude Tridiagonalization_Tridiagonalization_MatrixType.out
+      */
+    Tridiagonalization(const MatrixType& matrix)
+      : m_matrix(matrix),
+        m_hCoeffs(matrix.cols() > 1 ? matrix.cols()-1 : 1),
+        m_isInitialized(false)
+    {
+      internal::tridiagonalization_inplace(m_matrix, m_hCoeffs);
+      m_isInitialized = true;
+    }
+
+    /** \brief Computes tridiagonal decomposition of given matrix.
+      *
+      * \param[in]  matrix  Selfadjoint matrix whose tridiagonal decomposition
+      * is to be computed.
+      * \returns    Reference to \c *this
+      *
+      * The tridiagonal decomposition is computed by bringing the columns of
+      * the matrix successively in the required form using Householder
+      * reflections. The cost is \f$ 4n^3/3 \f$ flops, where \f$ n \f$ denotes
+      * the size of the given matrix.
+      *
+      * This method reuses of the allocated data in the Tridiagonalization
+      * object, if the size of the matrix does not change.
+      *
+      * Example: \include Tridiagonalization_compute.cpp
+      * Output: \verbinclude Tridiagonalization_compute.out
+      */
+    Tridiagonalization& compute(const MatrixType& matrix)
+    {
+      m_matrix = matrix;
+      m_hCoeffs.resize(matrix.rows()-1, 1);
+      internal::tridiagonalization_inplace(m_matrix, m_hCoeffs);
+      m_isInitialized = true;
+      return *this;
+    }
+
+    /** \brief Returns the Householder coefficients.
+      *
+      * \returns a const reference to the vector of Householder coefficients
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * The Householder coefficients allow the reconstruction of the matrix
+      * \f$ Q \f$ in the tridiagonal decomposition from the packed data.
+      *
+      * Example: \include Tridiagonalization_householderCoefficients.cpp
+      * Output: \verbinclude Tridiagonalization_householderCoefficients.out
+      *
+      * \sa packedMatrix(), \ref Householder_Module "Householder module"
+      */
+    inline CoeffVectorType householderCoefficients() const
+    {
+      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+      return m_hCoeffs;
+    }
+
+    /** \brief Returns the internal representation of the decomposition
+      *
+      *	\returns a const reference to a matrix with the internal representation
+      *	         of the decomposition.
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * The returned matrix contains the following information:
+      *  - the strict upper triangular part is equal to the input matrix A.
+      *  - the diagonal and lower sub-diagonal represent the real tridiagonal
+      *    symmetric matrix T.
+      *  - the rest of the lower part contains the Householder vectors that,
+      *    combined with Householder coefficients returned by
+      *    householderCoefficients(), allows to reconstruct the matrix Q as
+      *       \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
+      *    Here, the matrices \f$ H_i \f$ are the Householder transformations
+      *       \f$ H_i = (I - h_i v_i v_i^T) \f$
+      *    where \f$ h_i \f$ is the \f$ i \f$th Householder coefficient and
+      *    \f$ v_i \f$ is the Householder vector defined by
+      *       \f$ v_i = [ 0, \ldots, 0, 1, M(i+2,i), \ldots, M(N-1,i) ]^T \f$
+      *    with M the matrix returned by this function.
+      *
+      * See LAPACK for further details on this packed storage.
+      *
+      * Example: \include Tridiagonalization_packedMatrix.cpp
+      * Output: \verbinclude Tridiagonalization_packedMatrix.out
+      *
+      * \sa householderCoefficients()
+      */
+    inline const MatrixType& packedMatrix() const
+    {
+      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+      return m_matrix;
+    }
+
+    /** \brief Returns the unitary matrix Q in the decomposition
+      *
+      * \returns object representing the matrix Q
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * This function returns a light-weight object of template class
+      * HouseholderSequence. You can either apply it directly to a matrix or
+      * you can convert it to a matrix of type #MatrixType.
+      *
+      * \sa Tridiagonalization(const MatrixType&) for an example,
+      *     matrixT(), class HouseholderSequence
+      */
+    HouseholderSequenceType matrixQ() const
+    {
+      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+      return HouseholderSequenceType(m_matrix, m_hCoeffs.conjugate())
+             .setLength(m_matrix.rows() - 1)
+             .setShift(1);
+    }
+
+    /** \brief Returns an expression of the tridiagonal matrix T in the decomposition
+      *
+      * \returns expression object representing the matrix T
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * Currently, this function can be used to extract the matrix T from internal
+      * data and copy it to a dense matrix object. In most cases, it may be
+      * sufficient to directly use the packed matrix or the vector expressions
+      * returned by diagonal() and subDiagonal() instead of creating a new
+      * dense copy matrix with this function.
+      *
+      * \sa Tridiagonalization(const MatrixType&) for an example,
+      * matrixQ(), packedMatrix(), diagonal(), subDiagonal()
+      */
+    MatrixTReturnType matrixT() const
+    {
+      eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+      return MatrixTReturnType(m_matrix.real());
+    }
+
+    /** \brief Returns the diagonal of the tridiagonal matrix T in the decomposition.
+      *
+      * \returns expression representing the diagonal of T
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * Example: \include Tridiagonalization_diagonal.cpp
+      * Output: \verbinclude Tridiagonalization_diagonal.out
+      *
+      * \sa matrixT(), subDiagonal()
+      */
+    DiagonalReturnType diagonal() const;
+
+    /** \brief Returns the subdiagonal of the tridiagonal matrix T in the decomposition.
+      *
+      * \returns expression representing the subdiagonal of T
+      *
+      * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+      * the member function compute(const MatrixType&) has been called before
+      * to compute the tridiagonal decomposition of a matrix.
+      *
+      * \sa diagonal() for an example, matrixT()
+      */
+    SubDiagonalReturnType subDiagonal() const;
+
+  protected:
+
+    MatrixType m_matrix;
+    CoeffVectorType m_hCoeffs;
+    bool m_isInitialized;
+};
+
+template<typename MatrixType>
+typename Tridiagonalization<MatrixType>::DiagonalReturnType
+Tridiagonalization<MatrixType>::diagonal() const
+{
+  eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+  return m_matrix.diagonal();
+}
+
+template<typename MatrixType>
+typename Tridiagonalization<MatrixType>::SubDiagonalReturnType
+Tridiagonalization<MatrixType>::subDiagonal() const
+{
+  eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+  Index n = m_matrix.rows();
+  return Block<const MatrixType,SizeMinusOne,SizeMinusOne>(m_matrix, 1, 0, n-1,n-1).diagonal();
+}
+
+namespace internal {
+
+/** \internal
+  * Performs a tridiagonal decomposition of the selfadjoint matrix \a matA in-place.
+  *
+  * \param[in,out] matA On input the selfadjoint matrix. Only the \b lower triangular part is referenced.
+  *                     On output, the strict upper part is left unchanged, and the lower triangular part
+  *                     represents the T and Q matrices in packed format has detailed below.
+  * \param[out]    hCoeffs returned Householder coefficients (see below)
+  *
+  * On output, the tridiagonal selfadjoint matrix T is stored in the diagonal
+  * and lower sub-diagonal of the matrix \a matA.
+  * The unitary matrix Q is represented in a compact way as a product of
+  * Householder reflectors \f$ H_i \f$ such that:
+  *       \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
+  * The Householder reflectors are defined as
+  *       \f$ H_i = (I - h_i v_i v_i^T) \f$
+  * where \f$ h_i = hCoeffs[i]\f$ is the \f$ i \f$th Householder coefficient and
+  * \f$ v_i \f$ is the Householder vector defined by
+  *       \f$ v_i = [ 0, \ldots, 0, 1, matA(i+2,i), \ldots, matA(N-1,i) ]^T \f$.
+  *
+  * Implemented from Golub's "Matrix Computations", algorithm 8.3.1.
+  *
+  * \sa Tridiagonalization::packedMatrix()
+  */
+template<typename MatrixType, typename CoeffVectorType>
+void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
+{
+  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  Index n = matA.rows();
+  eigen_assert(n==matA.cols());
+  eigen_assert(n==hCoeffs.size()+1 || n==1);
+  
+  for (Index i = 0; i<n-1; ++i)
+  {
+    Index remainingSize = n-i-1;
+    RealScalar beta;
+    Scalar h;
+    matA.col(i).tail(remainingSize).makeHouseholderInPlace(h, beta);
+
+    // Apply similarity transformation to remaining columns,
+    // i.e., A = H A H' where H = I - h v v' and v = matA.col(i).tail(n-i-1)
+    matA.col(i).coeffRef(i+1) = 1;
+
+    hCoeffs.tail(n-i-1).noalias() = (matA.bottomRightCorner(remainingSize,remainingSize).template selfadjointView<Lower>()
+                                  * (conj(h) * matA.col(i).tail(remainingSize)));
+
+    hCoeffs.tail(n-i-1) += (conj(h)*Scalar(-0.5)*(hCoeffs.tail(remainingSize).dot(matA.col(i).tail(remainingSize)))) * matA.col(i).tail(n-i-1);
+
+    matA.bottomRightCorner(remainingSize, remainingSize).template selfadjointView<Lower>()
+      .rankUpdate(matA.col(i).tail(remainingSize), hCoeffs.tail(remainingSize), -1);
+
+    matA.col(i).coeffRef(i+1) = beta;
+    hCoeffs.coeffRef(i) = h;
+  }
+}
+
+// forward declaration, implementation at the end of this file
+template<typename MatrixType,
+         int Size=MatrixType::ColsAtCompileTime,
+         bool IsComplex=NumTraits<typename MatrixType::Scalar>::IsComplex>
+struct tridiagonalization_inplace_selector;
+
+/** \brief Performs a full tridiagonalization in place
+  *
+  * \param[in,out]  mat  On input, the selfadjoint matrix whose tridiagonal
+  *    decomposition is to be computed. Only the lower triangular part referenced.
+  *    The rest is left unchanged. On output, the orthogonal matrix Q
+  *    in the decomposition if \p extractQ is true.
+  * \param[out]  diag  The diagonal of the tridiagonal matrix T in the
+  *    decomposition.
+  * \param[out]  subdiag  The subdiagonal of the tridiagonal matrix T in
+  *    the decomposition.
+  * \param[in]  extractQ  If true, the orthogonal matrix Q in the
+  *    decomposition is computed and stored in \p mat.
+  *
+  * Computes the tridiagonal decomposition of the selfadjoint matrix \p mat in place
+  * such that \f$ mat = Q T Q^* \f$ where \f$ Q \f$ is unitary and \f$ T \f$ a real
+  * symmetric tridiagonal matrix.
+  *
+  * The tridiagonal matrix T is passed to the output parameters \p diag and \p subdiag. If
+  * \p extractQ is true, then the orthogonal matrix Q is passed to \p mat. Otherwise the lower
+  * part of the matrix \p mat is destroyed.
+  *
+  * The vectors \p diag and \p subdiag are not resized. The function
+  * assumes that they are already of the correct size. The length of the
+  * vector \p diag should equal the number of rows in \p mat, and the
+  * length of the vector \p subdiag should be one left.
+  *
+  * This implementation contains an optimized path for 3-by-3 matrices
+  * which is especially useful for plane fitting.
+  *
+  * \note Currently, it requires two temporary vectors to hold the intermediate
+  * Householder coefficients, and to reconstruct the matrix Q from the Householder
+  * reflectors.
+  *
+  * Example (this uses the same matrix as the example in
+  *    Tridiagonalization::Tridiagonalization(const MatrixType&)):
+  *    \include Tridiagonalization_decomposeInPlace.cpp
+  * Output: \verbinclude Tridiagonalization_decomposeInPlace.out
+  *
+  * \sa class Tridiagonalization
+  */
+template<typename MatrixType, typename DiagonalType, typename SubDiagonalType>
+void tridiagonalization_inplace(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+{
+  typedef typename MatrixType::Index Index;
+  //Index n = mat.rows();
+  eigen_assert(mat.cols()==mat.rows() && diag.size()==mat.rows() && subdiag.size()==mat.rows()-1);
+  tridiagonalization_inplace_selector<MatrixType>::run(mat, diag, subdiag, extractQ);
+}
+
+/** \internal
+  * General full tridiagonalization
+  */
+template<typename MatrixType, int Size, bool IsComplex>
+struct tridiagonalization_inplace_selector
+{
+  typedef typename Tridiagonalization<MatrixType>::CoeffVectorType CoeffVectorType;
+  typedef typename Tridiagonalization<MatrixType>::HouseholderSequenceType HouseholderSequenceType;
+  typedef typename MatrixType::Index Index;
+  template<typename DiagonalType, typename SubDiagonalType>
+  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+  {
+    CoeffVectorType hCoeffs(mat.cols()-1);
+    tridiagonalization_inplace(mat,hCoeffs);
+    diag = mat.diagonal().real();
+    subdiag = mat.template diagonal<-1>().real();
+    if(extractQ)
+      mat = HouseholderSequenceType(mat, hCoeffs.conjugate())
+            .setLength(mat.rows() - 1)
+            .setShift(1);
+  }
+};
+
+/** \internal
+  * Specialization for 3x3 real matrices.
+  * Especially useful for plane fitting.
+  */
+template<typename MatrixType>
+struct tridiagonalization_inplace_selector<MatrixType,3,false>
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+
+  template<typename DiagonalType, typename SubDiagonalType>
+  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+  {
+    diag[0] = mat(0,0);
+    RealScalar v1norm2 = abs2(mat(2,0));
+    if(v1norm2 == RealScalar(0))
+    {
+      diag[1] = mat(1,1);
+      diag[2] = mat(2,2);
+      subdiag[0] = mat(1,0);
+      subdiag[1] = mat(2,1);
+      if (extractQ)
+        mat.setIdentity();
+    }
+    else
+    {
+      RealScalar beta = sqrt(abs2(mat(1,0)) + v1norm2);
+      RealScalar invBeta = RealScalar(1)/beta;
+      Scalar m01 = mat(1,0) * invBeta;
+      Scalar m02 = mat(2,0) * invBeta;
+      Scalar q = RealScalar(2)*m01*mat(2,1) + m02*(mat(2,2) - mat(1,1));
+      diag[1] = mat(1,1) + m02*q;
+      diag[2] = mat(2,2) - m02*q;
+      subdiag[0] = beta;
+      subdiag[1] = mat(2,1) - m01 * q;
+      if (extractQ)
+      {
+        mat << 1,   0,    0,
+               0, m01,  m02,
+               0, m02, -m01;
+      }
+    }
+  }
+};
+
+/** \internal
+  * Trivial specialization for 1x1 matrices
+  */
+template<typename MatrixType, bool IsComplex>
+struct tridiagonalization_inplace_selector<MatrixType,1,IsComplex>
+{
+  typedef typename MatrixType::Scalar Scalar;
+
+  template<typename DiagonalType, typename SubDiagonalType>
+  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType&, bool extractQ)
+  {
+    diag(0,0) = real(mat(0,0));
+    if(extractQ)
+      mat(0,0) = Scalar(1);
+  }
+};
+
+/** \internal
+  * \eigenvalues_module \ingroup Eigenvalues_Module
+  *
+  * \brief Expression type for return value of Tridiagonalization::matrixT()
+  *
+  * \tparam MatrixType type of underlying dense matrix
+  */
+template<typename MatrixType> struct TridiagonalizationMatrixTReturnType
+: public ReturnByValue<TridiagonalizationMatrixTReturnType<MatrixType> >
+{
+    typedef typename MatrixType::Index Index;
+  public:
+    /** \brief Constructor.
+      *
+      * \param[in] mat The underlying dense matrix
+      */
+    TridiagonalizationMatrixTReturnType(const MatrixType& mat) : m_matrix(mat) { }
+
+    template <typename ResultType>
+    inline void evalTo(ResultType& result) const
+    {
+      result.setZero();
+      result.template diagonal<1>() = m_matrix.template diagonal<-1>().conjugate();
+      result.diagonal() = m_matrix.diagonal();
+      result.template diagonal<-1>() = m_matrix.template diagonal<-1>();
+    }
+
+    Index rows() const { return m_matrix.rows(); }
+    Index cols() const { return m_matrix.cols(); }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+};
+
+} // end namespace internal
+
+#endif // EIGEN_TRIDIAGONALIZATION_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/AlignedBox.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/AlignedBox.h
new file mode 100755
index 0000000..d81dcad
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/AlignedBox.h
@@ -0,0 +1,352 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ALIGNEDBOX_H
+#define EIGEN_ALIGNEDBOX_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  *
+  * \class AlignedBox
+  *
+  * \brief An axis aligned box
+  *
+  * \param _Scalar the type of the scalar coefficients
+  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  *
+  * This class represents an axis aligned box as a pair of the minimal and maximal corners.
+  */
+template <typename _Scalar, int _AmbientDim>
+class AlignedBox
+{
+public:
+EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
+  enum { AmbientDimAtCompileTime = _AmbientDim };
+  typedef _Scalar                                   Scalar;
+  typedef NumTraits<Scalar>                         ScalarTraits;
+  typedef DenseIndex                                Index;
+  typedef typename ScalarTraits::Real               RealScalar;
+  typedef typename ScalarTraits::NonInteger      NonInteger;
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1>  VectorType;
+
+  /** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */
+  enum CornerType
+  {
+    /** 1D names */
+    Min=0, Max=1,
+
+    /** Added names for 2D */
+    BottomLeft=0, BottomRight=1,
+    TopLeft=2, TopRight=3,
+
+    /** Added names for 3D */
+    BottomLeftFloor=0, BottomRightFloor=1,
+    TopLeftFloor=2, TopRightFloor=3,
+    BottomLeftCeil=4, BottomRightCeil=5,
+    TopLeftCeil=6, TopRightCeil=7
+  };
+
+
+  /** Default constructor initializing a null box. */
+  inline explicit AlignedBox()
+  { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
+
+  /** Constructs a null box with \a _dim the dimension of the ambient space. */
+  inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
+  { setEmpty(); }
+
+  /** Constructs a box with extremities \a _min and \a _max. */
+  template<typename OtherVectorType1, typename OtherVectorType2>
+  inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
+
+  /** Constructs a box containing a single point \a p. */
+  template<typename Derived>
+  inline explicit AlignedBox(const MatrixBase<Derived>& a_p)
+  {
+    const typename internal::nested<Derived,2>::type p(a_p.derived());
+    m_min = p;
+    m_max = p;
+  }
+
+  ~AlignedBox() {}
+
+  /** \returns the dimension in which the box holds */
+  inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : Index(AmbientDimAtCompileTime); }
+
+  /** \deprecated use isEmpty */
+  inline bool isNull() const { return isEmpty(); }
+
+  /** \deprecated use setEmpty */
+  inline void setNull() { setEmpty(); }
+
+  /** \returns true if the box is empty. */
+  inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); }
+
+  /** Makes \c *this an empty box. */
+  inline void setEmpty()
+  {
+    m_min.setConstant( ScalarTraits::highest() );
+    m_max.setConstant( ScalarTraits::lowest() );
+  }
+
+  /** \returns the minimal corner */
+  inline const VectorType& min() const { return m_min; }
+  /** \returns a non const reference to the minimal corner */
+  inline VectorType& min() { return m_min; }
+  /** \returns the maximal corner */
+  inline const VectorType& max() const { return m_max; }
+  /** \returns a non const reference to the maximal corner */
+  inline VectorType& max() { return m_max; }
+
+  /** \returns the center of the box */
+  inline const CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>,
+                            const CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> >
+  center() const
+  { return (m_min+m_max)/2; }
+
+  /** \returns the lengths of the sides of the bounding box.
+    * Note that this function does not get the same
+    * result for integral or floating scalar types: see
+    */
+  inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> sizes() const
+  { return m_max - m_min; }
+
+  /** \returns the volume of the bounding box */
+  inline Scalar volume() const
+  { return sizes().prod(); }
+
+  /** \returns an expression for the bounding box diagonal vector
+    * if the length of the diagonal is needed: diagonal().norm()
+    * will provide it.
+    */
+  inline CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> diagonal() const
+  { return sizes(); }
+
+  /** \returns the vertex of the bounding box at the corner defined by
+    * the corner-id corner. It works only for a 1D, 2D or 3D bounding box.
+    * For 1D bounding boxes corners are named by 2 enum constants:
+    * BottomLeft and BottomRight.
+    * For 2D bounding boxes, corners are named by 4 enum constants:
+    * BottomLeft, BottomRight, TopLeft, TopRight.
+    * For 3D bounding boxes, the following names are added:
+    * BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
+    */
+  inline VectorType corner(CornerType corner) const
+  {
+    EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
+
+    VectorType res;
+
+    Index mult = 1;
+    for(Index d=0; d<dim(); ++d)
+    {
+      if( mult & corner ) res[d] = m_max[d];
+      else                res[d] = m_min[d];
+      mult *= 2;
+    }
+    return res;
+  }
+
+  /** \returns a random point inside the bounding box sampled with
+   * a uniform distribution */
+  inline VectorType sample() const
+  {
+    VectorType r;
+    for(Index d=0; d<dim(); ++d)
+    {
+      if(!ScalarTraits::IsInteger)
+      {
+        r[d] = m_min[d] + (m_max[d]-m_min[d])
+             * internal::random<Scalar>(Scalar(0), Scalar(1));
+      }
+      else
+        r[d] = internal::random(m_min[d], m_max[d]);
+    }
+    return r;
+  }
+
+  /** \returns true if the point \a p is inside the box \c *this. */
+  template<typename Derived>
+  inline bool contains(const MatrixBase<Derived>& a_p) const
+  {
+    const typename internal::nested<Derived,2>::type p(a_p.derived());
+    return (m_min.array()<=p.array()).all() && (p.array()<=m_max.array()).all();
+  }
+
+  /** \returns true if the box \a b is entirely inside the box \c *this. */
+  inline bool contains(const AlignedBox& b) const
+  { return (m_min.array()<=b.min().array()).all() && (b.max().array()<=m_max.array()).all(); }
+
+  /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
+  template<typename Derived>
+  inline AlignedBox& extend(const MatrixBase<Derived>& a_p)
+  {
+    const typename internal::nested<Derived,2>::type p(a_p.derived());
+    m_min = m_min.cwiseMin(p);
+    m_max = m_max.cwiseMax(p);
+    return *this;
+  }
+
+  /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
+  inline AlignedBox& extend(const AlignedBox& b)
+  {
+    m_min = m_min.cwiseMin(b.m_min);
+    m_max = m_max.cwiseMax(b.m_max);
+    return *this;
+  }
+
+  /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
+  inline AlignedBox& clamp(const AlignedBox& b)
+  {
+    m_min = m_min.cwiseMax(b.m_min);
+    m_max = m_max.cwiseMin(b.m_max);
+    return *this;
+  }
+
+  /** Returns an AlignedBox that is the intersection of \a b and \c *this */
+  inline AlignedBox intersection(const AlignedBox& b) const
+  {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
+
+  /** Returns an AlignedBox that is the union of \a b and \c *this */
+  inline AlignedBox merged(const AlignedBox& b) const
+  { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
+
+  /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
+  template<typename Derived>
+  inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
+  {
+    const typename internal::nested<Derived,2>::type t(a_t.derived());
+    m_min += t;
+    m_max += t;
+    return *this;
+  }
+
+  /** \returns the squared distance between the point \a p and the box \c *this,
+    * and zero if \a p is inside the box.
+    * \sa exteriorDistance()
+    */
+  template<typename Derived>
+  inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& a_p) const;
+
+  /** \returns the squared distance between the boxes \a b and \c *this,
+    * and zero if the boxes intersect.
+    * \sa exteriorDistance()
+    */
+  inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
+
+  /** \returns the distance between the point \a p and the box \c *this,
+    * and zero if \a p is inside the box.
+    * \sa squaredExteriorDistance()
+    */
+  template<typename Derived>
+  inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
+  { return internal::sqrt(NonInteger(squaredExteriorDistance(p))); }
+
+  /** \returns the distance between the boxes \a b and \c *this,
+    * and zero if the boxes intersect.
+    * \sa squaredExteriorDistance()
+    */
+  inline NonInteger exteriorDistance(const AlignedBox& b) const
+  { return internal::sqrt(NonInteger(squaredExteriorDistance(b))); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<AlignedBox,
+           AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
+  {
+    return typename internal::cast_return_type<AlignedBox,
+                    AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
+  {
+    m_min = other.min().template cast<Scalar>();
+    m_max = other.max().template cast<Scalar>();
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const AlignedBox& other, RealScalar prec = ScalarTraits::dummy_precision()) const
+  { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
+
+protected:
+
+  VectorType m_min, m_max;
+};
+
+
+
+template<typename Scalar,int AmbientDim>
+template<typename Derived>
+inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
+{
+  const typename internal::nested<Derived,2*AmbientDim>::type p(a_p.derived());
+  Scalar dist2 = 0.;
+  Scalar aux;
+  for (Index k=0; k<dim(); ++k)
+  {
+    if( m_min[k] > p[k] )
+    {
+      aux = m_min[k] - p[k];
+      dist2 += aux*aux;
+    }
+    else if( p[k] > m_max[k] )
+    {
+      aux = p[k] - m_max[k];
+      dist2 += aux*aux;
+    }
+  }
+  return dist2;
+}
+
+template<typename Scalar,int AmbientDim>
+inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
+{
+  Scalar dist2 = 0.;
+  Scalar aux;
+  for (Index k=0; k<dim(); ++k)
+  {
+    if( m_min[k] > b.m_max[k] )
+    {
+      aux = m_min[k] - b.m_max[k];
+      dist2 += aux*aux;
+    }
+    else if( b.m_min[k] > m_max[k] )
+    {
+      aux = b.m_min[k] - m_max[k];
+      dist2 += aux*aux;
+    }
+  }
+  return dist2;
+}
+
+#endif // EIGEN_ALIGNEDBOX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/AngleAxis.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/AngleAxis.h
new file mode 100755
index 0000000..52f1e32
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/AngleAxis.h
@@ -0,0 +1,238 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ANGLEAXIS_H
+#define EIGEN_ANGLEAXIS_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class AngleAxis
+  *
+  * \brief Represents a 3D rotation as a rotation angle around an arbitrary 3D axis
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  *
+  * \warning When setting up an AngleAxis object, the axis vector \b must \b be \b normalized.
+  *
+  * The following two typedefs are provided for convenience:
+  * \li \c AngleAxisf for \c float
+  * \li \c AngleAxisd for \c double
+  *
+  * Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily
+  * mimic Euler-angles. Here is an example:
+  * \include AngleAxis_mimic_euler.cpp
+  * Output: \verbinclude AngleAxis_mimic_euler.out
+  *
+  * \note This class is not aimed to be used to store a rotation transformation,
+  * but rather to make easier the creation of other rotation (Quaternion, rotation Matrix)
+  * and transformation objects.
+  *
+  * \sa class Quaternion, class Transform, MatrixBase::UnitX()
+  */
+
+namespace internal {
+template<typename _Scalar> struct traits<AngleAxis<_Scalar> >
+{
+  typedef _Scalar Scalar;
+};
+}
+
+template<typename _Scalar>
+class AngleAxis : public RotationBase<AngleAxis<_Scalar>,3>
+{
+  typedef RotationBase<AngleAxis<_Scalar>,3> Base;
+
+public:
+
+  using Base::operator*;
+
+  enum { Dim = 3 };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  typedef Matrix<Scalar,3,3> Matrix3;
+  typedef Matrix<Scalar,3,1> Vector3;
+  typedef Quaternion<Scalar> QuaternionType;
+
+protected:
+
+  Vector3 m_axis;
+  Scalar m_angle;
+
+public:
+
+  /** Default constructor without initialization. */
+  AngleAxis() {}
+  /** Constructs and initialize the angle-axis rotation from an \a angle in radian
+    * and an \a axis which \b must \b be \b normalized.
+    *
+    * \warning If the \a axis vector is not normalized, then the angle-axis object
+    *          represents an invalid rotation. */
+  template<typename Derived>
+  inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
+  /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */
+  template<typename QuatDerived> inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; }
+  /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
+  template<typename Derived>
+  inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
+
+  Scalar angle() const { return m_angle; }
+  Scalar& angle() { return m_angle; }
+
+  const Vector3& axis() const { return m_axis; }
+  Vector3& axis() { return m_axis; }
+
+  /** Concatenates two rotations */
+  inline QuaternionType operator* (const AngleAxis& other) const
+  { return QuaternionType(*this) * QuaternionType(other); }
+
+  /** Concatenates two rotations */
+  inline QuaternionType operator* (const QuaternionType& other) const
+  { return QuaternionType(*this) * other; }
+
+  /** Concatenates two rotations */
+  friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
+  { return a * QuaternionType(b); }
+
+  /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
+  AngleAxis inverse() const
+  { return AngleAxis(-m_angle, m_axis); }
+
+  template<class QuatDerived>
+  AngleAxis& operator=(const QuaternionBase<QuatDerived>& q);
+  template<typename Derived>
+  AngleAxis& operator=(const MatrixBase<Derived>& m);
+
+  template<typename Derived>
+  AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
+  Matrix3 toRotationMatrix(void) const;
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
+  { return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
+  {
+    m_axis = other.axis().template cast<Scalar>();
+    m_angle = Scalar(other.angle());
+  }
+
+  inline static const AngleAxis Identity() { return AngleAxis(0, Vector3::UnitX()); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const AngleAxis& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }
+};
+
+/** \ingroup Geometry_Module
+  * single precision angle-axis type */
+typedef AngleAxis<float> AngleAxisf;
+/** \ingroup Geometry_Module
+  * double precision angle-axis type */
+typedef AngleAxis<double> AngleAxisd;
+
+/** Set \c *this from a \b unit quaternion.
+  * The axis is normalized.
+  * 
+  * \warning As any other method dealing with quaternion, if the input quaternion
+  *          is not normalized then the result is undefined.
+  */
+template<typename Scalar>
+template<typename QuatDerived>
+AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
+{
+  Scalar n2 = q.vec().squaredNorm();
+  if (n2 < NumTraits<Scalar>::dummy_precision()*NumTraits<Scalar>::dummy_precision())
+  {
+    m_angle = 0;
+    m_axis << 1, 0, 0;
+  }
+  else
+  {
+    m_angle = Scalar(2)*std::acos(std::min(std::max(Scalar(-1),q.w()),Scalar(1)));
+    m_axis = q.vec() / internal::sqrt(n2);
+  }
+  return *this;
+}
+
+/** Set \c *this from a 3x3 rotation matrix \a mat.
+  */
+template<typename Scalar>
+template<typename Derived>
+AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
+{
+  // Since a direct conversion would not be really faster,
+  // let's use the robust Quaternion implementation:
+  return *this = QuaternionType(mat);
+}
+
+/**
+* \brief Sets \c *this from a 3x3 rotation matrix.
+**/
+template<typename Scalar>
+template<typename Derived>
+AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
+{
+  return *this = QuaternionType(mat);
+}
+
+/** Constructs and \returns an equivalent 3x3 rotation matrix.
+  */
+template<typename Scalar>
+typename AngleAxis<Scalar>::Matrix3
+AngleAxis<Scalar>::toRotationMatrix(void) const
+{
+  Matrix3 res;
+  Vector3 sin_axis  = internal::sin(m_angle) * m_axis;
+  Scalar c = internal::cos(m_angle);
+  Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
+
+  Scalar tmp;
+  tmp = cos1_axis.x() * m_axis.y();
+  res.coeffRef(0,1) = tmp - sin_axis.z();
+  res.coeffRef(1,0) = tmp + sin_axis.z();
+
+  tmp = cos1_axis.x() * m_axis.z();
+  res.coeffRef(0,2) = tmp + sin_axis.y();
+  res.coeffRef(2,0) = tmp - sin_axis.y();
+
+  tmp = cos1_axis.y() * m_axis.z();
+  res.coeffRef(1,2) = tmp - sin_axis.x();
+  res.coeffRef(2,1) = tmp + sin_axis.x();
+
+  res.diagonal() = (cos1_axis.cwiseProduct(m_axis)).array() + c;
+
+  return res;
+}
+
+#endif // EIGEN_ANGLEAXIS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/CMakeLists.txt
new file mode 100755
index 0000000..f8f728b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/CMakeLists.txt
@@ -0,0 +1,8 @@
+FILE(GLOB Eigen_Geometry_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Geometry_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Geometry COMPONENT Devel
+  )
+
+ADD_SUBDIRECTORY(arch)
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/EulerAngles.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/EulerAngles.h
new file mode 100755
index 0000000..d246a6e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/EulerAngles.h
@@ -0,0 +1,96 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_EULERANGLES_H
+#define EIGEN_EULERANGLES_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  *
+  * \returns the Euler-angles of the rotation matrix \c *this using the convention defined by the triplet (\a a0,\a a1,\a a2)
+  *
+  * Each of the three parameters \a a0,\a a1,\a a2 represents the respective rotation axis as an integer in {0,1,2}.
+  * For instance, in:
+  * \code Vector3f ea = mat.eulerAngles(2, 0, 2); \endcode
+  * "2" represents the z axis and "0" the x axis, etc. The returned angles are such that
+  * we have the following equality:
+  * \code
+  * mat == AngleAxisf(ea[0], Vector3f::UnitZ())
+  *      * AngleAxisf(ea[1], Vector3f::UnitX())
+  *      * AngleAxisf(ea[2], Vector3f::UnitZ()); \endcode
+  * This corresponds to the right-multiply conventions (with right hand side frames).
+  */
+template<typename Derived>
+inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
+MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
+{
+  /* Implemented from Graphics Gems IV */
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)
+
+  Matrix<Scalar,3,1> res;
+  typedef Matrix<typename Derived::Scalar,2,1> Vector2;
+  const Scalar epsilon = NumTraits<Scalar>::dummy_precision();
+
+  const Index odd = ((a0+1)%3 == a1) ? 0 : 1;
+  const Index i = a0;
+  const Index j = (a0 + 1 + odd)%3;
+  const Index k = (a0 + 2 - odd)%3;
+
+  if (a0==a2)
+  {
+    Scalar s = Vector2(coeff(j,i) , coeff(k,i)).norm();
+    res[1] = internal::atan2(s, coeff(i,i));
+    if (s > epsilon)
+    {
+      res[0] = internal::atan2(coeff(j,i), coeff(k,i));
+      res[2] = internal::atan2(coeff(i,j),-coeff(i,k));
+    }
+    else
+    {
+      res[0] = Scalar(0);
+      res[2] = (coeff(i,i)>0?1:-1)*internal::atan2(-coeff(k,j), coeff(j,j));
+    }
+  }
+  else
+  {
+    Scalar c = Vector2(coeff(i,i) , coeff(i,j)).norm();
+    res[1] = internal::atan2(-coeff(i,k), c);
+    if (c > epsilon)
+    {
+      res[0] = internal::atan2(coeff(j,k), coeff(k,k));
+      res[2] = internal::atan2(coeff(i,j), coeff(i,i));
+    }
+    else
+    {
+      res[0] = Scalar(0);
+      res[2] = (coeff(i,k)>0?1:-1)*internal::atan2(-coeff(k,j), coeff(j,j));
+    }
+  }
+  if (!odd)
+    res = -res;
+  return res;
+}
+
+
+#endif // EIGEN_EULERANGLES_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Homogeneous.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Homogeneous.h
new file mode 100755
index 0000000..2bc4f7e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Homogeneous.h
@@ -0,0 +1,318 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_HOMOGENEOUS_H
+#define EIGEN_HOMOGENEOUS_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Homogeneous
+  *
+  * \brief Expression of one (or a set of) homogeneous vector(s)
+  *
+  * \param MatrixType the type of the object in which we are making homogeneous
+  *
+  * This class represents an expression of one (or a set of) homogeneous vector(s).
+  * It is the return type of MatrixBase::homogeneous() and most of the time
+  * this is the only way it is used.
+  *
+  * \sa MatrixBase::homogeneous()
+  */
+
+namespace internal {
+
+template<typename MatrixType,int Direction>
+struct traits<Homogeneous<MatrixType,Direction> >
+ : traits<MatrixType>
+{
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+  enum {
+    RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
+                  int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
+    ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
+                  int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
+    RowsAtCompileTime = Direction==Vertical  ?  RowsPlusOne : MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = RowsAtCompileTime,
+    MaxColsAtCompileTime = ColsAtCompileTime,
+    TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
+    Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
+          : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
+          : TmpFlags,
+    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+  };
+};
+
+template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
+template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
+
+} // end namespace internal
+
+template<typename MatrixType,int _Direction> class Homogeneous
+  : public MatrixBase<Homogeneous<MatrixType,_Direction> >
+{
+  public:
+
+    enum { Direction = _Direction };
+
+    typedef MatrixBase<Homogeneous> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
+
+    inline Homogeneous(const MatrixType& matrix)
+      : m_matrix(matrix)
+    {}
+
+    inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical   ? 1 : 0); }
+    inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
+
+    inline Scalar coeff(Index row, Index col) const
+    {
+      if(  (int(Direction)==Vertical   && row==m_matrix.rows())
+        || (int(Direction)==Horizontal && col==m_matrix.cols()))
+        return 1;
+      return m_matrix.coeff(row, col);
+    }
+
+    template<typename Rhs>
+    inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
+    operator* (const MatrixBase<Rhs>& rhs) const
+    {
+      eigen_assert(int(Direction)==Horizontal);
+      return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
+    }
+
+    template<typename Lhs> friend
+    inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
+    operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
+    {
+      eigen_assert(int(Direction)==Vertical);
+      return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
+    }
+
+    template<typename Scalar, int Dim, int Mode, int Options> friend
+    inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
+    operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
+    {
+      eigen_assert(int(Direction)==Vertical);
+      return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
+    }
+
+  protected:
+    const typename MatrixType::Nested m_matrix;
+};
+
+/** \geometry_module
+  *
+  * \return an expression of the equivalent homogeneous vector
+  *
+  * \only_for_vectors
+  *
+  * Example: \include MatrixBase_homogeneous.cpp
+  * Output: \verbinclude MatrixBase_homogeneous.out
+  *
+  * \sa class Homogeneous
+  */
+template<typename Derived>
+inline typename MatrixBase<Derived>::HomogeneousReturnType
+MatrixBase<Derived>::homogeneous() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+  return derived();
+}
+
+/** \geometry_module
+  *
+  * \returns a matrix expression of homogeneous column (or row) vectors
+  *
+  * Example: \include VectorwiseOp_homogeneous.cpp
+  * Output: \verbinclude VectorwiseOp_homogeneous.out
+  *
+  * \sa MatrixBase::homogeneous() */
+template<typename ExpressionType, int Direction>
+inline Homogeneous<ExpressionType,Direction>
+VectorwiseOp<ExpressionType,Direction>::homogeneous() const
+{
+  return _expression();
+}
+
+/** \geometry_module
+  *
+  * \returns an expression of the homogeneous normalized vector of \c *this
+  *
+  * Example: \include MatrixBase_hnormalized.cpp
+  * Output: \verbinclude MatrixBase_hnormalized.out
+  *
+  * \sa VectorwiseOp::hnormalized() */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::HNormalizedReturnType
+MatrixBase<Derived>::hnormalized() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+  return ConstStartMinusOne(derived(),0,0,
+    ColsAtCompileTime==1?size()-1:1,
+    ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
+}
+
+/** \geometry_module
+  *
+  * \returns an expression of the homogeneous normalized vector of \c *this
+  *
+  * Example: \include DirectionWise_hnormalized.cpp
+  * Output: \verbinclude DirectionWise_hnormalized.out
+  *
+  * \sa MatrixBase::hnormalized() */
+template<typename ExpressionType, int Direction>
+inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
+VectorwiseOp<ExpressionType,Direction>::hnormalized() const
+{
+  return HNormalized_Block(_expression(),0,0,
+      Direction==Vertical   ? _expression().rows()-1 : _expression().rows(),
+      Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
+      Replicate<HNormalized_Factors,
+                Direction==Vertical   ? HNormalized_SizeMinusOne : 1,
+                Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
+        (HNormalized_Factors(_expression(),
+          Direction==Vertical    ? _expression().rows()-1:0,
+          Direction==Horizontal  ? _expression().cols()-1:0,
+          Direction==Vertical    ? 1 : _expression().rows(),
+          Direction==Horizontal  ? 1 : _expression().cols()),
+         Direction==Vertical   ? _expression().rows()-1 : 1,
+         Direction==Horizontal ? _expression().cols()-1 : 1));
+}
+
+namespace internal {
+
+template<typename MatrixOrTransformType>
+struct take_matrix_for_product
+{
+  typedef MatrixOrTransformType type;
+  static const type& run(const type &x) { return x; }
+};
+
+template<typename Scalar, int Dim, int Mode,int Options>
+struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
+{
+  typedef Transform<Scalar, Dim, Mode, Options> TransformType;
+  typedef typename TransformType::ConstAffinePart type;
+  static const type run (const TransformType& x) { return x.affine(); }
+};
+
+template<typename Scalar, int Dim, int Options>
+struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
+{
+  typedef Transform<Scalar, Dim, Projective, Options> TransformType;
+  typedef typename TransformType::MatrixType type;
+  static const type& run (const TransformType& x) { return x.matrix(); }
+};
+
+template<typename MatrixType,typename Lhs>
+struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
+{
+  typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
+  typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
+  typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
+  typedef typename make_proper_matrix_type<
+                 typename traits<MatrixTypeCleaned>::Scalar,
+                 LhsMatrixTypeCleaned::RowsAtCompileTime,
+                 MatrixTypeCleaned::ColsAtCompileTime,
+                 MatrixTypeCleaned::PlainObject::Options,
+                 LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
+                 MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
+};
+
+template<typename MatrixType,typename Lhs>
+struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
+  : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
+{
+  typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
+  typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
+  typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
+  typedef typename MatrixType::Index Index;
+  homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
+    : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
+      m_rhs(rhs)
+  {}
+
+  inline Index rows() const { return m_lhs.rows(); }
+  inline Index cols() const { return m_rhs.cols(); }
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    // FIXME investigate how to allow lazy evaluation of this product when possible
+    dst = Block<const LhsMatrixTypeNested,
+              LhsMatrixTypeNested::RowsAtCompileTime,
+              LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
+            (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
+    dst += m_lhs.col(m_lhs.cols()-1).rowwise()
+            .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
+  }
+
+  const typename LhsMatrixTypeCleaned::Nested m_lhs;
+  const typename MatrixType::Nested m_rhs;
+};
+
+template<typename MatrixType,typename Rhs>
+struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
+{
+  typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
+                 MatrixType::RowsAtCompileTime,
+                 Rhs::ColsAtCompileTime,
+                 MatrixType::PlainObject::Options,
+                 MatrixType::MaxRowsAtCompileTime,
+                 Rhs::MaxColsAtCompileTime>::type ReturnType;
+};
+
+template<typename MatrixType,typename Rhs>
+struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
+  : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
+{
+  typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
+  typedef typename MatrixType::Index Index;
+  homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
+    : m_lhs(lhs), m_rhs(rhs)
+  {}
+
+  inline Index rows() const { return m_lhs.rows(); }
+  inline Index cols() const { return m_rhs.cols(); }
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    // FIXME investigate how to allow lazy evaluation of this product when possible
+    dst = m_lhs * Block<const RhsNested,
+                        RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
+                        RhsNested::ColsAtCompileTime>
+            (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
+    dst += m_rhs.row(m_rhs.rows()-1).colwise()
+            .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
+  }
+
+  const typename MatrixType::Nested m_lhs;
+  const typename Rhs::Nested m_rhs;
+};
+
+} // end namespace internal
+
+#endif // EIGEN_HOMOGENEOUS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Hyperplane.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Hyperplane.h
new file mode 100755
index 0000000..e43c9d0
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Hyperplane.h
@@ -0,0 +1,280 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_HYPERPLANE_H
+#define EIGEN_HYPERPLANE_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Hyperplane
+  *
+  * \brief A hyperplane
+  *
+  * A hyperplane is an affine subspace of dimension n-1 in a space of dimension n.
+  * For example, a hyperplane in a plane is a line; a hyperplane in 3-space is a plane.
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  *             Notice that the dimension of the hyperplane is _AmbientDim-1.
+  *
+  * This class represents an hyperplane as the zero set of the implicit equation
+  * \f$ n \cdot x + d = 0 \f$ where \f$ n \f$ is a unit normal vector of the plane (linear part)
+  * and \f$ d \f$ is the distance (offset) to the origin.
+  */
+template <typename _Scalar, int _AmbientDim, int _Options>
+class Hyperplane
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
+  enum {
+    AmbientDimAtCompileTime = _AmbientDim,
+    Options = _Options
+  };
+  typedef _Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef DenseIndex Index;
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
+  typedef Matrix<Scalar,Index(AmbientDimAtCompileTime)==Dynamic
+                        ? Dynamic
+                        : Index(AmbientDimAtCompileTime)+1,1,Options> Coefficients;
+  typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
+  typedef const Block<const Coefficients,AmbientDimAtCompileTime,1> ConstNormalReturnType;
+
+  /** Default constructor without initialization */
+  inline explicit Hyperplane() {}
+  
+  template<int OtherOptions>
+  Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
+   : m_coeffs(other.coeffs())
+  {}
+
+  /** Constructs a dynamic-size hyperplane with \a _dim the dimension
+    * of the ambient space */
+  inline explicit Hyperplane(Index _dim) : m_coeffs(_dim+1) {}
+
+  /** Construct a plane from its normal \a n and a point \a e onto the plane.
+    * \warning the vector normal is assumed to be normalized.
+    */
+  inline Hyperplane(const VectorType& n, const VectorType& e)
+    : m_coeffs(n.size()+1)
+  {
+    normal() = n;
+    offset() = -n.dot(e);
+  }
+
+  /** Constructs a plane from its normal \a n and distance to the origin \a d
+    * such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$.
+    * \warning the vector normal is assumed to be normalized.
+    */
+  inline Hyperplane(const VectorType& n, Scalar d)
+    : m_coeffs(n.size()+1)
+  {
+    normal() = n;
+    offset() = d;
+  }
+
+  /** Constructs a hyperplane passing through the two points. If the dimension of the ambient space
+    * is greater than 2, then there isn't uniqueness, so an arbitrary choice is made.
+    */
+  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
+  {
+    Hyperplane result(p0.size());
+    result.normal() = (p1 - p0).unitOrthogonal();
+    result.offset() = -p0.dot(result.normal());
+    return result;
+  }
+
+  /** Constructs a hyperplane passing through the three points. The dimension of the ambient space
+    * is required to be exactly 3.
+    */
+  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2)
+  {
+    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
+    Hyperplane result(p0.size());
+    result.normal() = (p2 - p0).cross(p1 - p0).normalized();
+    result.offset() = -p0.dot(result.normal());
+    return result;
+  }
+
+  /** Constructs a hyperplane passing through the parametrized line \a parametrized.
+    * If the dimension of the ambient space is greater than 2, then there isn't uniqueness,
+    * so an arbitrary choice is made.
+    */
+  // FIXME to be consitent with the rest this could be implemented as a static Through function ??
+  explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
+  {
+    normal() = parametrized.direction().unitOrthogonal();
+    offset() = -parametrized.origin().dot(normal());
+  }
+
+  ~Hyperplane() {}
+
+  /** \returns the dimension in which the plane holds */
+  inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : Index(AmbientDimAtCompileTime); }
+
+  /** normalizes \c *this */
+  void normalize(void)
+  {
+    m_coeffs /= normal().norm();
+  }
+
+  /** \returns the signed distance between the plane \c *this and a point \a p.
+    * \sa absDistance()
+    */
+  inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); }
+
+  /** \returns the absolute distance between the plane \c *this and a point \a p.
+    * \sa signedDistance()
+    */
+  inline Scalar absDistance(const VectorType& p) const { return internal::abs(signedDistance(p)); }
+
+  /** \returns the projection of a point \a p onto the plane \c *this.
+    */
+  inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
+
+  /** \returns a constant reference to the unit normal vector of the plane, which corresponds
+    * to the linear part of the implicit equation.
+    */
+  inline ConstNormalReturnType normal() const { return ConstNormalReturnType(m_coeffs,0,0,dim(),1); }
+
+  /** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
+    * to the linear part of the implicit equation.
+    */
+  inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
+
+  /** \returns the distance to the origin, which is also the "constant term" of the implicit equation
+    * \warning the vector normal is assumed to be normalized.
+    */
+  inline const Scalar& offset() const { return m_coeffs.coeff(dim()); }
+
+  /** \returns a non-constant reference to the distance to the origin, which is also the constant part
+    * of the implicit equation */
+  inline Scalar& offset() { return m_coeffs(dim()); }
+
+  /** \returns a constant reference to the coefficients c_i of the plane equation:
+    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
+    */
+  inline const Coefficients& coeffs() const { return m_coeffs; }
+
+  /** \returns a non-constant reference to the coefficients c_i of the plane equation:
+    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
+    */
+  inline Coefficients& coeffs() { return m_coeffs; }
+
+  /** \returns the intersection of *this with \a other.
+    *
+    * \warning The ambient space must be a plane, i.e. have dimension 2, so that \c *this and \a other are lines.
+    *
+    * \note If \a other is approximately parallel to *this, this method will return any point on *this.
+    */
+  VectorType intersection(const Hyperplane& other)
+  {
+    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
+    Scalar det = coeffs().coeff(0) * other.coeffs().coeff(1) - coeffs().coeff(1) * other.coeffs().coeff(0);
+    // since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests
+    // whether the two lines are approximately parallel.
+    if(internal::isMuchSmallerThan(det, Scalar(1)))
+    {   // special case where the two lines are approximately parallel. Pick any point on the first line.
+        if(internal::abs(coeffs().coeff(1))>internal::abs(coeffs().coeff(0)))
+            return VectorType(coeffs().coeff(1), -coeffs().coeff(2)/coeffs().coeff(1)-coeffs().coeff(0));
+        else
+            return VectorType(-coeffs().coeff(2)/coeffs().coeff(0)-coeffs().coeff(1), coeffs().coeff(0));
+    }
+    else
+    {   // general case
+        Scalar invdet = Scalar(1) / det;
+        return VectorType(invdet*(coeffs().coeff(1)*other.coeffs().coeff(2)-other.coeffs().coeff(1)*coeffs().coeff(2)),
+                          invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2)));
+    }
+  }
+
+  /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
+    *
+    * \param mat the Dim x Dim transformation matrix
+    * \param traits specifies whether the matrix \a mat represents an Isometry
+    *               or a more generic Affine transformation. The default is Affine.
+    */
+  template<typename XprType>
+  inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
+  {
+    if (traits==Affine)
+      normal() = mat.inverse().transpose() * normal();
+    else if (traits==Isometry)
+      normal() = mat * normal();
+    else
+    {
+      eigen_assert("invalid traits value in Hyperplane::transform()");
+    }
+    return *this;
+  }
+
+  /** Applies the transformation \a t to \c *this and returns a reference to \c *this.
+    *
+    * \param t the transformation of dimension Dim
+    * \param traits specifies whether the transformation \a t represents an Isometry
+    *               or a more generic Affine transformation. The default is Affine.
+    *               Other kind of transformations are not supported.
+    */
+  template<int TrOptions>
+  inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
+                                TransformTraits traits = Affine)
+  {
+    transform(t.linear(), traits);
+    offset() -= normal().dot(t.translation());
+    return *this;
+  }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Hyperplane,
+           Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
+  {
+    return typename internal::cast_return_type<Hyperplane,
+                    Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType,int OtherOptions>
+  inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
+  { m_coeffs = other.coeffs().template cast<Scalar>(); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  template<int OtherOptions>
+  bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_coeffs.isApprox(other.m_coeffs, prec); }
+
+protected:
+
+  Coefficients m_coeffs;
+};
+
+#endif // EIGEN_HYPERPLANE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/OrthoMethods.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/OrthoMethods.h
new file mode 100755
index 0000000..52b4698
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/OrthoMethods.h
@@ -0,0 +1,229 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ORTHOMETHODS_H
+#define EIGEN_ORTHOMETHODS_H
+
+/** \geometry_module
+  *
+  * \returns the cross product of \c *this and \a other
+  *
+  * Here is a very good explanation of cross-product: http://xkcd.com/199/
+  * \sa MatrixBase::cross3()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
+MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
+
+  // Note that there is no need for an expression here since the compiler
+  // optimize such a small temporary very well (even within a complex expression)
+  const typename internal::nested<Derived,2>::type lhs(derived());
+  const typename internal::nested<OtherDerived,2>::type rhs(other.derived());
+  return typename cross_product_return_type<OtherDerived>::type(
+    internal::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
+    internal::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
+    internal::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0))
+  );
+}
+
+namespace internal {
+
+template< int Arch,typename VectorLhs,typename VectorRhs,
+          typename Scalar = typename VectorLhs::Scalar,
+          bool Vectorizable = (VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit>
+struct cross3_impl {
+  inline static typename internal::plain_matrix_type<VectorLhs>::type
+  run(const VectorLhs& lhs, const VectorRhs& rhs)
+  {
+    return typename internal::plain_matrix_type<VectorLhs>::type(
+      internal::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
+      internal::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
+      internal::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)),
+      0
+    );
+  }
+};
+
+}
+
+/** \geometry_module
+  *
+  * \returns the cross product of \c *this and \a other using only the x, y, and z coefficients
+  *
+  * The size of \c *this and \a other must be four. This function is especially useful
+  * when using 4D vectors instead of 3D ones to get advantage of SSE/AltiVec vectorization.
+  *
+  * \sa MatrixBase::cross()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+inline typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,4)
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,4)
+
+  typedef typename internal::nested<Derived,2>::type DerivedNested;
+  typedef typename internal::nested<OtherDerived,2>::type OtherDerivedNested;
+  const DerivedNested lhs(derived());
+  const OtherDerivedNested rhs(other.derived());
+
+  return internal::cross3_impl<Architecture::Target,
+                        typename internal::remove_all<DerivedNested>::type,
+                        typename internal::remove_all<OtherDerivedNested>::type>::run(lhs,rhs);
+}
+
+/** \returns a matrix expression of the cross product of each column or row
+  * of the referenced expression with the \a other vector.
+  *
+  * The referenced matrix must have one dimension equal to 3.
+  * The result matrix has the same dimensions than the referenced one.
+  *
+  * \geometry_module
+  *
+  * \sa MatrixBase::cross() */
+template<typename ExpressionType, int Direction>
+template<typename OtherDerived>
+const typename VectorwiseOp<ExpressionType,Direction>::CrossReturnType
+VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+  CrossReturnType res(_expression().rows(),_expression().cols());
+  if(Direction==Vertical)
+  {
+    eigen_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
+    res.row(0) = (_expression().row(1) * other.coeff(2) - _expression().row(2) * other.coeff(1)).conjugate();
+    res.row(1) = (_expression().row(2) * other.coeff(0) - _expression().row(0) * other.coeff(2)).conjugate();
+    res.row(2) = (_expression().row(0) * other.coeff(1) - _expression().row(1) * other.coeff(0)).conjugate();
+  }
+  else
+  {
+    eigen_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
+    res.col(0) = (_expression().col(1) * other.coeff(2) - _expression().col(2) * other.coeff(1)).conjugate();
+    res.col(1) = (_expression().col(2) * other.coeff(0) - _expression().col(0) * other.coeff(2)).conjugate();
+    res.col(2) = (_expression().col(0) * other.coeff(1) - _expression().col(1) * other.coeff(0)).conjugate();
+  }
+  return res;
+}
+
+namespace internal {
+
+template<typename Derived, int Size = Derived::SizeAtCompileTime>
+struct unitOrthogonal_selector
+{
+  typedef typename plain_matrix_type<Derived>::type VectorType;
+  typedef typename traits<Derived>::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef typename Derived::Index Index;
+  typedef Matrix<Scalar,2,1> Vector2;
+  inline static VectorType run(const Derived& src)
+  {
+    VectorType perp = VectorType::Zero(src.size());
+    Index maxi = 0;
+    Index sndi = 0;
+    src.cwiseAbs().maxCoeff(&maxi);
+    if (maxi==0)
+      sndi = 1;
+    RealScalar invnm = RealScalar(1)/(Vector2() << src.coeff(sndi),src.coeff(maxi)).finished().norm();
+    perp.coeffRef(maxi) = -conj(src.coeff(sndi)) * invnm;
+    perp.coeffRef(sndi) =  conj(src.coeff(maxi)) * invnm;
+
+    return perp;
+   }
+};
+
+template<typename Derived>
+struct unitOrthogonal_selector<Derived,3>
+{
+  typedef typename plain_matrix_type<Derived>::type VectorType;
+  typedef typename traits<Derived>::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  inline static VectorType run(const Derived& src)
+  {
+    VectorType perp;
+    /* Let us compute the crossed product of *this with a vector
+     * that is not too close to being colinear to *this.
+     */
+
+    /* unless the x and y coords are both close to zero, we can
+     * simply take ( -y, x, 0 ) and normalize it.
+     */
+    if((!isMuchSmallerThan(src.x(), src.z()))
+    || (!isMuchSmallerThan(src.y(), src.z())))
+    {
+      RealScalar invnm = RealScalar(1)/src.template head<2>().norm();
+      perp.coeffRef(0) = -conj(src.y())*invnm;
+      perp.coeffRef(1) = conj(src.x())*invnm;
+      perp.coeffRef(2) = 0;
+    }
+    /* if both x and y are close to zero, then the vector is close
+     * to the z-axis, so it's far from colinear to the x-axis for instance.
+     * So we take the crossed product with (1,0,0) and normalize it.
+     */
+    else
+    {
+      RealScalar invnm = RealScalar(1)/src.template tail<2>().norm();
+      perp.coeffRef(0) = 0;
+      perp.coeffRef(1) = -conj(src.z())*invnm;
+      perp.coeffRef(2) = conj(src.y())*invnm;
+    }
+
+    return perp;
+   }
+};
+
+template<typename Derived>
+struct unitOrthogonal_selector<Derived,2>
+{
+  typedef typename plain_matrix_type<Derived>::type VectorType;
+  inline static VectorType run(const Derived& src)
+  { return VectorType(-conj(src.y()), conj(src.x())).normalized(); }
+};
+
+} // end namespace internal
+
+/** \returns a unit vector which is orthogonal to \c *this
+  *
+  * The size of \c *this must be at least 2. If the size is exactly 2,
+  * then the returned vector is a counter clock wise rotation of \c *this, i.e., (-y,x).normalized().
+  *
+  * \sa cross()
+  */
+template<typename Derived>
+typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::unitOrthogonal() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return internal::unitOrthogonal_selector<Derived>::run(derived());
+}
+
+#endif // EIGEN_ORTHOMETHODS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/ParametrizedLine.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/ParametrizedLine.h
new file mode 100755
index 0000000..edad5f8
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/ParametrizedLine.h
@@ -0,0 +1,168 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PARAMETRIZEDLINE_H
+#define EIGEN_PARAMETRIZEDLINE_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class ParametrizedLine
+  *
+  * \brief A parametrized line
+  *
+  * A parametrized line is defined by an origin point \f$ \mathbf{o} \f$ and a unit
+  * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
+  * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ l \in \mathbf{R} \f$.
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  */
+template <typename _Scalar, int _AmbientDim, int _Options>
+class ParametrizedLine
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
+  enum {
+    AmbientDimAtCompileTime = _AmbientDim,
+    Options = _Options
+  };
+  typedef _Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef DenseIndex Index;
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;
+
+  /** Default constructor without initialization */
+  inline explicit ParametrizedLine() {}
+  
+  template<int OtherOptions>
+  ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
+   : m_origin(other.origin()), m_direction(other.direction())
+  {}
+
+  /** Constructs a dynamic-size line with \a _dim the dimension
+    * of the ambient space */
+  inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {}
+
+  /** Initializes a parametrized line of direction \a direction and origin \a origin.
+    * \warning the vector direction is assumed to be normalized.
+    */
+  ParametrizedLine(const VectorType& origin, const VectorType& direction)
+    : m_origin(origin), m_direction(direction) {}
+
+  template <int OtherOptions>
+  explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
+
+  /** Constructs a parametrized line going from \a p0 to \a p1. */
+  static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
+  { return ParametrizedLine(p0, (p1-p0).normalized()); }
+
+  ~ParametrizedLine() {}
+
+  /** \returns the dimension in which the line holds */
+  inline Index dim() const { return m_direction.size(); }
+
+  const VectorType& origin() const { return m_origin; }
+  VectorType& origin() { return m_origin; }
+
+  const VectorType& direction() const { return m_direction; }
+  VectorType& direction() { return m_direction; }
+
+  /** \returns the squared distance of a point \a p to its projection onto the line \c *this.
+    * \sa distance()
+    */
+  RealScalar squaredDistance(const VectorType& p) const
+  {
+    VectorType diff = p - origin();
+    return (diff - direction().dot(diff) * direction()).squaredNorm();
+  }
+  /** \returns the distance of a point \a p to its projection onto the line \c *this.
+    * \sa squaredDistance()
+    */
+  RealScalar distance(const VectorType& p) const { return internal::sqrt(squaredDistance(p)); }
+
+  /** \returns the projection of a point \a p onto the line \c *this. */
+  VectorType projection(const VectorType& p) const
+  { return origin() + direction().dot(p-origin()) * direction(); }
+
+  template <int OtherOptions>
+  Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<ParametrizedLine,
+           ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
+  {
+    return typename internal::cast_return_type<ParametrizedLine,
+                    ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType,int OtherOptions>
+  inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
+  {
+    m_origin = other.origin().template cast<Scalar>();
+    m_direction = other.direction().template cast<Scalar>();
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const ParametrizedLine& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }
+
+protected:
+
+  VectorType m_origin, m_direction;
+};
+
+/** Constructs a parametrized line from a 2D hyperplane
+  *
+  * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
+  */
+template <typename _Scalar, int _AmbientDim, int _Options>
+template <int OtherOptions>
+inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
+  direction() = hyperplane.normal().unitOrthogonal();
+  origin() = -hyperplane.normal()*hyperplane.offset();
+}
+
+/** \returns the parameter value of the intersection between \c *this and the given hyperplane
+  */
+template <typename _Scalar, int _AmbientDim, int _Options>
+template <int OtherOptions>
+inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane)
+{
+  return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
+          / hyperplane.normal().dot(direction());
+}
+
+#endif // EIGEN_PARAMETRIZEDLINE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Quaternion.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Quaternion.h
new file mode 100755
index 0000000..ecf8393
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Quaternion.h
@@ -0,0 +1,724 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_QUATERNION_H
+#define EIGEN_QUATERNION_H
+
+/***************************************************************************
+* Definition of QuaternionBase<Derived>
+* The implementation is at the end of the file
+***************************************************************************/
+
+namespace internal {
+template<typename Other,
+         int OtherRows=Other::RowsAtCompileTime,
+         int OtherCols=Other::ColsAtCompileTime>
+struct quaternionbase_assign_impl;
+}
+
+template<class Derived>
+class QuaternionBase : public RotationBase<Derived, 3>
+{
+  typedef RotationBase<Derived, 3> Base;
+public:
+  using Base::operator*;
+  using Base::derived;
+
+  typedef typename internal::traits<Derived>::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef typename internal::traits<Derived>::Coefficients Coefficients;
+
+ // typedef typename Matrix<Scalar,4,1> Coefficients;
+  /** the type of a 3D vector */
+  typedef Matrix<Scalar,3,1> Vector3;
+  /** the equivalent rotation matrix type */
+  typedef Matrix<Scalar,3,3> Matrix3;
+  /** the equivalent angle-axis type */
+  typedef AngleAxis<Scalar> AngleAxisType;
+
+
+
+  /** \returns the \c x coefficient */
+  inline Scalar x() const { return this->derived().coeffs().coeff(0); }
+  /** \returns the \c y coefficient */
+  inline Scalar y() const { return this->derived().coeffs().coeff(1); }
+  /** \returns the \c z coefficient */
+  inline Scalar z() const { return this->derived().coeffs().coeff(2); }
+  /** \returns the \c w coefficient */
+  inline Scalar w() const { return this->derived().coeffs().coeff(3); }
+
+  /** \returns a reference to the \c x coefficient */
+  inline Scalar& x() { return this->derived().coeffs().coeffRef(0); }
+  /** \returns a reference to the \c y coefficient */
+  inline Scalar& y() { return this->derived().coeffs().coeffRef(1); }
+  /** \returns a reference to the \c z coefficient */
+  inline Scalar& z() { return this->derived().coeffs().coeffRef(2); }
+  /** \returns a reference to the \c w coefficient */
+  inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
+
+  /** \returns a read-only vector expression of the imaginary part (x,y,z) */
+  inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
+
+  /** \returns a vector expression of the imaginary part (x,y,z) */
+  inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
+
+  /** \returns a read-only vector expression of the coefficients (x,y,z,w) */
+  inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
+
+  /** \returns a vector expression of the coefficients (x,y,z,w) */
+  inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
+
+  EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
+  template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
+
+// disabled this copy operator as it is giving very strange compilation errors when compiling
+// test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it's
+// useful; however notice that we already have the templated operator= above and e.g. in MatrixBase
+// we didn't have to add, in addition to templated operator=, such a non-templated copy operator.
+//  Derived& operator=(const QuaternionBase& other)
+//  { return operator=<Derived>(other); }
+
+  Derived& operator=(const AngleAxisType& aa);
+  template<class OtherDerived> Derived& operator=(const MatrixBase<OtherDerived>& m);
+
+  /** \returns a quaternion representing an identity rotation
+    * \sa MatrixBase::Identity()
+    */
+  inline static Quaternion<Scalar> Identity() { return Quaternion<Scalar>(1, 0, 0, 0); }
+
+  /** \sa QuaternionBase::Identity(), MatrixBase::setIdentity()
+    */
+  inline QuaternionBase& setIdentity() { coeffs() << 0, 0, 0, 1; return *this; }
+
+  /** \returns the squared norm of the quaternion's coefficients
+    * \sa QuaternionBase::norm(), MatrixBase::squaredNorm()
+    */
+  inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
+
+  /** \returns the norm of the quaternion's coefficients
+    * \sa QuaternionBase::squaredNorm(), MatrixBase::norm()
+    */
+  inline Scalar norm() const { return coeffs().norm(); }
+
+  /** Normalizes the quaternion \c *this
+    * \sa normalized(), MatrixBase::normalize() */
+  inline void normalize() { coeffs().normalize(); }
+  /** \returns a normalized copy of \c *this
+    * \sa normalize(), MatrixBase::normalized() */
+  inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); }
+
+    /** \returns the dot product of \c *this and \a other
+    * Geometrically speaking, the dot product of two unit quaternions
+    * corresponds to the cosine of half the angle between the two rotations.
+    * \sa angularDistance()
+    */
+  template<class OtherDerived> inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
+
+  template<class OtherDerived> Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
+
+  /** \returns an equivalent 3x3 rotation matrix */
+  Matrix3 toRotationMatrix() const;
+
+  /** \returns the quaternion which transform \a a into \a b through a rotation */
+  template<typename Derived1, typename Derived2>
+  Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
+
+  template<class OtherDerived> EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
+  template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
+
+  /** \returns the quaternion describing the inverse rotation */
+  Quaternion<Scalar> inverse() const;
+
+  /** \returns the conjugated quaternion */
+  Quaternion<Scalar> conjugate() const;
+
+  /** \returns an interpolation for a constant motion between \a other and \c *this
+    * \a t in [0;1]
+    * see http://en.wikipedia.org/wiki/Slerp
+    */
+  template<class OtherDerived> Quaternion<Scalar> slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const;
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  template<class OtherDerived>
+  bool isApprox(const QuaternionBase<OtherDerived>& other, RealScalar prec = NumTraits<Scalar>::dummy_precision()) const
+  { return coeffs().isApprox(other.coeffs(), prec); }
+
+	/** return the result vector of \a v through the rotation*/
+  EIGEN_STRONG_INLINE Vector3 _transformVector(Vector3 v) const;
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
+  {
+    return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(
+      coeffs().template cast<NewScalarType>());
+  }
+  
+#ifdef EIGEN_QUATERNIONBASE_PLUGIN
+# include EIGEN_QUATERNIONBASE_PLUGIN
+#endif
+};
+
+/***************************************************************************
+* Definition/implementation of Quaternion<Scalar>
+***************************************************************************/
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Quaternion
+  *
+  * \brief The quaternion class used to represent 3D orientations and rotations
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  *
+  * This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
+  * orientations and rotations of objects in three dimensions. Compared to other representations
+  * like Euler angles or 3x3 matrices, quatertions offer the following advantages:
+  * \li \b compact storage (4 scalars)
+  * \li \b efficient to compose (28 flops),
+  * \li \b stable spherical interpolation
+  *
+  * The following two typedefs are provided for convenience:
+  * \li \c Quaternionf for \c float
+  * \li \c Quaterniond for \c double
+  *
+  * \sa  class AngleAxis, class Transform
+  */
+
+namespace internal {
+template<typename _Scalar,int _Options>
+struct traits<Quaternion<_Scalar,_Options> >
+{
+  typedef Quaternion<_Scalar,_Options> PlainObject;
+  typedef _Scalar Scalar;
+  typedef Matrix<_Scalar,4,1,_Options> Coefficients;
+  enum{
+    PacketAccess = _Options & DontAlign ? Unaligned : Aligned
+  };
+};
+}
+
+template<typename _Scalar, int _Options>
+class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >{
+  typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
+public:
+  typedef _Scalar Scalar;
+
+  EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion)
+  using Base::operator*=;
+
+  typedef typename internal::traits<Quaternion<Scalar,_Options> >::Coefficients Coefficients;
+  typedef typename Base::AngleAxisType AngleAxisType;
+
+  /** Default constructor leaving the quaternion uninitialized. */
+  inline Quaternion() {}
+
+  /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
+    * its four coefficients \a w, \a x, \a y and \a z.
+    *
+    * \warning Note the order of the arguments: the real \a w coefficient first,
+    * while internally the coefficients are stored in the following order:
+    * [\c x, \c y, \c z, \c w]
+    */
+  inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z) : m_coeffs(x, y, z, w){}
+
+  /** Constructs and initialize a quaternion from the array data */
+  inline Quaternion(const Scalar* data) : m_coeffs(data) {}
+
+  /** Copy constructor */
+  template<class Derived> EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
+
+  /** Constructs and initializes a quaternion from the angle-axis \a aa */
+  explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
+
+  /** Constructs and initializes a quaternion from either:
+    *  - a rotation matrix expression,
+    *  - a 4D vector expression representing quaternion coefficients.
+    */
+  template<typename Derived>
+  explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
+
+  inline Coefficients& coeffs() { return m_coeffs;}
+  inline const Coefficients& coeffs() const { return m_coeffs;}
+
+protected:
+  Coefficients m_coeffs;
+  
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    EIGEN_STRONG_INLINE static void _check_template_params()
+    {
+      EIGEN_STATIC_ASSERT( (_Options & DontAlign) == _Options,
+        INVALID_MATRIX_TEMPLATE_PARAMETERS)
+    }
+#endif
+};
+
+/** \ingroup Geometry_Module
+  * single precision quaternion type */
+typedef Quaternion<float> Quaternionf;
+/** \ingroup Geometry_Module
+  * double precision quaternion type */
+typedef Quaternion<double> Quaterniond;
+
+/***************************************************************************
+* Specialization of Map<Quaternion<Scalar>>
+***************************************************************************/
+
+namespace internal {
+template<typename _Scalar, int _PacketAccess>
+struct traits<Map<Quaternion<_Scalar>, _PacketAccess> >:
+traits<Quaternion<_Scalar> >
+{
+  typedef _Scalar Scalar;
+  typedef Map<Matrix<_Scalar,4,1>, _PacketAccess> Coefficients;
+  enum {
+    PacketAccess = _PacketAccess
+  };
+};
+}
+
+/** \brief Quaternion expression mapping a constant memory buffer
+  *
+  * \param _Scalar the type of the Quaternion coefficients
+  * \param PacketAccess see class Map
+  *
+  * This is a specialization of class Map for Quaternion. This class allows to view
+  * a 4 scalar memory buffer as an Eigen's Quaternion object.
+  *
+  * \sa class Map, class Quaternion, class QuaternionBase
+  */
+template<typename _Scalar, int PacketAccess>
+class Map<const Quaternion<_Scalar>, PacketAccess >
+  : public QuaternionBase<Map<const Quaternion<_Scalar>, PacketAccess> >
+{
+    typedef QuaternionBase<Map<Quaternion<_Scalar>, PacketAccess> > Base;
+
+  public:
+    typedef _Scalar Scalar;
+    typedef typename internal::traits<Map>::Coefficients Coefficients;
+    EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map)
+    using Base::operator*=;
+
+    /** Constructs a Mapped Quaternion object from the pointer \a coeffs
+      *
+      * The pointer \a coeffs must reference the four coeffecients of Quaternion in the following order:
+      * \code *coeffs == {x, y, z, w} \endcode
+      *
+      * If the template parameter PacketAccess is set to Aligned, then the pointer coeffs must be aligned. */
+    EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
+
+    inline const Coefficients& coeffs() const { return m_coeffs;}
+
+  protected:
+    const Coefficients m_coeffs;
+};
+
+/** \brief Expression of a quaternion from a memory buffer
+  *
+  * \param _Scalar the type of the Quaternion coefficients
+  * \param PacketAccess see class Map
+  *
+  * This is a specialization of class Map for Quaternion. This class allows to view
+  * a 4 scalar memory buffer as an Eigen's  Quaternion object.
+  *
+  * \sa class Map, class Quaternion, class QuaternionBase
+  */
+template<typename _Scalar, int PacketAccess>
+class Map<Quaternion<_Scalar>, PacketAccess >
+  : public QuaternionBase<Map<Quaternion<_Scalar>, PacketAccess> >
+{
+    typedef QuaternionBase<Map<Quaternion<_Scalar>, PacketAccess> > Base;
+
+  public:
+    typedef _Scalar Scalar;
+    typedef typename internal::traits<Map>::Coefficients Coefficients;
+    EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map)
+    using Base::operator*=;
+
+    /** Constructs a Mapped Quaternion object from the pointer \a coeffs
+      *
+      * The pointer \a coeffs must reference the four coeffecients of Quaternion in the following order:
+      * \code *coeffs == {x, y, z, w} \endcode
+      *
+      * If the template parameter PacketAccess is set to Aligned, then the pointer coeffs must be aligned. */
+    EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
+
+    inline Coefficients& coeffs() { return m_coeffs; }
+    inline const Coefficients& coeffs() const { return m_coeffs; }
+
+  protected:
+    Coefficients m_coeffs;
+};
+
+/** \ingroup Geometry_Module
+  * Map an unaligned array of single precision scalar as a quaternion */
+typedef Map<Quaternion<float>, 0>         QuaternionMapf;
+/** \ingroup Geometry_Module
+  * Map an unaligned array of double precision scalar as a quaternion */
+typedef Map<Quaternion<double>, 0>        QuaternionMapd;
+/** \ingroup Geometry_Module
+  * Map a 16-bits aligned array of double precision scalars as a quaternion */
+typedef Map<Quaternion<float>, Aligned>   QuaternionMapAlignedf;
+/** \ingroup Geometry_Module
+  * Map a 16-bits aligned array of double precision scalars as a quaternion */
+typedef Map<Quaternion<double>, Aligned>  QuaternionMapAlignedd;
+
+/***************************************************************************
+* Implementation of QuaternionBase methods
+***************************************************************************/
+
+// Generic Quaternion * Quaternion product
+// This product can be specialized for a given architecture via the Arch template argument.
+namespace internal {
+template<int Arch, class Derived1, class Derived2, typename Scalar, int PacketAccess> struct quat_product
+{
+  EIGEN_STRONG_INLINE static Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
+    return Quaternion<Scalar>
+    (
+      a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
+      a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
+      a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
+      a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
+    );
+  }
+};
+}
+
+/** \returns the concatenation of two rotations as a quaternion-quaternion product */
+template <class Derived>
+template <class OtherDerived>
+EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
+QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
+   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+  return internal::quat_product<Architecture::Target, Derived, OtherDerived,
+                         typename internal::traits<Derived>::Scalar,
+                         internal::traits<Derived>::PacketAccess && internal::traits<OtherDerived>::PacketAccess>::run(*this, other);
+}
+
+/** \sa operator*(Quaternion) */
+template <class Derived>
+template <class OtherDerived>
+EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
+{
+  derived() = derived() * other.derived();
+  return derived();
+}
+
+/** Rotation of a vector by a quaternion.
+  * \remarks If the quaternion is used to rotate several points (>1)
+  * then it is much more efficient to first convert it to a 3x3 Matrix.
+  * Comparison of the operation cost for n transformations:
+  *   - Quaternion2:    30n
+  *   - Via a Matrix3: 24 + 15n
+  */
+template <class Derived>
+EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
+QuaternionBase<Derived>::_transformVector(Vector3 v) const
+{
+    // Note that this algorithm comes from the optimization by hand
+    // of the conversion to a Matrix followed by a Matrix/Vector product.
+    // It appears to be much faster than the common algorithm found
+    // in the litterature (30 versus 39 flops). It also requires two
+    // Vector3 as temporaries.
+    Vector3 uv = this->vec().cross(v);
+    uv += uv;
+    return v + this->w() * uv + this->vec().cross(uv);
+}
+
+template<class Derived>
+EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
+{
+  coeffs() = other.coeffs();
+  return derived();
+}
+
+template<class Derived>
+template<class OtherDerived>
+EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
+{
+  coeffs() = other.coeffs();
+  return derived();
+}
+
+/** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
+  */
+template<class Derived>
+EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
+{
+  Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
+  this->w() = internal::cos(ha);
+  this->vec() = internal::sin(ha) * aa.axis();
+  return derived();
+}
+
+/** Set \c *this from the expression \a xpr:
+  *   - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
+  *   - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
+  *     and \a xpr is converted to a quaternion
+  */
+
+template<class Derived>
+template<class MatrixDerived>
+inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
+{
+  EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
+   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+  internal::quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
+  return derived();
+}
+
+/** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to
+  * be normalized, otherwise the result is undefined.
+  */
+template<class Derived>
+inline typename QuaternionBase<Derived>::Matrix3
+QuaternionBase<Derived>::toRotationMatrix(void) const
+{
+  // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
+  // if not inlined then the cost of the return by value is huge ~ +35%,
+  // however, not inlining this function is an order of magnitude slower, so
+  // it has to be inlined, and so the return by value is not an issue
+  Matrix3 res;
+
+  const Scalar tx  = 2*this->x();
+  const Scalar ty  = 2*this->y();
+  const Scalar tz  = 2*this->z();
+  const Scalar twx = tx*this->w();
+  const Scalar twy = ty*this->w();
+  const Scalar twz = tz*this->w();
+  const Scalar txx = tx*this->x();
+  const Scalar txy = ty*this->x();
+  const Scalar txz = tz*this->x();
+  const Scalar tyy = ty*this->y();
+  const Scalar tyz = tz*this->y();
+  const Scalar tzz = tz*this->z();
+
+  res.coeffRef(0,0) = 1-(tyy+tzz);
+  res.coeffRef(0,1) = txy-twz;
+  res.coeffRef(0,2) = txz+twy;
+  res.coeffRef(1,0) = txy+twz;
+  res.coeffRef(1,1) = 1-(txx+tzz);
+  res.coeffRef(1,2) = tyz-twx;
+  res.coeffRef(2,0) = txz-twy;
+  res.coeffRef(2,1) = tyz+twx;
+  res.coeffRef(2,2) = 1-(txx+tyy);
+
+  return res;
+}
+
+/** Sets \c *this to be a quaternion representing a rotation between
+  * the two arbitrary vectors \a a and \a b. In other words, the built
+  * rotation represent a rotation sending the line of direction \a a
+  * to the line of direction \a b, both lines passing through the origin.
+  *
+  * \returns a reference to \c *this.
+  *
+  * Note that the two input vectors do \b not have to be normalized, and
+  * do not need to have the same norm.
+  */
+template<class Derived>
+template<typename Derived1, typename Derived2>
+inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
+{
+  Vector3 v0 = a.normalized();
+  Vector3 v1 = b.normalized();
+  Scalar c = v1.dot(v0);
+
+  // if dot == -1, vectors are nearly opposites
+  // => accuraletly compute the rotation axis by computing the
+  //    intersection of the two planes. This is done by solving:
+  //       x^T v0 = 0
+  //       x^T v1 = 0
+  //    under the constraint:
+  //       ||x|| = 1
+  //    which yields a singular value problem
+  if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision())
+  {
+    c = std::max<Scalar>(c,-1);
+    Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
+    JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
+    Vector3 axis = svd.matrixV().col(2);
+
+    Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
+    this->w() = internal::sqrt(w2);
+    this->vec() = axis * internal::sqrt(Scalar(1) - w2);
+    return derived();
+  }
+  Vector3 axis = v0.cross(v1);
+  Scalar s = internal::sqrt((Scalar(1)+c)*Scalar(2));
+  Scalar invs = Scalar(1)/s;
+  this->vec() = axis * invs;
+  this->w() = s * Scalar(0.5);
+
+  return derived();
+}
+
+/** \returns the multiplicative inverse of \c *this
+  * Note that in most cases, i.e., if you simply want the opposite rotation,
+  * and/or the quaternion is normalized, then it is enough to use the conjugate.
+  *
+  * \sa QuaternionBase::conjugate()
+  */
+template <class Derived>
+inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
+{
+  // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
+  Scalar n2 = this->squaredNorm();
+  if (n2 > 0)
+    return Quaternion<Scalar>(conjugate().coeffs() / n2);
+  else
+  {
+    // return an invalid result to flag the error
+    return Quaternion<Scalar>(Coefficients::Zero());
+  }
+}
+
+/** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
+  * if the quaternion is normalized.
+  * The conjugate of a quaternion represents the opposite rotation.
+  *
+  * \sa Quaternion2::inverse()
+  */
+template <class Derived>
+inline Quaternion<typename internal::traits<Derived>::Scalar>
+QuaternionBase<Derived>::conjugate() const
+{
+  return Quaternion<Scalar>(this->w(),-this->x(),-this->y(),-this->z());
+}
+
+/** \returns the angle (in radian) between two rotations
+  * \sa dot()
+  */
+template <class Derived>
+template <class OtherDerived>
+inline typename internal::traits<Derived>::Scalar
+QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
+{
+  double d = internal::abs(this->dot(other));
+  if (d>=1.0)
+    return Scalar(0);
+  return static_cast<Scalar>(2 * std::acos(d));
+}
+
+/** \returns the spherical linear interpolation between the two quaternions
+  * \c *this and \a other at the parameter \a t
+  */
+template <class Derived>
+template <class OtherDerived>
+Quaternion<typename internal::traits<Derived>::Scalar>
+QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const
+{
+  static const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
+  Scalar d = this->dot(other);
+  Scalar absD = internal::abs(d);
+
+  Scalar scale0;
+  Scalar scale1;
+
+  if (absD>=one)
+  {
+    scale0 = Scalar(1) - t;
+    scale1 = t;
+  }
+  else
+  {
+    // theta is the angle between the 2 quaternions
+    Scalar theta = std::acos(absD);
+    Scalar sinTheta = internal::sin(theta);
+
+    scale0 = internal::sin( ( Scalar(1) - t ) * theta) / sinTheta;
+    scale1 = internal::sin( ( t * theta) ) / sinTheta;
+    if (d<0)
+      scale1 = -scale1;
+  }
+
+  return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
+}
+
+namespace internal {
+
+// set from a rotation matrix
+template<typename Other>
+struct quaternionbase_assign_impl<Other,3,3>
+{
+  typedef typename Other::Scalar Scalar;
+  typedef DenseIndex Index;
+  template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& mat)
+  {
+    // This algorithm comes from  "Quaternion Calculus and Fast Animation",
+    // Ken Shoemake, 1987 SIGGRAPH course notes
+    Scalar t = mat.trace();
+    if (t > Scalar(0))
+    {
+      t = sqrt(t + Scalar(1.0));
+      q.w() = Scalar(0.5)*t;
+      t = Scalar(0.5)/t;
+      q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
+      q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
+      q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;
+    }
+    else
+    {
+      DenseIndex i = 0;
+      if (mat.coeff(1,1) > mat.coeff(0,0))
+        i = 1;
+      if (mat.coeff(2,2) > mat.coeff(i,i))
+        i = 2;
+      DenseIndex j = (i+1)%3;
+      DenseIndex k = (j+1)%3;
+
+      t = sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
+      q.coeffs().coeffRef(i) = Scalar(0.5) * t;
+      t = Scalar(0.5)/t;
+      q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
+      q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
+      q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;
+    }
+  }
+};
+
+// set from a vector of coefficients assumed to be a quaternion
+template<typename Other>
+struct quaternionbase_assign_impl<Other,4,1>
+{
+  typedef typename Other::Scalar Scalar;
+  template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& vec)
+  {
+    q.coeffs() = vec;
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_QUATERNION_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Rotation2D.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Rotation2D.h
new file mode 100755
index 0000000..e1214bd
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Rotation2D.h
@@ -0,0 +1,165 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ROTATION2D_H
+#define EIGEN_ROTATION2D_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Rotation2D
+  *
+  * \brief Represents a rotation/orientation in a 2 dimensional space.
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  *
+  * This class is equivalent to a single scalar representing a counter clock wise rotation
+  * as a single angle in radian. It provides some additional features such as the automatic
+  * conversion from/to a 2x2 rotation matrix. Moreover this class aims to provide a similar
+  * interface to Quaternion in order to facilitate the writing of generic algorithms
+  * dealing with rotations.
+  *
+  * \sa class Quaternion, class Transform
+  */
+
+namespace internal {
+
+template<typename _Scalar> struct traits<Rotation2D<_Scalar> >
+{
+  typedef _Scalar Scalar;
+};
+} // end namespace internal
+
+template<typename _Scalar>
+class Rotation2D : public RotationBase<Rotation2D<_Scalar>,2>
+{
+  typedef RotationBase<Rotation2D<_Scalar>,2> Base;
+
+public:
+
+  using Base::operator*;
+
+  enum { Dim = 2 };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  typedef Matrix<Scalar,2,1> Vector2;
+  typedef Matrix<Scalar,2,2> Matrix2;
+
+protected:
+
+  Scalar m_angle;
+
+public:
+
+  /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */
+  inline Rotation2D(Scalar a) : m_angle(a) {}
+
+  /** \returns the rotation angle */
+  inline Scalar angle() const { return m_angle; }
+
+  /** \returns a read-write reference to the rotation angle */
+  inline Scalar& angle() { return m_angle; }
+
+  /** \returns the inverse rotation */
+  inline Rotation2D inverse() const { return -m_angle; }
+
+  /** Concatenates two rotations */
+  inline Rotation2D operator*(const Rotation2D& other) const
+  { return m_angle + other.m_angle; }
+
+  /** Concatenates two rotations */
+  inline Rotation2D& operator*=(const Rotation2D& other)
+  { return m_angle += other.m_angle; return *this; }
+
+  /** Applies the rotation to a 2D vector */
+  Vector2 operator* (const Vector2& vec) const
+  { return toRotationMatrix() * vec; }
+
+  template<typename Derived>
+  Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
+  Matrix2 toRotationMatrix(void) const;
+
+  /** \returns the spherical interpolation between \c *this and \a other using
+    * parameter \a t. It is in fact equivalent to a linear interpolation.
+    */
+  inline Rotation2D slerp(Scalar t, const Rotation2D& other) const
+  { return m_angle * (1-t) + other.angle() * t; }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
+  { return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
+  {
+    m_angle = Scalar(other.angle());
+  }
+
+  inline static Rotation2D Identity() { return Rotation2D(0); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Rotation2D& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return internal::isApprox(m_angle,other.m_angle, prec); }
+};
+
+/** \ingroup Geometry_Module
+  * single precision 2D rotation type */
+typedef Rotation2D<float> Rotation2Df;
+/** \ingroup Geometry_Module
+  * double precision 2D rotation type */
+typedef Rotation2D<double> Rotation2Dd;
+
+/** Set \c *this from a 2x2 rotation matrix \a mat.
+  * In other words, this function extract the rotation angle
+  * from the rotation matrix.
+  */
+template<typename Scalar>
+template<typename Derived>
+Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
+{
+  EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
+  m_angle = internal::atan2(mat.coeff(1,0), mat.coeff(0,0));
+  return *this;
+}
+
+/** Constructs and \returns an equivalent 2x2 rotation matrix.
+  */
+template<typename Scalar>
+typename Rotation2D<Scalar>::Matrix2
+Rotation2D<Scalar>::toRotationMatrix(void) const
+{
+  Scalar sinA = internal::sin(m_angle);
+  Scalar cosA = internal::cos(m_angle);
+  return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
+}
+
+#endif // EIGEN_ROTATION2D_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/RotationBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/RotationBase.h
new file mode 100755
index 0000000..1abf06b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/RotationBase.h
@@ -0,0 +1,217 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_ROTATIONBASE_H
+#define EIGEN_ROTATIONBASE_H
+
+// forward declaration
+namespace internal {
+template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
+struct rotation_base_generic_product_selector;
+}
+
+/** \class RotationBase
+  *
+  * \brief Common base class for compact rotation representations
+  *
+  * \param Derived is the derived type, i.e., a rotation type
+  * \param _Dim the dimension of the space
+  */
+template<typename Derived, int _Dim>
+class RotationBase
+{
+  public:
+    enum { Dim = _Dim };
+    /** the scalar type of the coefficients */
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+
+    /** corresponding linear transformation matrix type */
+    typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
+    typedef Matrix<Scalar,Dim,1> VectorType;
+
+  public:
+    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    inline Derived& derived() { return *static_cast<Derived*>(this); }
+
+    /** \returns an equivalent rotation matrix */
+    inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
+
+    /** \returns an equivalent rotation matrix 
+      * This function is added to be conform with the Transform class' naming scheme.
+      */
+    inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
+
+    /** \returns the inverse rotation */
+    inline Derived inverse() const { return derived().inverse(); }
+
+    /** \returns the concatenation of the rotation \c *this with a translation \a t */
+    inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
+    { return Transform<Scalar,Dim,Isometry>(*this) * t; }
+
+    /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
+    inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
+    { return toRotationMatrix() * s.factor(); }
+
+    /** \returns the concatenation of the rotation \c *this with a generic expression \a e
+      * \a e can be:
+      *  - a DimxDim linear transformation matrix
+      *  - a DimxDim diagonal matrix (axis aligned scaling)
+      *  - a vector of size Dim
+      */
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
+    operator*(const EigenBase<OtherDerived>& e) const
+    { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
+
+    /** \returns the concatenation of a linear transformation \a l with the rotation \a r */
+    template<typename OtherDerived> friend
+    inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
+    { return l.derived() * r.toRotationMatrix(); }
+
+    /** \returns the concatenation of a scaling \a l with the rotation \a r */
+    friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
+    { 
+      Transform<Scalar,Dim,Affine> res(r);
+      res.linear().applyOnTheLeft(l);
+      return res;
+    }
+
+    /** \returns the concatenation of the rotation \c *this with a transformation \a t */
+    template<int Mode, int Options>
+    inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
+    { return toRotationMatrix() * t; }
+
+    template<typename OtherVectorType>
+    inline VectorType _transformVector(const OtherVectorType& v) const
+    { return toRotationMatrix() * v; }
+};
+
+namespace internal {
+
+// implementation of the generic product rotation * matrix
+template<typename RotationDerived, typename MatrixType>
+struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
+{
+  enum { Dim = RotationDerived::Dim };
+  typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
+  inline static ReturnType run(const RotationDerived& r, const MatrixType& m)
+  { return r.toRotationMatrix() * m; }
+};
+
+template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
+struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
+{
+  typedef Transform<Scalar,Dim,Affine> ReturnType;
+  inline static ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
+  {
+    ReturnType res(r);
+    res.linear() *= m;
+    return res;
+  }
+};
+
+template<typename RotationDerived,typename OtherVectorType>
+struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
+{
+  enum { Dim = RotationDerived::Dim };
+  typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
+  EIGEN_STRONG_INLINE static ReturnType run(const RotationDerived& r, const OtherVectorType& v)
+  {
+    return r._transformVector(v);
+  }
+};
+
+} // end namespace internal
+
+/** \geometry_module
+  *
+  * \brief Constructs a Dim x Dim rotation matrix from the rotation \a r
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
+template<typename OtherDerived>
+Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
+::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
+{
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
+  *this = r.toRotationMatrix();
+}
+
+/** \geometry_module
+  *
+  * \brief Set a Dim x Dim rotation matrix from the rotation \a r
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
+template<typename OtherDerived>
+Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
+::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
+{
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
+  return *this = r.toRotationMatrix();
+}
+
+namespace internal {
+
+/** \internal
+  *
+  * Helper function to return an arbitrary rotation object to a rotation matrix.
+  *
+  * \param Scalar the numeric type of the matrix coefficients
+  * \param Dim the dimension of the current space
+  *
+  * It returns a Dim x Dim fixed size matrix.
+  *
+  * Default specializations are provided for:
+  *   - any scalar type (2D),
+  *   - any matrix expression,
+  *   - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D)
+  *
+  * Currently toRotationMatrix is only used by Transform.
+  *
+  * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
+  */
+template<typename Scalar, int Dim>
+inline static Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
+{
+  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return Rotation2D<Scalar>(s).toRotationMatrix();
+}
+
+template<typename Scalar, int Dim, typename OtherDerived>
+inline static Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
+{
+  return r.toRotationMatrix();
+}
+
+template<typename Scalar, int Dim, typename OtherDerived>
+inline static const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
+{
+  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
+    YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return mat;
+}
+
+} // end namespace internal
+
+#endif // EIGEN_ROTATIONBASE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Scaling.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Scaling.h
new file mode 100755
index 0000000..c911d13
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Scaling.h
@@ -0,0 +1,182 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SCALING_H
+#define EIGEN_SCALING_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Scaling
+  *
+  * \brief Represents a generic uniform scaling transformation
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  *
+  * This class represent a uniform scaling transformation. It is the return
+  * type of Scaling(Scalar), and most of the time this is the only way it
+  * is used. In particular, this class is not aimed to be used to store a scaling transformation,
+  * but rather to make easier the constructions and updates of Transform objects.
+  *
+  * To represent an axis aligned scaling, use the DiagonalMatrix class.
+  *
+  * \sa Scaling(), class DiagonalMatrix, MatrixBase::asDiagonal(), class Translation, class Transform
+  */
+template<typename _Scalar>
+class UniformScaling
+{
+public:
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+
+protected:
+
+  Scalar m_factor;
+
+public:
+
+  /** Default constructor without initialization. */
+  UniformScaling() {}
+  /** Constructs and initialize a uniform scaling transformation */
+  explicit inline UniformScaling(const Scalar& s) : m_factor(s) {}
+
+  inline const Scalar& factor() const { return m_factor; }
+  inline Scalar& factor() { return m_factor; }
+
+  /** Concatenates two uniform scaling */
+  inline UniformScaling operator* (const UniformScaling& other) const
+  { return UniformScaling(m_factor * other.factor()); }
+
+  /** Concatenates a uniform scaling and a translation */
+  template<int Dim>
+  inline Transform<Scalar,Dim,Affine> operator* (const Translation<Scalar,Dim>& t) const;
+
+  /** Concatenates a uniform scaling and an affine transformation */
+  template<int Dim, int Mode, int Options>
+  inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const;
+
+  /** Concatenates a uniform scaling and a linear transformation matrix */
+  // TODO returns an expression
+  template<typename Derived>
+  inline typename internal::plain_matrix_type<Derived>::type operator* (const MatrixBase<Derived>& other) const
+  { return other * m_factor; }
+
+  template<typename Derived,int Dim>
+  inline Matrix<Scalar,Dim,Dim> operator*(const RotationBase<Derived,Dim>& r) const
+  { return r.toRotationMatrix() * m_factor; }
+
+  /** \returns the inverse scaling */
+  inline UniformScaling inverse() const
+  { return UniformScaling(Scalar(1)/m_factor); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline UniformScaling<NewScalarType> cast() const
+  { return UniformScaling<NewScalarType>(NewScalarType(m_factor)); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit UniformScaling(const UniformScaling<OtherScalarType>& other)
+  { m_factor = Scalar(other.factor()); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const UniformScaling& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return internal::isApprox(m_factor, other.factor(), prec); }
+
+};
+
+/** Concatenates a linear transformation matrix and a uniform scaling */
+// NOTE this operator is defiend in MatrixBase and not as a friend function
+// of UniformScaling to fix an internal crash of Intel's ICC
+template<typename Derived> typename MatrixBase<Derived>::ScalarMultipleReturnType
+MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
+{ return derived() * s.factor(); }
+
+/** Constructs a uniform scaling from scale factor \a s */
+static inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); }
+/** Constructs a uniform scaling from scale factor \a s */
+static inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); }
+/** Constructs a uniform scaling from scale factor \a s */
+template<typename RealScalar>
+static inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s)
+{ return UniformScaling<std::complex<RealScalar> >(s); }
+
+/** Constructs a 2D axis aligned scaling */
+template<typename Scalar>
+static inline DiagonalMatrix<Scalar,2> Scaling(Scalar sx, Scalar sy)
+{ return DiagonalMatrix<Scalar,2>(sx, sy); }
+/** Constructs a 3D axis aligned scaling */
+template<typename Scalar>
+static inline DiagonalMatrix<Scalar,3> Scaling(Scalar sx, Scalar sy, Scalar sz)
+{ return DiagonalMatrix<Scalar,3>(sx, sy, sz); }
+
+/** Constructs an axis aligned scaling expression from vector expression \a coeffs
+  * This is an alias for coeffs.asDiagonal()
+  */
+template<typename Derived>
+static inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
+{ return coeffs.asDiagonal(); }
+
+/** \addtogroup Geometry_Module */
+//@{
+/** \deprecated */
+typedef DiagonalMatrix<float, 2> AlignedScaling2f;
+/** \deprecated */
+typedef DiagonalMatrix<double,2> AlignedScaling2d;
+/** \deprecated */
+typedef DiagonalMatrix<float, 3> AlignedScaling3f;
+/** \deprecated */
+typedef DiagonalMatrix<double,3> AlignedScaling3d;
+//@}
+
+template<typename Scalar>
+template<int Dim>
+inline Transform<Scalar,Dim,Affine>
+UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const
+{
+  Transform<Scalar,Dim,Affine> res;
+  res.matrix().setZero();
+  res.linear().diagonal().fill(factor());
+  res.translation() = factor() * t.vector();
+  res(Dim,Dim) = Scalar(1);
+  return res;
+}
+
+template<typename Scalar>
+template<int Dim,int Mode,int Options>
+inline Transform<Scalar,Dim,Mode>
+UniformScaling<Scalar>::operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
+{
+  Transform<Scalar,Dim,Mode> res = t;
+  res.prescale(factor());
+  return res;
+}
+
+#endif // EIGEN_SCALING_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Transform.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Transform.h
new file mode 100755
index 0000000..289077c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Transform.h
@@ -0,0 +1,1387 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRANSFORM_H
+#define EIGEN_TRANSFORM_H
+
+namespace internal {
+
+template<typename Transform>
+struct transform_traits
+{
+  enum
+  {
+    Dim = Transform::Dim,
+    HDim = Transform::HDim,
+    Mode = Transform::Mode,
+    IsProjective = (Mode==Projective)
+  };
+};
+
+template< typename TransformType,
+          typename MatrixType,
+          int Case = transform_traits<TransformType>::IsProjective ? 0
+                   : int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
+                   : 2>
+struct transform_right_product_impl;
+
+template< typename Other,
+          int Mode,
+          int Options,
+          int Dim,
+          int HDim,
+          int OtherRows=Other::RowsAtCompileTime,
+          int OtherCols=Other::ColsAtCompileTime>
+struct transform_left_product_impl;
+
+template< typename Lhs,
+          typename Rhs,
+          bool AnyProjective = 
+            transform_traits<Lhs>::IsProjective ||
+            transform_traits<Lhs>::IsProjective>
+struct transform_transform_product_impl;
+
+template< typename Other,
+          int Mode,
+          int Options,
+          int Dim,
+          int HDim,
+          int OtherRows=Other::RowsAtCompileTime,
+          int OtherCols=Other::ColsAtCompileTime>
+struct transform_construct_from_matrix;
+
+template<typename TransformType> struct transform_take_affine_part;
+
+} // end namespace internal
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Transform
+  *
+  * \brief Represents an homogeneous transformation in a N dimensional space
+  *
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
+  * \tparam _Dim the dimension of the space
+  * \tparam _Mode the type of the transformation. Can be:
+  *              - Affine: the transformation is stored as a (Dim+1)^2 matrix,
+  *                        where the last row is assumed to be [0 ... 0 1].
+  *              - AffineCompact: the transformation is stored as a (Dim)x(Dim+1) matrix.
+  *              - Projective: the transformation is stored as a (Dim+1)^2 matrix
+  *                            without any assumption.
+  * \tparam _Options has the same meaning as in class Matrix. It allows to specify DontAlign and/or RowMajor.
+  *                  These Options are passed directly to the underlying matrix type.
+  *
+  * The homography is internally represented and stored by a matrix which
+  * is available through the matrix() method. To understand the behavior of
+  * this class you have to think a Transform object as its internal
+  * matrix representation. The chosen convention is right multiply:
+  *
+  * \code v' = T * v \endcode
+  *
+  * Therefore, an affine transformation matrix M is shaped like this:
+  *
+  * \f$ \left( \begin{array}{cc}
+  * linear & translation\\
+  * 0 ... 0 & 1
+  * \end{array} \right) \f$
+  *
+  * Note that for a projective transformation the last row can be anything,
+  * and then the interpretation of different parts might be sightly different.
+  *
+  * However, unlike a plain matrix, the Transform class provides many features
+  * simplifying both its assembly and usage. In particular, it can be composed
+  * with any other transformations (Transform,Translation,RotationBase,Matrix)
+  * and can be directly used to transform implicit homogeneous vectors. All these
+  * operations are handled via the operator*. For the composition of transformations,
+  * its principle consists to first convert the right/left hand sides of the product
+  * to a compatible (Dim+1)^2 matrix and then perform a pure matrix product.
+  * Of course, internally, operator* tries to perform the minimal number of operations
+  * according to the nature of each terms. Likewise, when applying the transform
+  * to non homogeneous vectors, the latters are automatically promoted to homogeneous
+  * one before doing the matrix product. The convertions to homogeneous representations
+  * are performed as follow:
+  *
+  * \b Translation t (Dim)x(1):
+  * \f$ \left( \begin{array}{cc}
+  * I & t \\
+  * 0\,...\,0 & 1
+  * \end{array} \right) \f$
+  *
+  * \b Rotation R (Dim)x(Dim):
+  * \f$ \left( \begin{array}{cc}
+  * R & 0\\
+  * 0\,...\,0 & 1
+  * \end{array} \right) \f$
+  *
+  * \b Linear \b Matrix L (Dim)x(Dim):
+  * \f$ \left( \begin{array}{cc}
+  * L & 0\\
+  * 0\,...\,0 & 1
+  * \end{array} \right) \f$
+  *
+  * \b Affine \b Matrix A (Dim)x(Dim+1):
+  * \f$ \left( \begin{array}{c}
+  * A\\
+  * 0\,...\,0\,1
+  * \end{array} \right) \f$
+  *
+  * \b Column \b vector v (Dim)x(1):
+  * \f$ \left( \begin{array}{c}
+  * v\\
+  * 1
+  * \end{array} \right) \f$
+  *
+  * \b Set \b of \b column \b vectors V1...Vn (Dim)x(n):
+  * \f$ \left( \begin{array}{ccc}
+  * v_1 & ... & v_n\\
+  * 1 & ... & 1
+  * \end{array} \right) \f$
+  *
+  * The concatenation of a Transform object with any kind of other transformation
+  * always returns a Transform object.
+  *
+  * A little exception to the "as pure matrix product" rule is the case of the
+  * transformation of non homogeneous vectors by an affine transformation. In
+  * that case the last matrix row can be ignored, and the product returns non
+  * homogeneous vectors.
+  *
+  * Since, for instance, a Dim x Dim matrix is interpreted as a linear transformation,
+  * it is not possible to directly transform Dim vectors stored in a Dim x Dim matrix.
+  * The solution is either to use a Dim x Dynamic matrix or explicitly request a
+  * vector transformation by making the vector homogeneous:
+  * \code
+  * m' = T * m.colwise().homogeneous();
+  * \endcode
+  * Note that there is zero overhead.
+  *
+  * Conversion methods from/to Qt's QMatrix and QTransform are available if the
+  * preprocessor token EIGEN_QT_SUPPORT is defined.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_TRANSFORM_PLUGIN.
+  *
+  * \sa class Matrix, class Quaternion
+  */
+template<typename _Scalar, int _Dim, int _Mode, int _Options>
+class Transform
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
+  enum {
+    Mode = _Mode,
+    Options = _Options,
+    Dim = _Dim,     ///< space dimension in which the transformation holds
+    HDim = _Dim+1,  ///< size of a respective homogeneous vector
+    Rows = int(Mode)==(AffineCompact) ? Dim : HDim
+  };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  typedef DenseIndex Index;
+  /** type of the matrix used to represent the transformation */
+  typedef typename internal::make_proper_matrix_type<Scalar,Rows,HDim,Options>::type MatrixType;
+  /** constified MatrixType */
+  typedef const MatrixType ConstMatrixType;
+  /** type of the matrix used to represent the linear part of the transformation */
+  typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType;
+  /** type of read/write reference to the linear part of the transformation */
+  typedef Block<MatrixType,Dim,Dim> LinearPart;
+  /** type of read reference to the linear part of the transformation */
+  typedef const Block<ConstMatrixType,Dim,Dim> ConstLinearPart;
+  /** type of read/write reference to the affine part of the transformation */
+  typedef typename internal::conditional<int(Mode)==int(AffineCompact),
+                              MatrixType&,
+                              Block<MatrixType,Dim,HDim> >::type AffinePart;
+  /** type of read reference to the affine part of the transformation */
+  typedef typename internal::conditional<int(Mode)==int(AffineCompact),
+                              const MatrixType&,
+                              const Block<const MatrixType,Dim,HDim> >::type ConstAffinePart;
+  /** type of a vector */
+  typedef Matrix<Scalar,Dim,1> VectorType;
+  /** type of a read/write reference to the translation part of the rotation */
+  typedef Block<MatrixType,Dim,1> TranslationPart;
+  /** type of a read reference to the translation part of the rotation */
+  typedef const Block<ConstMatrixType,Dim,1> ConstTranslationPart;
+  /** corresponding translation type */
+  typedef Translation<Scalar,Dim> TranslationType;
+  
+  // this intermediate enum is needed to avoid an ICE with gcc 3.4 and 4.0
+  enum { TransformTimeDiagonalMode = ((Mode==int(Isometry))?Affine:int(Mode)) };
+  /** The return type of the product between a diagonal matrix and a transform */
+  typedef Transform<Scalar,Dim,TransformTimeDiagonalMode> TransformTimeDiagonalReturnType;
+
+protected:
+
+  MatrixType m_matrix;
+
+public:
+
+  /** Default constructor without initialization of the meaningful coefficients.
+    * If Mode==Affine, then the last row is set to [0 ... 0 1] */
+  inline Transform()
+  {
+    check_template_params();
+    if (int(Mode)==Affine)
+      makeAffine();
+  }
+
+  inline Transform(const Transform& other)
+  {
+    check_template_params();
+    m_matrix = other.m_matrix;
+  }
+
+  inline explicit Transform(const TranslationType& t)
+  {
+    check_template_params();
+    *this = t;
+  }
+  inline explicit Transform(const UniformScaling<Scalar>& s)
+  {
+    check_template_params();
+    *this = s;
+  }
+  template<typename Derived>
+  inline explicit Transform(const RotationBase<Derived, Dim>& r)
+  {
+    check_template_params();
+    *this = r;
+  }
+
+  inline Transform& operator=(const Transform& other)
+  { m_matrix = other.m_matrix; return *this; }
+
+  typedef internal::transform_take_affine_part<Transform> take_affine_part;
+
+  /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
+  template<typename OtherDerived>
+  inline explicit Transform(const EigenBase<OtherDerived>& other)
+  {
+    check_template_params();
+    internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
+  }
+
+  /** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
+  template<typename OtherDerived>
+  inline Transform& operator=(const EigenBase<OtherDerived>& other)
+  {
+    internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
+    return *this;
+  }
+  
+  template<int OtherOptions>
+  inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
+  {
+    check_template_params();
+    // only the options change, we can directly copy the matrices
+    m_matrix = other.matrix();
+  }
+
+  template<int OtherMode,int OtherOptions>
+  inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
+  {
+    check_template_params();
+    // prevent conversions as:
+    // Affine | AffineCompact | Isometry = Projective
+    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Projective), Mode==int(Projective)),
+                        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
+
+    // prevent conversions as:
+    // Isometry = Affine | AffineCompact
+    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
+                        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
+
+    enum { ModeIsAffineCompact = Mode == int(AffineCompact),
+           OtherModeIsAffineCompact = OtherMode == int(AffineCompact)
+    };
+
+    if(ModeIsAffineCompact == OtherModeIsAffineCompact)
+    {
+      // We need the block expression because the code is compiled for all
+      // combinations of transformations and will trigger a compile time error
+      // if one tries to assign the matrices directly
+      m_matrix.template block<Dim,Dim+1>(0,0) = other.matrix().template block<Dim,Dim+1>(0,0);
+      makeAffine();
+    }
+    else if(OtherModeIsAffineCompact)
+    {
+      typedef typename Transform<Scalar,Dim,OtherMode,OtherOptions>::MatrixType OtherMatrixType;
+      internal::transform_construct_from_matrix<OtherMatrixType,Mode,Options,Dim,HDim>::run(this, other.matrix());
+    }
+    else
+    {
+      // here we know that Mode == AffineCompact and OtherMode != AffineCompact.
+      // if OtherMode were Projective, the static assert above would already have caught it.
+      // So the only possibility is that OtherMode == Affine
+      linear() = other.linear();
+      translation() = other.translation();
+    }
+  }
+
+  template<typename OtherDerived>
+  Transform(const ReturnByValue<OtherDerived>& other)
+  {
+    check_template_params();
+    other.evalTo(*this);
+  }
+
+  template<typename OtherDerived>
+  Transform& operator=(const ReturnByValue<OtherDerived>& other)
+  {
+    other.evalTo(*this);
+    return *this;
+  }
+
+  #ifdef EIGEN_QT_SUPPORT
+  inline Transform(const QMatrix& other);
+  inline Transform& operator=(const QMatrix& other);
+  inline QMatrix toQMatrix(void) const;
+  inline Transform(const QTransform& other);
+  inline Transform& operator=(const QTransform& other);
+  inline QTransform toQTransform(void) const;
+  #endif
+
+  /** shortcut for m_matrix(row,col);
+    * \sa MatrixBase::operator(Index,Index) const */
+  inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
+  /** shortcut for m_matrix(row,col);
+    * \sa MatrixBase::operator(Index,Index) */
+  inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
+
+  /** \returns a read-only expression of the transformation matrix */
+  inline const MatrixType& matrix() const { return m_matrix; }
+  /** \returns a writable expression of the transformation matrix */
+  inline MatrixType& matrix() { return m_matrix; }
+
+  /** \returns a read-only expression of the linear part of the transformation */
+  inline ConstLinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
+  /** \returns a writable expression of the linear part of the transformation */
+  inline LinearPart linear() { return m_matrix.template block<Dim,Dim>(0,0); }
+
+  /** \returns a read-only expression of the Dim x HDim affine part of the transformation */
+  inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
+  /** \returns a writable expression of the Dim x HDim affine part of the transformation */
+  inline AffinePart affine() { return take_affine_part::run(m_matrix); }
+
+  /** \returns a read-only expression of the translation vector of the transformation */
+  inline ConstTranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
+  /** \returns a writable expression of the translation vector of the transformation */
+  inline TranslationPart translation() { return m_matrix.template block<Dim,1>(0,Dim); }
+
+  /** \returns an expression of the product between the transform \c *this and a matrix expression \a other
+    *
+    * The right hand side \a other might be either:
+    * \li a vector of size Dim,
+    * \li an homogeneous vector of size Dim+1,
+    * \li a set of vectors of size Dim x Dynamic,
+    * \li a set of homogeneous vectors of size Dim+1 x Dynamic,
+    * \li a linear transformation matrix of size Dim x Dim,
+    * \li an affine transformation matrix of size Dim x Dim+1,
+    * \li a transformation matrix of size Dim+1 x Dim+1.
+    */
+  // note: this function is defined here because some compilers cannot find the respective declaration
+  template<typename OtherDerived>
+  EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
+  operator * (const EigenBase<OtherDerived> &other) const
+  { return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
+
+  /** \returns the product expression of a transformation matrix \a a times a transform \a b
+    *
+    * The left hand side \a other might be either:
+    * \li a linear transformation matrix of size Dim x Dim,
+    * \li an affine transformation matrix of size Dim x Dim+1,
+    * \li a general transformation matrix of size Dim+1 x Dim+1.
+    */
+  template<typename OtherDerived> friend
+  inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
+    operator * (const EigenBase<OtherDerived> &a, const Transform &b)
+  { return internal::transform_left_product_impl<OtherDerived,Mode,Options,Dim,HDim>::run(a.derived(),b); }
+
+  /** \returns The product expression of a transform \a a times a diagonal matrix \a b
+    *
+    * The rhs diagonal matrix is interpreted as an affine scaling transformation. The
+    * product results in a Transform of the same type (mode) as the lhs only if the lhs 
+    * mode is no isometry. In that case, the returned transform is an affinity.
+    */
+  template<typename DiagonalDerived>
+  inline const TransformTimeDiagonalReturnType
+    operator * (const DiagonalBase<DiagonalDerived> &b) const
+  {
+    TransformTimeDiagonalReturnType res(*this);
+    res.linear() *= b;
+    return res;
+  }
+
+  /** \returns The product expression of a diagonal matrix \a a times a transform \a b
+    *
+    * The lhs diagonal matrix is interpreted as an affine scaling transformation. The
+    * product results in a Transform of the same type (mode) as the lhs only if the lhs 
+    * mode is no isometry. In that case, the returned transform is an affinity.
+    */
+  template<typename DiagonalDerived>
+  friend inline TransformTimeDiagonalReturnType
+    operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
+  {
+    TransformTimeDiagonalReturnType res;
+    res.linear().noalias() = a*b.linear();
+    res.translation().noalias() = a*b.translation();
+    if (Mode!=int(AffineCompact))
+      res.matrix().row(Dim) = b.matrix().row(Dim);
+    return res;
+  }
+
+  template<typename OtherDerived>
+  inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
+
+  /** Concatenates two transformations */
+  inline const Transform operator * (const Transform& other) const
+  {
+    return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
+  }
+
+  /** Concatenates two different transformations */
+  template<int OtherMode,int OtherOptions>
+  inline const typename internal::transform_transform_product_impl<
+    Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
+    operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
+  {
+    return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other);
+  }
+
+  /** \sa MatrixBase::setIdentity() */
+  void setIdentity() { m_matrix.setIdentity(); }
+
+  /**
+   * \brief Returns an identity transformation.
+   * \todo In the future this function should be returning a Transform expression.
+   */
+  static const Transform Identity()
+  {
+    return Transform(MatrixType::Identity());
+  }
+
+  template<typename OtherDerived>
+  inline Transform& scale(const MatrixBase<OtherDerived> &other);
+
+  template<typename OtherDerived>
+  inline Transform& prescale(const MatrixBase<OtherDerived> &other);
+
+  inline Transform& scale(Scalar s);
+  inline Transform& prescale(Scalar s);
+
+  template<typename OtherDerived>
+  inline Transform& translate(const MatrixBase<OtherDerived> &other);
+
+  template<typename OtherDerived>
+  inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
+
+  template<typename RotationType>
+  inline Transform& rotate(const RotationType& rotation);
+
+  template<typename RotationType>
+  inline Transform& prerotate(const RotationType& rotation);
+
+  Transform& shear(Scalar sx, Scalar sy);
+  Transform& preshear(Scalar sx, Scalar sy);
+
+  inline Transform& operator=(const TranslationType& t);
+  inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
+  inline Transform operator*(const TranslationType& t) const;
+
+  inline Transform& operator=(const UniformScaling<Scalar>& t);
+  inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
+  inline Transform operator*(const UniformScaling<Scalar>& s) const;
+
+  inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; }
+
+  template<typename Derived>
+  inline Transform& operator=(const RotationBase<Derived,Dim>& r);
+  template<typename Derived>
+  inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
+  template<typename Derived>
+  inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
+
+  const LinearMatrixType rotation() const;
+  template<typename RotationMatrixType, typename ScalingMatrixType>
+  void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
+  template<typename ScalingMatrixType, typename RotationMatrixType>
+  void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
+
+  template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
+  Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
+    const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
+
+  inline Transform inverse(TransformTraits traits = (TransformTraits)Mode) const;
+
+  /** \returns a const pointer to the column major internal matrix */
+  const Scalar* data() const { return m_matrix.data(); }
+  /** \returns a non-const pointer to the column major internal matrix */
+  Scalar* data() { return m_matrix.data(); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
+  { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
+  {
+    check_template_params();
+    m_matrix = other.matrix().template cast<Scalar>();
+  }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Transform& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_matrix.isApprox(other.m_matrix, prec); }
+
+  /** Sets the last row to [0 ... 0 1]
+    */
+  void makeAffine()
+  {
+    if(int(Mode)!=int(AffineCompact))
+    {
+      matrix().template block<1,Dim>(Dim,0).setZero();
+      matrix().coeffRef(Dim,Dim) = 1;
+    }
+  }
+
+  /** \internal
+    * \returns the Dim x Dim linear part if the transformation is affine,
+    *          and the HDim x Dim part for projective transformations.
+    */
+  inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
+  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
+  /** \internal
+    * \returns the Dim x Dim linear part if the transformation is affine,
+    *          and the HDim x Dim part for projective transformations.
+    */
+  inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
+  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
+
+  /** \internal
+    * \returns the translation part if the transformation is affine,
+    *          and the last column for projective transformations.
+    */
+  inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
+  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
+  /** \internal
+    * \returns the translation part if the transformation is affine,
+    *          and the last column for projective transformations.
+    */
+  inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
+  { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
+
+
+  #ifdef EIGEN_TRANSFORM_PLUGIN
+  #include EIGEN_TRANSFORM_PLUGIN
+  #endif
+  
+protected:
+  #ifndef EIGEN_PARSED_BY_DOXYGEN
+    EIGEN_STRONG_INLINE static void check_template_params()
+    {
+      EIGEN_STATIC_ASSERT((Options & (DontAlign|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)
+    }
+  #endif
+
+};
+
+/** \ingroup Geometry_Module */
+typedef Transform<float,2,Isometry> Isometry2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float,3,Isometry> Isometry3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double,2,Isometry> Isometry2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double,3,Isometry> Isometry3d;
+
+/** \ingroup Geometry_Module */
+typedef Transform<float,2,Affine> Affine2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float,3,Affine> Affine3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double,2,Affine> Affine2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double,3,Affine> Affine3d;
+
+/** \ingroup Geometry_Module */
+typedef Transform<float,2,AffineCompact> AffineCompact2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float,3,AffineCompact> AffineCompact3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double,2,AffineCompact> AffineCompact2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double,3,AffineCompact> AffineCompact3d;
+
+/** \ingroup Geometry_Module */
+typedef Transform<float,2,Projective> Projective2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float,3,Projective> Projective3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double,2,Projective> Projective2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double,3,Projective> Projective3d;
+
+/**************************
+*** Optional QT support ***
+**************************/
+
+#ifdef EIGEN_QT_SUPPORT
+/** Initializes \c *this from a QMatrix assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode,int Options>
+Transform<Scalar,Dim,Mode,Options>::Transform(const QMatrix& other)
+{
+  check_template_params();
+  *this = other;
+}
+
+/** Set \c *this from a QMatrix assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode,int Otpions>
+Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QMatrix& other)
+{
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  m_matrix << other.m11(), other.m21(), other.dx(),
+              other.m12(), other.m22(), other.dy(),
+              0, 0, 1;
+  return *this;
+}
+
+/** \returns a QMatrix from \c *this assuming the dimension is 2.
+  *
+  * \warning this conversion might loss data if \c *this is not affine
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+QMatrix Transform<Scalar,Dim,Mode,Options>::toQMatrix(void) const
+{
+  check_template_params();
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return QMatrix(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
+                 m_matrix.coeff(0,1), m_matrix.coeff(1,1),
+                 m_matrix.coeff(0,2), m_matrix.coeff(1,2));
+}
+
+/** Initializes \c *this from a QTransform assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode,int Options>
+Transform<Scalar,Dim,Mode,Options>::Transform(const QTransform& other)
+{
+  check_template_params();
+  *this = other;
+}
+
+/** Set \c *this from a QTransform assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QTransform& other)
+{
+  check_template_params();
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  m_matrix << other.m11(), other.m21(), other.dx(),
+              other.m12(), other.m22(), other.dy(),
+              other.m13(), other.m23(), other.m33();
+  return *this;
+}
+
+/** \returns a QTransform from \c *this assuming the dimension is 2.
+  *
+  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
+{
+  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  return QTransform(matrix.coeff(0,0), matrix.coeff(1,0), matrix.coeff(2,0)
+                    matrix.coeff(0,1), matrix.coeff(1,1), matrix.coeff(2,1)
+                    matrix.coeff(0,2), matrix.coeff(1,2), matrix.coeff(2,2));
+}
+#endif
+
+/*********************
+*** Procedural API ***
+*********************/
+
+/** Applies on the right the non uniform scale transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \sa prescale()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename OtherDerived>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  linearExt().noalias() = (linearExt() * other.asDiagonal());
+  return *this;
+}
+
+/** Applies on the right a uniform scale of a factor \a c to \c *this
+  * and returns a reference to \c *this.
+  * \sa prescale(Scalar)
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(Scalar s)
+{
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  linearExt() *= s;
+  return *this;
+}
+
+/** Applies on the left the non uniform scale transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \sa scale()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename OtherDerived>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  m_matrix.template block<Dim,HDim>(0,0).noalias() = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0));
+  return *this;
+}
+
+/** Applies on the left a uniform scale of a factor \a c to \c *this
+  * and returns a reference to \c *this.
+  * \sa scale(Scalar)
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(Scalar s)
+{
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  m_matrix.template topRows<Dim>() *= s;
+  return *this;
+}
+
+/** Applies on the right the translation matrix represented by the vector \a other
+  * to \c *this and returns a reference to \c *this.
+  * \sa pretranslate()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename OtherDerived>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  translationExt() += linearExt() * other;
+  return *this;
+}
+
+/** Applies on the left the translation matrix represented by the vector \a other
+  * to \c *this and returns a reference to \c *this.
+  * \sa translate()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename OtherDerived>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
+  if(int(Mode)==int(Projective))
+    affine() += other * m_matrix.row(Dim);
+  else
+    translation() += other;
+  return *this;
+}
+
+/** Applies on the right the rotation represented by the rotation \a rotation
+  * to \c *this and returns a reference to \c *this.
+  *
+  * The template parameter \a RotationType is the type of the rotation which
+  * must be known by internal::toRotationMatrix<>.
+  *
+  * Natively supported types includes:
+  *   - any scalar (2D),
+  *   - a Dim x Dim matrix expression,
+  *   - a Quaternion (3D),
+  *   - a AngleAxis (3D)
+  *
+  * This mechanism is easily extendable to support user types such as Euler angles,
+  * or a pair of Quaternion for 4D rotations.
+  *
+  * \sa rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename RotationType>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
+{
+  linearExt() *= internal::toRotationMatrix<Scalar,Dim>(rotation);
+  return *this;
+}
+
+/** Applies on the left the rotation represented by the rotation \a rotation
+  * to \c *this and returns a reference to \c *this.
+  *
+  * See rotate() for further details.
+  *
+  * \sa rotate()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename RotationType>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
+{
+  m_matrix.template block<Dim,HDim>(0,0) = internal::toRotationMatrix<Scalar,Dim>(rotation)
+                                         * m_matrix.template block<Dim,HDim>(0,0);
+  return *this;
+}
+
+/** Applies on the right the shear transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \warning 2D only.
+  * \sa preshear()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::shear(Scalar sx, Scalar sy)
+{
+  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  VectorType tmp = linear().col(0)*sy + linear().col(1);
+  linear() << linear().col(0) + linear().col(1)*sx, tmp;
+  return *this;
+}
+
+/** Applies on the left the shear transformation represented
+  * by the vector \a other to \c *this and returns a reference to \c *this.
+  * \warning 2D only.
+  * \sa shear()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::preshear(Scalar sx, Scalar sy)
+{
+  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
+  EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
+  m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
+  return *this;
+}
+
+/******************************************************
+*** Scaling, Translation and Rotation compatibility ***
+******************************************************/
+
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
+{
+  linear().setIdentity();
+  translation() = t.vector();
+  makeAffine();
+  return *this;
+}
+
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
+{
+  Transform res = *this;
+  res.translate(t.vector());
+  return res;
+}
+
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
+{
+  m_matrix.setZero();
+  linear().diagonal().fill(s.factor());
+  makeAffine();
+  return *this;
+}
+
+template<typename Scalar, int Dim, int Mode, int Options>
+inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const UniformScaling<Scalar>& s) const
+{
+  Transform res = *this;
+  res.scale(s.factor());
+  return res;
+}
+
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename Derived>
+inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
+{
+  linear() = internal::toRotationMatrix<Scalar,Dim>(r);
+  translation().setZero();
+  makeAffine();
+  return *this;
+}
+
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename Derived>
+inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
+{
+  Transform res = *this;
+  res.rotate(r.derived());
+  return res;
+}
+
+/************************
+*** Special functions ***
+************************/
+
+/** \returns the rotation part of the transformation
+  *
+  *
+  * \svd_module
+  *
+  * \sa computeRotationScaling(), computeScalingRotation(), class SVD
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
+Transform<Scalar,Dim,Mode,Options>::rotation() const
+{
+  LinearMatrixType result;
+  computeRotationScaling(&result, (LinearMatrixType*)0);
+  return result;
+}
+
+
+/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
+  * not necessarily positive.
+  *
+  * If either pointer is zero, the corresponding computation is skipped.
+  *
+  *
+  *
+  * \svd_module
+  *
+  * \sa computeScalingRotation(), rotation(), class SVD
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename RotationMatrixType, typename ScalingMatrixType>
+void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
+{
+  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
+
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
+  VectorType sv(svd.singularValues());
+  sv.coeffRef(0) *= x;
+  if(scaling) scaling->lazyAssign(svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint());
+  if(rotation)
+  {
+    LinearMatrixType m(svd.matrixU());
+    m.col(0) /= x;
+    rotation->lazyAssign(m * svd.matrixV().adjoint());
+  }
+}
+
+/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
+  * not necessarily positive.
+  *
+  * If either pointer is zero, the corresponding computation is skipped.
+  *
+  *
+  *
+  * \svd_module
+  *
+  * \sa computeRotationScaling(), rotation(), class SVD
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename ScalingMatrixType, typename RotationMatrixType>
+void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
+{
+  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
+
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
+  VectorType sv(svd.singularValues());
+  sv.coeffRef(0) *= x;
+  if(scaling) scaling->lazyAssign(svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint());
+  if(rotation)
+  {
+    LinearMatrixType m(svd.matrixU());
+    m.col(0) /= x;
+    rotation->lazyAssign(m * svd.matrixV().adjoint());
+  }
+}
+
+/** Convenient method to set \c *this from a position, orientation and scale
+  * of a 3D object.
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
+Transform<Scalar,Dim,Mode,Options>&
+Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
+  const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
+{
+  linear() = internal::toRotationMatrix<Scalar,Dim>(orientation);
+  linear() *= scale.asDiagonal();
+  translation() = position;
+  makeAffine();
+  return *this;
+}
+
+namespace internal {
+
+// selector needed to avoid taking the inverse of a 3x4 matrix
+template<typename TransformType, int Mode=TransformType::Mode>
+struct projective_transform_inverse
+{
+  static inline void run(const TransformType&, TransformType&)
+  {}
+};
+
+template<typename TransformType>
+struct projective_transform_inverse<TransformType, Projective>
+{
+  static inline void run(const TransformType& m, TransformType& res)
+  {
+    res.matrix() = m.matrix().inverse();
+  }
+};
+
+} // end namespace internal
+
+
+/**
+  *
+  * \returns the inverse transformation according to some given knowledge
+  * on \c *this.
+  *
+  * \param hint allows to optimize the inversion process when the transformation
+  * is known to be not a general transformation (optional). The possible values are:
+  *  - Projective if the transformation is not necessarily affine, i.e., if the
+  *    last row is not guaranteed to be [0 ... 0 1]
+  *  - Affine if the last row can be assumed to be [0 ... 0 1]
+  *  - Isometry if the transformation is only a concatenations of translations
+  *    and rotations.
+  *  The default is the template class parameter \c Mode.
+  *
+  * \warning unless \a traits is always set to NoShear or NoScaling, this function
+  * requires the generic inverse method of MatrixBase defined in the LU module. If
+  * you forget to include this module, then you will get hard to debug linking errors.
+  *
+  * \sa MatrixBase::inverse()
+  */
+template<typename Scalar, int Dim, int Mode, int Options>
+Transform<Scalar,Dim,Mode,Options>
+Transform<Scalar,Dim,Mode,Options>::inverse(TransformTraits hint) const
+{
+  Transform res;
+  if (hint == Projective)
+  {
+    internal::projective_transform_inverse<Transform>::run(*this, res);
+  }
+  else
+  {
+    if (hint == Isometry)
+    {
+      res.matrix().template topLeftCorner<Dim,Dim>() = linear().transpose();
+    }
+    else if(hint&Affine)
+    {
+      res.matrix().template topLeftCorner<Dim,Dim>() = linear().inverse();
+    }
+    else
+    {
+      eigen_assert(false && "Invalid transform traits in Transform::Inverse");
+    }
+    // translation and remaining parts
+    res.matrix().template topRightCorner<Dim,1>()
+      = - res.matrix().template topLeftCorner<Dim,Dim>() * translation();
+    res.makeAffine(); // we do need this, because in the beginning res is uninitialized
+  }
+  return res;
+}
+
+namespace internal {
+
+/*****************************************************
+*** Specializations of take affine part            ***
+*****************************************************/
+
+template<typename TransformType> struct transform_take_affine_part {
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef typename TransformType::AffinePart AffinePart;
+  typedef typename TransformType::ConstAffinePart ConstAffinePart;
+  static inline AffinePart run(MatrixType& m)
+  { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
+  static inline ConstAffinePart run(const MatrixType& m)
+  { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
+};
+
+template<typename Scalar, int Dim, int Options>
+struct transform_take_affine_part<Transform<Scalar,Dim,AffineCompact, Options> > {
+  typedef typename Transform<Scalar,Dim,AffineCompact,Options>::MatrixType MatrixType;
+  static inline MatrixType& run(MatrixType& m) { return m; }
+  static inline const MatrixType& run(const MatrixType& m) { return m; }
+};
+
+/*****************************************************
+*** Specializations of construct from matrix       ***
+*****************************************************/
+
+template<typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,Dim>
+{
+  static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
+  {
+    transform->linear() = other;
+    transform->translation().setZero();
+    transform->makeAffine();
+  }
+};
+
+template<typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,HDim>
+{
+  static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
+  {
+    transform->affine() = other;
+    transform->makeAffine();
+  }
+};
+
+template<typename Other, int Mode, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, HDim,HDim>
+{
+  static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
+  { transform->matrix() = other; }
+};
+
+template<typename Other, int Options, int Dim, int HDim>
+struct transform_construct_from_matrix<Other, AffineCompact,Options,Dim,HDim, HDim,HDim>
+{
+  static inline void run(Transform<typename Other::Scalar,Dim,AffineCompact,Options> *transform, const Other& other)
+  { transform->matrix() = other.template block<Dim,HDim>(0,0); }
+};
+
+/**********************************************************
+***   Specializations of operator* with rhs EigenBase   ***
+**********************************************************/
+
+template<int LhsMode,int RhsMode>
+struct transform_product_result
+{
+  enum 
+  { 
+    Mode =
+      (LhsMode == (int)Projective    || RhsMode == (int)Projective    ) ? Projective :
+      (LhsMode == (int)Affine        || RhsMode == (int)Affine        ) ? Affine :
+      (LhsMode == (int)AffineCompact || RhsMode == (int)AffineCompact ) ? AffineCompact :
+      (LhsMode == (int)Isometry      || RhsMode == (int)Isometry      ) ? Isometry : Projective
+  };
+};
+
+template< typename TransformType, typename MatrixType >
+struct transform_right_product_impl< TransformType, MatrixType, 0 >
+{
+  typedef typename MatrixType::PlainObject ResultType;
+
+  EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other)
+  {
+    return T.matrix() * other;
+  }
+};
+
+template< typename TransformType, typename MatrixType >
+struct transform_right_product_impl< TransformType, MatrixType, 1 >
+{
+  enum { 
+    Dim = TransformType::Dim, 
+    HDim = TransformType::HDim,
+    OtherRows = MatrixType::RowsAtCompileTime,
+    OtherCols = MatrixType::ColsAtCompileTime
+  };
+
+  typedef typename MatrixType::PlainObject ResultType;
+
+  EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other)
+  {
+    EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
+
+    typedef Block<ResultType, Dim, OtherCols> TopLeftLhs;
+
+    ResultType res(other.rows(),other.cols());
+    TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other;
+    res.row(OtherRows-1) = other.row(OtherRows-1);
+    
+    return res;
+  }
+};
+
+template< typename TransformType, typename MatrixType >
+struct transform_right_product_impl< TransformType, MatrixType, 2 >
+{
+  enum { 
+    Dim = TransformType::Dim, 
+    HDim = TransformType::HDim,
+    OtherRows = MatrixType::RowsAtCompileTime,
+    OtherCols = MatrixType::ColsAtCompileTime
+  };
+
+  typedef typename MatrixType::PlainObject ResultType;
+
+  EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other)
+  {
+    EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
+
+    typedef Block<ResultType, Dim, OtherCols> TopLeftLhs;
+
+    ResultType res(other.rows(),other.cols());
+    TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.linear() * other;
+    TopLeftLhs(res, 0, 0, Dim, other.cols()).colwise() += T.translation();
+
+    return res;
+  }
+};
+
+/**********************************************************
+***   Specializations of operator* with lhs EigenBase   ***
+**********************************************************/
+
+// generic HDim x HDim matrix * T => Projective
+template<typename Other,int Mode, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, HDim,HDim>
+{
+  typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
+  static ResultType run(const Other& other,const TransformType& tr)
+  { return ResultType(other * tr.matrix()); }
+};
+
+// generic HDim x HDim matrix * AffineCompact => Projective
+template<typename Other, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, HDim,HDim>
+{
+  typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
+  static ResultType run(const Other& other,const TransformType& tr)
+  {
+    ResultType res;
+    res.matrix().noalias() = other.template block<HDim,Dim>(0,0) * tr.matrix();
+    res.matrix().col(Dim) += other.col(Dim);
+    return res;
+  }
+};
+
+// affine matrix * T
+template<typename Other,int Mode, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,HDim>
+{
+  typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef TransformType ResultType;
+  static ResultType run(const Other& other,const TransformType& tr)
+  {
+    ResultType res;
+    res.affine().noalias() = other * tr.matrix();
+    res.matrix().row(Dim) = tr.matrix().row(Dim);
+    return res;
+  }
+};
+
+// affine matrix * AffineCompact
+template<typename Other, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, Dim,HDim>
+{
+  typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef TransformType ResultType;
+  static ResultType run(const Other& other,const TransformType& tr)
+  {
+    ResultType res;
+    res.matrix().noalias() = other.template block<Dim,Dim>(0,0) * tr.matrix();
+    res.translation() += other.col(Dim);
+    return res;
+  }
+};
+
+// linear matrix * T
+template<typename Other,int Mode, int Options, int Dim, int HDim>
+struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,Dim>
+{
+  typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
+  typedef typename TransformType::MatrixType MatrixType;
+  typedef TransformType ResultType;
+  static ResultType run(const Other& other, const TransformType& tr)
+  {
+    TransformType res;
+    if(Mode!=int(AffineCompact))
+      res.matrix().row(Dim) = tr.matrix().row(Dim);
+    res.matrix().template topRows<Dim>().noalias()
+      = other * tr.matrix().template topRows<Dim>();
+    return res;
+  }
+};
+
+/**********************************************************
+*** Specializations of operator* with another Transform ***
+**********************************************************/
+
+template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
+struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,false >
+{
+  enum { ResultMode = transform_product_result<LhsMode,RhsMode>::Mode };
+  typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
+  typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
+  typedef Transform<Scalar,Dim,ResultMode,LhsOptions> ResultType;
+  static ResultType run(const Lhs& lhs, const Rhs& rhs)
+  {
+    ResultType res;
+    res.linear() = lhs.linear() * rhs.linear();
+    res.translation() = lhs.linear() * rhs.translation() + lhs.translation();
+    res.makeAffine();
+    return res;
+  }
+};
+
+template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
+struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,true >
+{
+  typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
+  typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
+  typedef Transform<Scalar,Dim,Projective> ResultType;
+  static ResultType run(const Lhs& lhs, const Rhs& rhs)
+  {
+    return ResultType( lhs.matrix() * rhs.matrix() );
+  }
+};
+
+} // end namespace internal
+
+#endif // EIGEN_TRANSFORM_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Translation.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Translation.h
new file mode 100755
index 0000000..d8fe50f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Translation.h
@@ -0,0 +1,215 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_TRANSLATION_H
+#define EIGEN_TRANSLATION_H
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Translation
+  *
+  * \brief Represents a translation transformation
+  *
+  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  * \param _Dim the  dimension of the space, can be a compile time value or Dynamic
+  *
+  * \note This class is not aimed to be used to store a translation transformation,
+  * but rather to make easier the constructions and updates of Transform objects.
+  *
+  * \sa class Scaling, class Transform
+  */
+template<typename _Scalar, int _Dim>
+class Translation
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
+  /** dimension of the space */
+  enum { Dim = _Dim };
+  /** the scalar type of the coefficients */
+  typedef _Scalar Scalar;
+  /** corresponding vector type */
+  typedef Matrix<Scalar,Dim,1> VectorType;
+  /** corresponding linear transformation matrix type */
+  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
+  /** corresponding affine transformation type */
+  typedef Transform<Scalar,Dim,Affine> AffineTransformType;
+
+protected:
+
+  VectorType m_coeffs;
+
+public:
+
+  /** Default constructor without initialization. */
+  Translation() {}
+  /**  */
+  inline Translation(const Scalar& sx, const Scalar& sy)
+  {
+    eigen_assert(Dim==2);
+    m_coeffs.x() = sx;
+    m_coeffs.y() = sy;
+  }
+  /**  */
+  inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
+  {
+    eigen_assert(Dim==3);
+    m_coeffs.x() = sx;
+    m_coeffs.y() = sy;
+    m_coeffs.z() = sz;
+  }
+  /** Constructs and initialize the translation transformation from a vector of translation coefficients */
+  explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
+
+  /** \brief Retruns the x-translation by value. **/
+  inline Scalar x() const { return m_coeffs.x(); }
+  /** \brief Retruns the y-translation by value. **/
+  inline Scalar y() const { return m_coeffs.y(); }
+  /** \brief Retruns the z-translation by value. **/
+  inline Scalar z() const { return m_coeffs.z(); }
+
+  /** \brief Retruns the x-translation as a reference. **/
+  inline Scalar& x() { return m_coeffs.x(); }
+  /** \brief Retruns the y-translation as a reference. **/
+  inline Scalar& y() { return m_coeffs.y(); }
+  /** \brief Retruns the z-translation as a reference. **/
+  inline Scalar& z() { return m_coeffs.z(); }
+
+  const VectorType& vector() const { return m_coeffs; }
+  VectorType& vector() { return m_coeffs; }
+
+  const VectorType& translation() const { return m_coeffs; }
+  VectorType& translation() { return m_coeffs; }
+
+  /** Concatenates two translation */
+  inline Translation operator* (const Translation& other) const
+  { return Translation(m_coeffs + other.m_coeffs); }
+
+  /** Concatenates a translation and a uniform scaling */
+  inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
+
+  /** Concatenates a translation and a linear transformation */
+  template<typename OtherDerived>
+  inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
+
+  /** Concatenates a translation and a rotation */
+  template<typename Derived>
+  inline AffineTransformType operator*(const RotationBase<Derived,Dim>& r) const
+  { return *this * r.toRotationMatrix(); }
+
+  /** \returns the concatenation of a linear transformation \a l with the translation \a t */
+  // its a nightmare to define a templated friend function outside its declaration
+  template<typename OtherDerived> friend
+  inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
+  {
+    AffineTransformType res;
+    res.matrix().setZero();
+    res.linear() = linear.derived();
+    res.translation() = linear.derived() * t.m_coeffs;
+    res.matrix().row(Dim).setZero();
+    res(Dim,Dim) = Scalar(1);
+    return res;
+  }
+
+  /** Concatenates a translation and a transformation */
+  template<int Mode, int Options>
+  inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
+  {
+    Transform<Scalar,Dim,Mode> res = t;
+    res.pretranslate(m_coeffs);
+    return res;
+  }
+
+  /** Applies translation to vector */
+  inline VectorType operator* (const VectorType& other) const
+  { return m_coeffs + other; }
+
+  /** \returns the inverse translation (opposite) */
+  Translation inverse() const { return Translation(-m_coeffs); }
+
+  Translation& operator=(const Translation& other)
+  {
+    m_coeffs = other.m_coeffs;
+    return *this;
+  }
+
+  static const Translation Identity() { return Translation(VectorType::Zero()); }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
+  { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
+  { m_coeffs = other.vector().template cast<Scalar>(); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_coeffs.isApprox(other.m_coeffs, prec); }
+
+};
+
+/** \addtogroup Geometry_Module */
+//@{
+typedef Translation<float, 2> Translation2f;
+typedef Translation<double,2> Translation2d;
+typedef Translation<float, 3> Translation3f;
+typedef Translation<double,3> Translation3d;
+//@}
+
+template<typename Scalar, int Dim>
+inline typename Translation<Scalar,Dim>::AffineTransformType
+Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
+{
+  AffineTransformType res;
+  res.matrix().setZero();
+  res.linear().diagonal().fill(other.factor());
+  res.translation() = m_coeffs;
+  res(Dim,Dim) = Scalar(1);
+  return res;
+}
+
+template<typename Scalar, int Dim>
+template<typename OtherDerived>
+inline typename Translation<Scalar,Dim>::AffineTransformType
+Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
+{
+  AffineTransformType res;
+  res.matrix().setZero();
+  res.linear() = linear.derived();
+  res.translation() = m_coeffs;
+  res.matrix().row(Dim).setZero();
+  res(Dim,Dim) = Scalar(1);
+  return res;
+}
+
+#endif // EIGEN_TRANSLATION_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Umeyama.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Umeyama.h
new file mode 100755
index 0000000..b50f461
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/Umeyama.h
@@ -0,0 +1,183 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_UMEYAMA_H
+#define EIGEN_UMEYAMA_H
+
+// This file requires the user to include 
+// * Eigen/Core
+// * Eigen/LU 
+// * Eigen/SVD
+// * Eigen/Array
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+// These helpers are required since it allows to use mixed types as parameters
+// for the Umeyama. The problem with mixed parameters is that the return type
+// cannot trivially be deduced when float and double types are mixed.
+namespace internal {
+
+// Compile time return type deduction for different MatrixBase types.
+// Different means here different alignment and parameters but the same underlying
+// real scalar type.
+template<typename MatrixType, typename OtherMatrixType>
+struct umeyama_transform_matrix_type
+{
+  enum {
+    MinRowsAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime, OtherMatrixType::RowsAtCompileTime),
+
+    // When possible we want to choose some small fixed size value since the result
+    // is likely to fit on the stack. So here, EIGEN_SIZE_MIN_PREFER_DYNAMIC is not what we want.
+    HomogeneousDimension = int(MinRowsAtCompileTime) == Dynamic ? Dynamic : int(MinRowsAtCompileTime)+1
+  };
+
+  typedef Matrix<typename traits<MatrixType>::Scalar,
+    HomogeneousDimension,
+    HomogeneousDimension,
+    AutoAlign | (traits<MatrixType>::Flags & RowMajorBit ? RowMajor : ColMajor),
+    HomogeneousDimension,
+    HomogeneousDimension
+  > type;
+};
+
+}
+
+#endif
+
+/**
+* \geometry_module \ingroup Geometry_Module
+*
+* \brief Returns the transformation between two point sets.
+*
+* The algorithm is based on:
+* "Least-squares estimation of transformation parameters between two point patterns",
+* Shinji Umeyama, PAMI 1991, DOI: 10.1109/34.88573
+*
+* It estimates parameters \f$ c, \mathbf{R}, \f$ and \f$ \mathbf{t} \f$ such that
+* \f{align*}
+*   \frac{1}{n} \sum_{i=1}^n \vert\vert y_i - (c\mathbf{R}x_i + \mathbf{t}) \vert\vert_2^2
+* \f}
+* is minimized.
+*
+* The algorithm is based on the analysis of the covariance matrix
+* \f$ \Sigma_{\mathbf{x}\mathbf{y}} \in \mathbb{R}^{d \times d} \f$
+* of the input point sets \f$ \mathbf{x} \f$ and \f$ \mathbf{y} \f$ where 
+* \f$d\f$ is corresponding to the dimension (which is typically small).
+* The analysis is involving the SVD having a complexity of \f$O(d^3)\f$
+* though the actual computational effort lies in the covariance
+* matrix computation which has an asymptotic lower bound of \f$O(dm)\f$ when 
+* the input point sets have dimension \f$d \times m\f$.
+*
+* Currently the method is working only for floating point matrices.
+*
+* \todo Should the return type of umeyama() become a Transform?
+*
+* \param src Source points \f$ \mathbf{x} = \left( x_1, \hdots, x_n \right) \f$.
+* \param dst Destination points \f$ \mathbf{y} = \left( y_1, \hdots, y_n \right) \f$.
+* \param with_scaling Sets \f$ c=1 \f$ when <code>false</code> is passed.
+* \return The homogeneous transformation 
+* \f{align*}
+*   T = \begin{bmatrix} c\mathbf{R} & \mathbf{t} \\ \mathbf{0} & 1 \end{bmatrix}
+* \f}
+* minimizing the resudiual above. This transformation is always returned as an 
+* Eigen::Matrix.
+*/
+template <typename Derived, typename OtherDerived>
+typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type
+umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, bool with_scaling = true)
+{
+  typedef typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type TransformationMatrixType;
+  typedef typename internal::traits<TransformationMatrixType>::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef typename Derived::Index Index;
+
+  EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename internal::traits<OtherDerived>::Scalar>::value),
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+  enum { Dimension = EIGEN_SIZE_MIN_PREFER_DYNAMIC(Derived::RowsAtCompileTime, OtherDerived::RowsAtCompileTime) };
+
+  typedef Matrix<Scalar, Dimension, 1> VectorType;
+  typedef Matrix<Scalar, Dimension, Dimension> MatrixType;
+  typedef typename internal::plain_matrix_type_row_major<Derived>::type RowMajorMatrixType;
+
+  const Index m = src.rows(); // dimension
+  const Index n = src.cols(); // number of measurements
+
+  // required for demeaning ...
+  const RealScalar one_over_n = 1 / static_cast<RealScalar>(n);
+
+  // computation of mean
+  const VectorType src_mean = src.rowwise().sum() * one_over_n;
+  const VectorType dst_mean = dst.rowwise().sum() * one_over_n;
+
+  // demeaning of src and dst points
+  const RowMajorMatrixType src_demean = src.colwise() - src_mean;
+  const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean;
+
+  // Eq. (36)-(37)
+  const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
+
+  // Eq. (38)
+  const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();
+
+  JacobiSVD<MatrixType> svd(sigma, ComputeFullU | ComputeFullV);
+
+  // Initialize the resulting transformation with an identity matrix...
+  TransformationMatrixType Rt = TransformationMatrixType::Identity(m+1,m+1);
+
+  // Eq. (39)
+  VectorType S = VectorType::Ones(m);
+  if (sigma.determinant()<0) S(m-1) = -1;
+
+  // Eq. (40) and (43)
+  const VectorType& d = svd.singularValues();
+  Index rank = 0; for (Index i=0; i<m; ++i) if (!internal::isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank;
+  if (rank == m-1) {
+    if ( svd.matrixU().determinant() * svd.matrixV().determinant() > 0 ) {
+      Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
+    } else {
+      const Scalar s = S(m-1); S(m-1) = -1;
+      Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
+      S(m-1) = s;
+    }
+  } else {
+    Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
+  }
+
+  // Eq. (42)
+  const Scalar c = 1/src_var * svd.singularValues().dot(S);
+
+  // Eq. (41)
+  // Note that we first assign dst_mean to the destination so that there no need
+  // for a temporary.
+  Rt.col(m).head(m) = dst_mean;
+  Rt.col(m).head(m).noalias() -= c*Rt.topLeftCorner(m,m)*src_mean;
+
+  if (with_scaling) Rt.block(0,0,m,m) *= c;
+
+  return Rt;
+}
+
+#endif // EIGEN_UMEYAMA_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/arch/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/arch/CMakeLists.txt
new file mode 100755
index 0000000..1267a79
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/arch/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Geometry_arch_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Geometry_arch_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Geometry/arch COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/arch/Geometry_SSE.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/arch/Geometry_SSE.h
new file mode 100755
index 0000000..cbe695c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Geometry/arch/Geometry_SSE.h
@@ -0,0 +1,126 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_GEOMETRY_SSE_H
+#define EIGEN_GEOMETRY_SSE_H
+
+namespace internal {
+
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned>
+{
+  inline static Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
+  {
+    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
+    Quaternion<float> res;
+    __m128 a = _a.coeffs().template packet<Aligned>(0);
+    __m128 b = _b.coeffs().template packet<Aligned>(0);
+    __m128 flip1 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),
+                                         vec4f_swizzle1(b,2,0,1,2)),mask);
+    __m128 flip2 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),
+                                         vec4f_swizzle1(b,0,1,2,1)),mask);
+    pstore(&res.x(),
+              _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
+                                    _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
+                                               vec4f_swizzle1(b,1,2,0,0))),
+                         _mm_add_ps(flip1,flip2)));
+    return res;
+  }
+};
+
+template<typename VectorLhs,typename VectorRhs>
+struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
+{
+  inline static typename plain_matrix_type<VectorLhs>::type
+  run(const VectorLhs& lhs, const VectorRhs& rhs)
+  {
+    __m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
+    __m128 b = rhs.template packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
+    __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
+    __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
+    typename plain_matrix_type<VectorLhs>::type res;
+    pstore(&res.x(),_mm_sub_ps(mul1,mul2));
+    return res;
+  }
+};
+
+
+
+
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
+{
+  inline static Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
+  {
+  const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
+
+  Quaternion<double> res;
+
+  const double* a = _a.coeffs().data();
+  Packet2d b_xy = _b.coeffs().template packet<Aligned>(0);
+  Packet2d b_zw = _b.coeffs().template packet<Aligned>(2);
+  Packet2d a_xx = pset1<Packet2d>(a[0]);
+  Packet2d a_yy = pset1<Packet2d>(a[1]);
+  Packet2d a_zz = pset1<Packet2d>(a[2]);
+  Packet2d a_ww = pset1<Packet2d>(a[3]);
+
+  // two temporaries:
+  Packet2d t1, t2;
+
+  /*
+   * t1 = ww*xy + yy*zw
+   * t2 = zz*xy - xx*zw
+   * res.xy = t1 +/- swap(t2)
+   */
+  t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
+  t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
+#ifdef __SSE3__
+  EIGEN_UNUSED_VARIABLE(mask)
+  pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
+#else
+  pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
+#endif
+  
+  /*
+   * t1 = ww*zw - yy*xy
+   * t2 = zz*zw + xx*xy
+   * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
+   */
+  t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
+  t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
+#ifdef __SSE3__
+  EIGEN_UNUSED_VARIABLE(mask)
+  pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
+#else
+  pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
+#endif
+
+  return res;
+}
+};
+
+} // end namespace internal
+
+#endif // EIGEN_GEOMETRY_SSE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/BlockHouseholder.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/BlockHouseholder.h
new file mode 100755
index 0000000..23ce1bf
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/BlockHouseholder.h
@@ -0,0 +1,79 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Vincent Lejeune
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BLOCK_HOUSEHOLDER_H
+#define EIGEN_BLOCK_HOUSEHOLDER_H
+
+// This file contains some helper function to deal with block householder reflectors
+
+namespace internal {
+
+/** \internal */
+template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
+void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
+{
+  typedef typename TriangularFactorType::Index Index;
+  typedef typename VectorsType::Scalar Scalar;
+  const Index nbVecs = vectors.cols();
+  eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
+
+  for(Index i = 0; i < nbVecs; i++)
+  {
+    Index rs = vectors.rows() - i;
+    Scalar Vii = vectors(i,i);
+    vectors.const_cast_derived().coeffRef(i,i) = Scalar(1);
+    triFactor.col(i).head(i).noalias() = -hCoeffs(i) * vectors.block(i, 0, rs, i).adjoint()
+                                       * vectors.col(i).tail(rs);
+    vectors.const_cast_derived().coeffRef(i, i) = Vii;
+    // FIXME add .noalias() once the triangular product can work inplace
+    triFactor.col(i).head(i) = triFactor.block(0,0,i,i).template triangularView<Upper>()
+                             * triFactor.col(i).head(i);
+    triFactor(i,i) = hCoeffs(i);
+  }
+}
+
+/** \internal */
+template<typename MatrixType,typename VectorsType,typename CoeffsType>
+void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs)
+{
+  typedef typename MatrixType::Index Index;
+  enum { TFactorSize = MatrixType::ColsAtCompileTime };
+  Index nbVecs = vectors.cols();
+  Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize> T(nbVecs,nbVecs);
+  make_block_householder_triangular_factor(T, vectors, hCoeffs);
+
+  const TriangularView<VectorsType, UnitLower>& V(vectors);
+
+  // A -= V T V^* A
+  Matrix<typename MatrixType::Scalar,VectorsType::ColsAtCompileTime,MatrixType::ColsAtCompileTime,0,
+         VectorsType::MaxColsAtCompileTime,MatrixType::MaxColsAtCompileTime> tmp = V.adjoint() * mat;
+  // FIXME add .noalias() once the triangular product can work inplace
+  tmp = T.template triangularView<Upper>().adjoint() * tmp;
+  mat.noalias() -= V * tmp;
+}
+
+} // end namespace internal
+
+#endif // EIGEN_BLOCK_HOUSEHOLDER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/CMakeLists.txt
new file mode 100755
index 0000000..ce4937d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Householder_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Householder_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Householder COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/Householder.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/Householder.h
new file mode 100755
index 0000000..9ade04c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/Householder.h
@@ -0,0 +1,132 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_HOUSEHOLDER_H
+#define EIGEN_HOUSEHOLDER_H
+
+namespace internal {
+template<int n> struct decrement_size
+{
+  enum {
+    ret = n==Dynamic ? n : n-1
+  };
+};
+}
+
+template<typename Derived>
+void MatrixBase<Derived>::makeHouseholderInPlace(Scalar& tau, RealScalar& beta)
+{
+  VectorBlock<Derived, internal::decrement_size<Base::SizeAtCompileTime>::ret> essentialPart(derived(), 1, size()-1);
+  makeHouseholder(essentialPart, tau, beta);
+}
+
+/** Computes the elementary reflector H such that:
+  * \f$ H *this = [ beta 0 ... 0]^T \f$
+  * where the transformation H is:
+  * \f$ H = I - tau v v^*\f$
+  * and the vector v is:
+  * \f$ v^T = [1 essential^T] \f$
+  *
+  * On output:
+  * \param essential the essential part of the vector \c v
+  * \param tau the scaling factor of the householder transformation
+  * \param beta the result of H * \c *this
+  *
+  * \sa MatrixBase::makeHouseholderInPlace(), MatrixBase::applyHouseholderOnTheLeft(),
+  *     MatrixBase::applyHouseholderOnTheRight()
+  */
+template<typename Derived>
+template<typename EssentialPart>
+void MatrixBase<Derived>::makeHouseholder(
+  EssentialPart& essential,
+  Scalar& tau,
+  RealScalar& beta) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(EssentialPart)
+  VectorBlock<const Derived, EssentialPart::SizeAtCompileTime> tail(derived(), 1, size()-1);
+  
+  RealScalar tailSqNorm = size()==1 ? RealScalar(0) : tail.squaredNorm();
+  Scalar c0 = coeff(0);
+
+  if(tailSqNorm == RealScalar(0) && internal::imag(c0)==RealScalar(0))
+  {
+    tau = 0;
+    beta = internal::real(c0);
+  }
+  else
+  {
+    beta = internal::sqrt(internal::abs2(c0) + tailSqNorm);
+    if (internal::real(c0)>=RealScalar(0))
+      beta = -beta;
+    essential = tail / (c0 - beta);
+    tau = internal::conj((beta - c0) / beta);
+  }
+}
+
+template<typename Derived>
+template<typename EssentialPart>
+void MatrixBase<Derived>::applyHouseholderOnTheLeft(
+  const EssentialPart& essential,
+  const Scalar& tau,
+  Scalar* workspace)
+{
+  if(rows() == 1)
+  {
+    *this *= Scalar(1)-tau;
+  }
+  else
+  {
+    Map<typename internal::plain_row_type<PlainObject>::type> tmp(workspace,cols());
+    Block<Derived, EssentialPart::SizeAtCompileTime, Derived::ColsAtCompileTime> bottom(derived(), 1, 0, rows()-1, cols());
+    tmp.noalias() = essential.adjoint() * bottom;
+    tmp += this->row(0);
+    this->row(0) -= tau * tmp;
+    bottom.noalias() -= tau * essential * tmp;
+  }
+}
+
+template<typename Derived>
+template<typename EssentialPart>
+void MatrixBase<Derived>::applyHouseholderOnTheRight(
+  const EssentialPart& essential,
+  const Scalar& tau,
+  Scalar* workspace)
+{
+  if(cols() == 1)
+  {
+    *this *= Scalar(1)-tau;
+  }
+  else
+  {
+    Map<typename internal::plain_col_type<PlainObject>::type> tmp(workspace,rows());
+    Block<Derived, Derived::RowsAtCompileTime, EssentialPart::SizeAtCompileTime> right(derived(), 0, 1, rows(), cols()-1);
+    tmp.noalias() = right * essential.conjugate();
+    tmp += this->col(0);
+    this->col(0) -= tau * tmp;
+    right.noalias() -= tau * tmp * essential.transpose();
+  }
+}
+
+#endif // EIGEN_HOUSEHOLDER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/HouseholderSequence.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/HouseholderSequence.h
new file mode 100755
index 0000000..717f29c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Householder/HouseholderSequence.h
@@ -0,0 +1,429 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_HOUSEHOLDER_SEQUENCE_H
+#define EIGEN_HOUSEHOLDER_SEQUENCE_H
+
+/** \ingroup Householder_Module
+  * \householder_module
+  * \class HouseholderSequence
+  * \brief Sequence of Householder reflections acting on subspaces with decreasing size
+  * \tparam VectorsType type of matrix containing the Householder vectors
+  * \tparam CoeffsType  type of vector containing the Householder coefficients
+  * \tparam Side        either OnTheLeft (the default) or OnTheRight
+  *
+  * This class represents a product sequence of Householder reflections where the first Householder reflection
+  * acts on the whole space, the second Householder reflection leaves the one-dimensional subspace spanned by
+  * the first unit vector invariant, the third Householder reflection leaves the two-dimensional subspace
+  * spanned by the first two unit vectors invariant, and so on up to the last reflection which leaves all but
+  * one dimensions invariant and acts only on the last dimension. Such sequences of Householder reflections
+  * are used in several algorithms to zero out certain parts of a matrix. Indeed, the methods
+  * HessenbergDecomposition::matrixQ(), Tridiagonalization::matrixQ(), HouseholderQR::householderQ(),
+  * and ColPivHouseholderQR::householderQ() all return a %HouseholderSequence.
+  *
+  * More precisely, the class %HouseholderSequence represents an \f$ n \times n \f$ matrix \f$ H \f$ of the
+  * form \f$ H = \prod_{i=0}^{n-1} H_i \f$ where the i-th Householder reflection is \f$ H_i = I - h_i v_i
+  * v_i^* \f$. The i-th Householder coefficient \f$ h_i \f$ is a scalar and the i-th Householder vector \f$
+  * v_i \f$ is a vector of the form
+  * \f[ 
+  * v_i = [\underbrace{0, \ldots, 0}_{i-1\mbox{ zeros}}, 1, \underbrace{*, \ldots,*}_{n-i\mbox{ arbitrary entries}} ]. 
+  * \f]
+  * The last \f$ n-i \f$ entries of \f$ v_i \f$ are called the essential part of the Householder vector.
+  *
+  * Typical usages are listed below, where H is a HouseholderSequence:
+  * \code
+  * A.applyOnTheRight(H);             // A = A * H
+  * A.applyOnTheLeft(H);              // A = H * A
+  * A.applyOnTheRight(H.adjoint());   // A = A * H^*
+  * A.applyOnTheLeft(H.adjoint());    // A = H^* * A
+  * MatrixXd Q = H;                   // conversion to a dense matrix
+  * \endcode
+  * In addition to the adjoint, you can also apply the inverse (=adjoint), the transpose, and the conjugate operators.
+  *
+  * See the documentation for HouseholderSequence(const VectorsType&, const CoeffsType&) for an example.
+  *
+  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+
+namespace internal {
+
+template<typename VectorsType, typename CoeffsType, int Side>
+struct traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
+{
+  typedef typename VectorsType::Scalar Scalar;
+  typedef typename VectorsType::Index Index;
+  typedef typename VectorsType::StorageKind StorageKind;
+  enum {
+    RowsAtCompileTime = Side==OnTheLeft ? traits<VectorsType>::RowsAtCompileTime
+                                        : traits<VectorsType>::ColsAtCompileTime,
+    ColsAtCompileTime = RowsAtCompileTime,
+    MaxRowsAtCompileTime = Side==OnTheLeft ? traits<VectorsType>::MaxRowsAtCompileTime
+                                           : traits<VectorsType>::MaxColsAtCompileTime,
+    MaxColsAtCompileTime = MaxRowsAtCompileTime,
+    Flags = 0
+  };
+};
+
+template<typename VectorsType, typename CoeffsType, int Side>
+struct hseq_side_dependent_impl
+{
+  typedef Block<const VectorsType, Dynamic, 1> EssentialVectorType;
+  typedef HouseholderSequence<VectorsType, CoeffsType, OnTheLeft> HouseholderSequenceType;
+  typedef typename VectorsType::Index Index;
+  static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
+  {
+    Index start = k+1+h.m_shift;
+    return Block<const VectorsType,Dynamic,1>(h.m_vectors, start, k, h.rows()-start, 1);
+  }
+};
+
+template<typename VectorsType, typename CoeffsType>
+struct hseq_side_dependent_impl<VectorsType, CoeffsType, OnTheRight>
+{
+  typedef Transpose<Block<const VectorsType, 1, Dynamic> > EssentialVectorType;
+  typedef HouseholderSequence<VectorsType, CoeffsType, OnTheRight> HouseholderSequenceType;
+  typedef typename VectorsType::Index Index;
+  static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
+  {
+    Index start = k+1+h.m_shift;
+    return Block<const VectorsType,1,Dynamic>(h.m_vectors, k, start, 1, h.rows()-start).transpose();
+  }
+};
+
+template<typename OtherScalarType, typename MatrixType> struct matrix_type_times_scalar_type
+{
+  typedef typename scalar_product_traits<OtherScalarType, typename MatrixType::Scalar>::ReturnType
+    ResultScalar;
+  typedef Matrix<ResultScalar, MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime,
+                 0, MatrixType::MaxRowsAtCompileTime, MatrixType::MaxColsAtCompileTime> Type;
+};
+
+} // end namespace internal
+
+template<typename VectorsType, typename CoeffsType, int Side> class HouseholderSequence
+  : public EigenBase<HouseholderSequence<VectorsType,CoeffsType,Side> >
+{
+    enum {
+      RowsAtCompileTime = internal::traits<HouseholderSequence>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<HouseholderSequence>::ColsAtCompileTime,
+      MaxRowsAtCompileTime = internal::traits<HouseholderSequence>::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = internal::traits<HouseholderSequence>::MaxColsAtCompileTime
+    };
+    typedef typename internal::traits<HouseholderSequence>::Scalar Scalar;
+    typedef typename VectorsType::Index Index;
+
+    typedef typename internal::hseq_side_dependent_impl<VectorsType,CoeffsType,Side>::EssentialVectorType
+            EssentialVectorType;
+
+  public:
+
+    typedef HouseholderSequence<
+      VectorsType,
+      typename internal::conditional<NumTraits<Scalar>::IsComplex,
+        typename internal::remove_all<typename CoeffsType::ConjugateReturnType>::type,
+        CoeffsType>::type,
+      Side
+    > ConjugateReturnType;
+
+    /** \brief Constructor.
+      * \param[in]  v      %Matrix containing the essential parts of the Householder vectors
+      * \param[in]  h      Vector containing the Householder coefficients
+      *
+      * Constructs the Householder sequence with coefficients given by \p h and vectors given by \p v. The
+      * i-th Householder coefficient \f$ h_i \f$ is given by \p h(i) and the essential part of the i-th
+      * Householder vector \f$ v_i \f$ is given by \p v(k,i) with \p k > \p i (the subdiagonal part of the
+      * i-th column). If \p v has fewer columns than rows, then the Householder sequence contains as many
+      * Householder reflections as there are columns.
+      *
+      * \note The %HouseholderSequence object stores \p v and \p h by reference.
+      *
+      * Example: \include HouseholderSequence_HouseholderSequence.cpp
+      * Output: \verbinclude HouseholderSequence_HouseholderSequence.out
+      *
+      * \sa setLength(), setShift()
+      */
+    HouseholderSequence(const VectorsType& v, const CoeffsType& h)
+      : m_vectors(v), m_coeffs(h), m_trans(false), m_length(v.diagonalSize()),
+        m_shift(0)
+    {
+    }
+
+    /** \brief Copy constructor. */
+    HouseholderSequence(const HouseholderSequence& other)
+      : m_vectors(other.m_vectors),
+        m_coeffs(other.m_coeffs),
+        m_trans(other.m_trans),
+        m_length(other.m_length),
+        m_shift(other.m_shift)
+    {
+    }
+
+    /** \brief Number of rows of transformation viewed as a matrix.
+      * \returns Number of rows 
+      * \details This equals the dimension of the space that the transformation acts on.
+      */
+    Index rows() const { return Side==OnTheLeft ? m_vectors.rows() : m_vectors.cols(); }
+
+    /** \brief Number of columns of transformation viewed as a matrix.
+      * \returns Number of columns
+      * \details This equals the dimension of the space that the transformation acts on.
+      */
+    Index cols() const { return rows(); }
+
+    /** \brief Essential part of a Householder vector.
+      * \param[in]  k  Index of Householder reflection
+      * \returns    Vector containing non-trivial entries of k-th Householder vector
+      *
+      * This function returns the essential part of the Householder vector \f$ v_i \f$. This is a vector of
+      * length \f$ n-i \f$ containing the last \f$ n-i \f$ entries of the vector
+      * \f[ 
+      * v_i = [\underbrace{0, \ldots, 0}_{i-1\mbox{ zeros}}, 1, \underbrace{*, \ldots,*}_{n-i\mbox{ arbitrary entries}} ]. 
+      * \f]
+      * The index \f$ i \f$ equals \p k + shift(), corresponding to the k-th column of the matrix \p v
+      * passed to the constructor.
+      *
+      * \sa setShift(), shift()
+      */
+    const EssentialVectorType essentialVector(Index k) const
+    {
+      eigen_assert(k >= 0 && k < m_length);
+      return internal::hseq_side_dependent_impl<VectorsType,CoeffsType,Side>::essentialVector(*this, k);
+    }
+
+    /** \brief %Transpose of the Householder sequence. */
+    HouseholderSequence transpose() const
+    {
+      return HouseholderSequence(*this).setTrans(!m_trans);
+    }
+
+    /** \brief Complex conjugate of the Householder sequence. */
+    ConjugateReturnType conjugate() const
+    {
+      return ConjugateReturnType(m_vectors, m_coeffs.conjugate())
+             .setTrans(m_trans)
+             .setLength(m_length)
+             .setShift(m_shift);
+    }
+
+    /** \brief Adjoint (conjugate transpose) of the Householder sequence. */
+    ConjugateReturnType adjoint() const
+    {
+      return conjugate().setTrans(!m_trans);
+    }
+
+    /** \brief Inverse of the Householder sequence (equals the adjoint). */
+    ConjugateReturnType inverse() const { return adjoint(); }
+
+    /** \internal */
+    template<typename DestType> void evalTo(DestType& dst) const
+    {
+      Index vecs = m_length;
+      // FIXME find a way to pass this temporary if the user wants to
+      Matrix<Scalar, DestType::RowsAtCompileTime, 1,
+             AutoAlign|ColMajor, DestType::MaxRowsAtCompileTime, 1> temp(rows());
+      if(    internal::is_same<typename internal::remove_all<VectorsType>::type,DestType>::value
+          && internal::extract_data(dst) == internal::extract_data(m_vectors))
+      {
+        // in-place
+        dst.diagonal().setOnes();
+        dst.template triangularView<StrictlyUpper>().setZero();
+        for(Index k = vecs-1; k >= 0; --k)
+        {
+          Index cornerSize = rows() - k - m_shift;
+          if(m_trans)
+            dst.bottomRightCorner(cornerSize, cornerSize)
+            .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+          else
+            dst.bottomRightCorner(cornerSize, cornerSize)
+              .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+
+          // clear the off diagonal vector
+          dst.col(k).tail(rows()-k-1).setZero();
+        }
+        // clear the remaining columns if needed
+        for(Index k = 0; k<cols()-vecs ; ++k)
+          dst.col(k).tail(rows()-k-1).setZero();
+      }
+      else
+      {
+        dst.setIdentity(rows(), rows());
+        for(Index k = vecs-1; k >= 0; --k)
+        {
+          Index cornerSize = rows() - k - m_shift;
+          if(m_trans)
+            dst.bottomRightCorner(cornerSize, cornerSize)
+            .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+          else
+            dst.bottomRightCorner(cornerSize, cornerSize)
+              .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+        }
+      }
+    }
+
+    /** \internal */
+    template<typename Dest> inline void applyThisOnTheRight(Dest& dst) const
+    {
+      Matrix<Scalar,1,Dest::RowsAtCompileTime> temp(dst.rows());
+      for(Index k = 0; k < m_length; ++k)
+      {
+        Index actual_k = m_trans ? m_length-k-1 : k;
+        dst.rightCols(rows()-m_shift-actual_k)
+           .applyHouseholderOnTheRight(essentialVector(actual_k), m_coeffs.coeff(actual_k), &temp.coeffRef(0));
+      }
+    }
+
+    /** \internal */
+    template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
+    {
+      Matrix<Scalar,1,Dest::ColsAtCompileTime> temp(dst.cols());
+      for(Index k = 0; k < m_length; ++k)
+      {
+        Index actual_k = m_trans ? k : m_length-k-1;
+        dst.bottomRows(rows()-m_shift-actual_k)
+           .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), &temp.coeffRef(0));
+      }
+    }
+
+    /** \brief Computes the product of a Householder sequence with a matrix.
+      * \param[in]  other  %Matrix being multiplied.
+      * \returns    Expression object representing the product.
+      *
+      * This function computes \f$ HM \f$ where \f$ H \f$ is the Householder sequence represented by \p *this
+      * and \f$ M \f$ is the matrix \p other.
+      */
+    template<typename OtherDerived>
+    typename internal::matrix_type_times_scalar_type<Scalar, OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other) const
+    {
+      typename internal::matrix_type_times_scalar_type<Scalar, OtherDerived>::Type
+        res(other.template cast<typename internal::matrix_type_times_scalar_type<Scalar,OtherDerived>::ResultScalar>());
+      applyThisOnTheLeft(res);
+      return res;
+    }
+
+    template<typename _VectorsType, typename _CoeffsType, int _Side> friend struct internal::hseq_side_dependent_impl;
+
+    /** \brief Sets the length of the Householder sequence.
+      * \param [in]  length  New value for the length.
+      *
+      * By default, the length \f$ n \f$ of the Householder sequence \f$ H = H_0 H_1 \ldots H_{n-1} \f$ is set
+      * to the number of columns of the matrix \p v passed to the constructor, or the number of rows if that
+      * is smaller. After this function is called, the length equals \p length.
+      *
+      * \sa length()
+      */
+    HouseholderSequence& setLength(Index length)
+    {
+      m_length = length;
+      return *this;
+    }
+
+    /** \brief Sets the shift of the Householder sequence.
+      * \param [in]  shift  New value for the shift.
+      *
+      * By default, a %HouseholderSequence object represents \f$ H = H_0 H_1 \ldots H_{n-1} \f$ and the i-th
+      * column of the matrix \p v passed to the constructor corresponds to the i-th Householder
+      * reflection. After this function is called, the object represents \f$ H = H_{\mathrm{shift}}
+      * H_{\mathrm{shift}+1} \ldots H_{n-1} \f$ and the i-th column of \p v corresponds to the (shift+i)-th
+      * Householder reflection.
+      *
+      * \sa shift()
+      */
+    HouseholderSequence& setShift(Index shift)
+    {
+      m_shift = shift;
+      return *this;
+    }
+
+    Index length() const { return m_length; }  /**< \brief Returns the length of the Householder sequence. */
+    Index shift() const { return m_shift; }    /**< \brief Returns the shift of the Householder sequence. */
+
+    /* Necessary for .adjoint() and .conjugate() */
+    template <typename VectorsType2, typename CoeffsType2, int Side2> friend class HouseholderSequence;
+
+  protected:
+
+    /** \brief Sets the transpose flag.
+      * \param [in]  trans  New value of the transpose flag.
+      *
+      * By default, the transpose flag is not set. If the transpose flag is set, then this object represents 
+      * \f$ H^T = H_{n-1}^T \ldots H_1^T H_0^T \f$ instead of \f$ H = H_0 H_1 \ldots H_{n-1} \f$.
+      *
+      * \sa trans()
+      */
+    HouseholderSequence& setTrans(bool trans)
+    {
+      m_trans = trans;
+      return *this;
+    }
+
+    bool trans() const { return m_trans; }     /**< \brief Returns the transpose flag. */
+
+    typename VectorsType::Nested m_vectors;
+    typename CoeffsType::Nested m_coeffs;
+    bool m_trans;
+    Index m_length;
+    Index m_shift;
+};
+
+/** \brief Computes the product of a matrix with a Householder sequence.
+  * \param[in]  other  %Matrix being multiplied.
+  * \param[in]  h      %HouseholderSequence being multiplied.
+  * \returns    Expression object representing the product.
+  *
+  * This function computes \f$ MH \f$ where \f$ M \f$ is the matrix \p other and \f$ H \f$ is the
+  * Householder sequence represented by \p h.
+  */
+template<typename OtherDerived, typename VectorsType, typename CoeffsType, int Side>
+typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
+{
+  typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type
+    res(other.template cast<typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::ResultScalar>());
+  h.applyThisOnTheRight(res);
+  return res;
+}
+
+/** \ingroup Householder_Module \householder_module
+  * \brief Convenience function for constructing a Householder sequence. 
+  * \returns A HouseholderSequence constructed from the specified arguments.
+  */
+template<typename VectorsType, typename CoeffsType>
+HouseholderSequence<VectorsType,CoeffsType> householderSequence(const VectorsType& v, const CoeffsType& h)
+{
+  return HouseholderSequence<VectorsType,CoeffsType,OnTheLeft>(v, h);
+}
+
+/** \ingroup Householder_Module \householder_module
+  * \brief Convenience function for constructing a Householder sequence. 
+  * \returns A HouseholderSequence constructed from the specified arguments.
+  * \details This function differs from householderSequence() in that the template argument \p OnTheSide of
+  * the constructed HouseholderSequence is set to OnTheRight, instead of the default OnTheLeft.
+  */
+template<typename VectorsType, typename CoeffsType>
+HouseholderSequence<VectorsType,CoeffsType,OnTheRight> rightHouseholderSequence(const VectorsType& v, const CoeffsType& h)
+{
+  return HouseholderSequence<VectorsType,CoeffsType,OnTheRight>(v, h);
+}
+
+#endif // EIGEN_HOUSEHOLDER_SEQUENCE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Jacobi/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Jacobi/CMakeLists.txt
new file mode 100755
index 0000000..490dac6
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Jacobi/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Jacobi_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_Jacobi_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Jacobi COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Jacobi/Jacobi.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Jacobi/Jacobi.h
new file mode 100755
index 0000000..fb5a2c7
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Jacobi/Jacobi.h
@@ -0,0 +1,430 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_JACOBI_H
+#define EIGEN_JACOBI_H
+
+/** \ingroup Jacobi_Module
+  * \jacobi_module
+  * \class JacobiRotation
+  * \brief Rotation given by a cosine-sine pair.
+  *
+  * This class represents a Jacobi or Givens rotation.
+  * This is a 2D rotation in the plane \c J of angle \f$ \theta \f$ defined by
+  * its cosine \c c and sine \c s as follow:
+  * \f$ J = \left ( \begin{array}{cc} c & \overline s \\ -s  & \overline c \end{array} \right ) \f$
+  *
+  * You can apply the respective counter-clockwise rotation to a column vector \c v by
+  * applying its adjoint on the left: \f$ v = J^* v \f$ that translates to the following Eigen code:
+  * \code
+  * v.applyOnTheLeft(J.adjoint());
+  * \endcode
+  *
+  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+template<typename Scalar> class JacobiRotation
+{
+  public:
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    /** Default constructor without any initialization. */
+    JacobiRotation() {}
+
+    /** Construct a planar rotation from a cosine-sine pair (\a c, \c s). */
+    JacobiRotation(const Scalar& c, const Scalar& s) : m_c(c), m_s(s) {}
+
+    Scalar& c() { return m_c; }
+    Scalar c() const { return m_c; }
+    Scalar& s() { return m_s; }
+    Scalar s() const { return m_s; }
+
+    /** Concatenates two planar rotation */
+    JacobiRotation operator*(const JacobiRotation& other)
+    {
+      return JacobiRotation(m_c * other.m_c - internal::conj(m_s) * other.m_s,
+                            internal::conj(m_c * internal::conj(other.m_s) + internal::conj(m_s) * internal::conj(other.m_c)));
+    }
+
+    /** Returns the transposed transformation */
+    JacobiRotation transpose() const { return JacobiRotation(m_c, -internal::conj(m_s)); }
+
+    /** Returns the adjoint transformation */
+    JacobiRotation adjoint() const { return JacobiRotation(internal::conj(m_c), -m_s); }
+
+    template<typename Derived>
+    bool makeJacobi(const MatrixBase<Derived>&, typename Derived::Index p, typename Derived::Index q);
+    bool makeJacobi(RealScalar x, Scalar y, RealScalar z);
+
+    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z=0);
+
+  protected:
+    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z, internal::true_type);
+    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z, internal::false_type);
+
+    Scalar m_c, m_s;
+};
+
+/** Makes \c *this as a Jacobi rotation \a J such that applying \a J on both the right and left sides of the selfadjoint 2x2 matrix
+  * \f$ B = \left ( \begin{array}{cc} x & y \\ \overline y & z \end{array} \right )\f$ yields a diagonal matrix \f$ A = J^* B J \f$
+  *
+  * \sa MatrixBase::makeJacobi(const MatrixBase<Derived>&, Index, Index), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+template<typename Scalar>
+bool JacobiRotation<Scalar>::makeJacobi(RealScalar x, Scalar y, RealScalar z)
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  if(y == Scalar(0))
+  {
+    m_c = Scalar(1);
+    m_s = Scalar(0);
+    return false;
+  }
+  else
+  {
+    RealScalar tau = (x-z)/(RealScalar(2)*internal::abs(y));
+    RealScalar w = internal::sqrt(internal::abs2(tau) + 1);
+    RealScalar t;
+    if(tau>0)
+    {
+      t = RealScalar(1) / (tau + w);
+    }
+    else
+    {
+      t = RealScalar(1) / (tau - w);
+    }
+    RealScalar sign_t = t > 0 ? 1 : -1;
+    RealScalar n = RealScalar(1) / internal::sqrt(internal::abs2(t)+1);
+    m_s = - sign_t * (internal::conj(y) / internal::abs(y)) * internal::abs(t) * n;
+    m_c = n;
+    return true;
+  }
+}
+
+/** Makes \c *this as a Jacobi rotation \c J such that applying \a J on both the right and left sides of the 2x2 selfadjoint matrix
+  * \f$ B = \left ( \begin{array}{cc} \text{this}_{pp} & \text{this}_{pq} \\ (\text{this}_{pq})^* & \text{this}_{qq} \end{array} \right )\f$ yields
+  * a diagonal matrix \f$ A = J^* B J \f$
+  *
+  * Example: \include Jacobi_makeJacobi.cpp
+  * Output: \verbinclude Jacobi_makeJacobi.out
+  *
+  * \sa JacobiRotation::makeJacobi(RealScalar, Scalar, RealScalar), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+template<typename Scalar>
+template<typename Derived>
+inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, typename Derived::Index p, typename Derived::Index q)
+{
+  return makeJacobi(internal::real(m.coeff(p,p)), m.coeff(p,q), internal::real(m.coeff(q,q)));
+}
+
+/** Makes \c *this as a Givens rotation \c G such that applying \f$ G^* \f$ to the left of the vector
+  * \f$ V = \left ( \begin{array}{c} p \\ q \end{array} \right )\f$ yields:
+  * \f$ G^* V = \left ( \begin{array}{c} r \\ 0 \end{array} \right )\f$.
+  *
+  * The value of \a z is returned if \a z is not null (the default is null).
+  * Also note that G is built such that the cosine is always real.
+  *
+  * Example: \include Jacobi_makeGivens.cpp
+  * Output: \verbinclude Jacobi_makeGivens.out
+  *
+  * This function implements the continuous Givens rotation generation algorithm
+  * found in Anderson (2000), Discontinuous Plane Rotations and the Symmetric Eigenvalue Problem.
+  * LAPACK Working Note 150, University of Tennessee, UT-CS-00-454, December 4, 2000.
+  *
+  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+template<typename Scalar>
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* z)
+{
+  makeGivens(p, q, z, typename internal::conditional<NumTraits<Scalar>::IsComplex, internal::true_type, internal::false_type>::type());
+}
+
+
+// specialization for complexes
+template<typename Scalar>
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::true_type)
+{
+  if(q==Scalar(0))
+  {
+    m_c = internal::real(p)<0 ? Scalar(-1) : Scalar(1);
+    m_s = 0;
+    if(r) *r = m_c * p;
+  }
+  else if(p==Scalar(0))
+  {
+    m_c = 0;
+    m_s = -q/internal::abs(q);
+    if(r) *r = internal::abs(q);
+  }
+  else
+  {
+    RealScalar p1 = internal::norm1(p);
+    RealScalar q1 = internal::norm1(q);
+    if(p1>=q1)
+    {
+      Scalar ps = p / p1;
+      RealScalar p2 = internal::abs2(ps);
+      Scalar qs = q / p1;
+      RealScalar q2 = internal::abs2(qs);
+
+      RealScalar u = internal::sqrt(RealScalar(1) + q2/p2);
+      if(internal::real(p)<RealScalar(0))
+        u = -u;
+
+      m_c = Scalar(1)/u;
+      m_s = -qs*internal::conj(ps)*(m_c/p2);
+      if(r) *r = p * u;
+    }
+    else
+    {
+      Scalar ps = p / q1;
+      RealScalar p2 = internal::abs2(ps);
+      Scalar qs = q / q1;
+      RealScalar q2 = internal::abs2(qs);
+
+      RealScalar u = q1 * internal::sqrt(p2 + q2);
+      if(internal::real(p)<RealScalar(0))
+        u = -u;
+
+      p1 = internal::abs(p);
+      ps = p/p1;
+      m_c = p1/u;
+      m_s = -internal::conj(ps) * (q/u);
+      if(r) *r = ps * u;
+    }
+  }
+}
+
+// specialization for reals
+template<typename Scalar>
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::false_type)
+{
+
+  if(q==0)
+  {
+    m_c = p<Scalar(0) ? Scalar(-1) : Scalar(1);
+    m_s = 0;
+    if(r) *r = internal::abs(p);
+  }
+  else if(p==0)
+  {
+    m_c = 0;
+    m_s = q<Scalar(0) ? Scalar(1) : Scalar(-1);
+    if(r) *r = internal::abs(q);
+  }
+  else if(internal::abs(p) > internal::abs(q))
+  {
+    Scalar t = q/p;
+    Scalar u = internal::sqrt(Scalar(1) + internal::abs2(t));
+    if(p<Scalar(0))
+      u = -u;
+    m_c = Scalar(1)/u;
+    m_s = -t * m_c;
+    if(r) *r = p * u;
+  }
+  else
+  {
+    Scalar t = p/q;
+    Scalar u = internal::sqrt(Scalar(1) + internal::abs2(t));
+    if(q<Scalar(0))
+      u = -u;
+    m_s = -Scalar(1)/u;
+    m_c = -t * m_s;
+    if(r) *r = q * u;
+  }
+
+}
+
+/****************************************************************************************
+*   Implementation of MatrixBase methods
+****************************************************************************************/
+
+/** \jacobi_module
+  * Applies the clock wise 2D rotation \a j to the set of 2D vectors of cordinates \a x and \a y:
+  * \f$ \left ( \begin{array}{cc} x \\ y \end{array} \right )  =  J \left ( \begin{array}{cc} x \\ y \end{array} \right ) \f$
+  *
+  * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  */
+namespace internal {
+template<typename VectorX, typename VectorY, typename OtherScalar>
+void apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const JacobiRotation<OtherScalar>& j);
+}
+
+/** \jacobi_module
+  * Applies the rotation in the plane \a j to the rows \a p and \a q of \c *this, i.e., it computes B = J * B,
+  * with \f$ B = \left ( \begin{array}{cc} \text{*this.row}(p) \\ \text{*this.row}(q) \end{array} \right ) \f$.
+  *
+  * \sa class JacobiRotation, MatrixBase::applyOnTheRight(), internal::apply_rotation_in_the_plane()
+  */
+template<typename Derived>
+template<typename OtherScalar>
+inline void MatrixBase<Derived>::applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j)
+{
+  RowXpr x(this->row(p));
+  RowXpr y(this->row(q));
+  internal::apply_rotation_in_the_plane(x, y, j);
+}
+
+/** \ingroup Jacobi_Module
+  * Applies the rotation in the plane \a j to the columns \a p and \a q of \c *this, i.e., it computes B = B * J
+  * with \f$ B = \left ( \begin{array}{cc} \text{*this.col}(p) & \text{*this.col}(q) \end{array} \right ) \f$.
+  *
+  * \sa class JacobiRotation, MatrixBase::applyOnTheLeft(), internal::apply_rotation_in_the_plane()
+  */
+template<typename Derived>
+template<typename OtherScalar>
+inline void MatrixBase<Derived>::applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j)
+{
+  ColXpr x(this->col(p));
+  ColXpr y(this->col(q));
+  internal::apply_rotation_in_the_plane(x, y, j.transpose());
+}
+
+namespace internal {
+template<typename VectorX, typename VectorY, typename OtherScalar>
+void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const JacobiRotation<OtherScalar>& j)
+{
+  typedef typename VectorX::Index Index;
+  typedef typename VectorX::Scalar Scalar;
+  enum { PacketSize = packet_traits<Scalar>::size };
+  typedef typename packet_traits<Scalar>::type Packet;
+  eigen_assert(_x.size() == _y.size());
+  Index size = _x.size();
+  Index incrx = _x.innerStride();
+  Index incry = _y.innerStride();
+
+  Scalar* EIGEN_RESTRICT x = &_x.coeffRef(0);
+  Scalar* EIGEN_RESTRICT y = &_y.coeffRef(0);
+
+  /*** dynamic-size vectorized paths ***/
+
+  if(VectorX::SizeAtCompileTime == Dynamic &&
+    (VectorX::Flags & VectorY::Flags & PacketAccessBit) &&
+    ((incrx==1 && incry==1) || PacketSize == 1))
+  {
+    // both vectors are sequentially stored in memory => vectorization
+    enum { Peeling = 2 };
+
+    Index alignedStart = first_aligned(y, size);
+    Index alignedEnd = alignedStart + ((size-alignedStart)/PacketSize)*PacketSize;
+
+    const Packet pc = pset1<Packet>(j.c());
+    const Packet ps = pset1<Packet>(j.s());
+    conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex,false> pcj;
+
+    for(Index i=0; i<alignedStart; ++i)
+    {
+      Scalar xi = x[i];
+      Scalar yi = y[i];
+      x[i] =  j.c() * xi + conj(j.s()) * yi;
+      y[i] = -j.s() * xi + conj(j.c()) * yi;
+    }
+
+    Scalar* EIGEN_RESTRICT px = x + alignedStart;
+    Scalar* EIGEN_RESTRICT py = y + alignedStart;
+
+    if(first_aligned(x, size)==alignedStart)
+    {
+      for(Index i=alignedStart; i<alignedEnd; i+=PacketSize)
+      {
+        Packet xi = pload<Packet>(px);
+        Packet yi = pload<Packet>(py);
+        pstore(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
+        pstore(py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+        px += PacketSize;
+        py += PacketSize;
+      }
+    }
+    else
+    {
+      Index peelingEnd = alignedStart + ((size-alignedStart)/(Peeling*PacketSize))*(Peeling*PacketSize);
+      for(Index i=alignedStart; i<peelingEnd; i+=Peeling*PacketSize)
+      {
+        Packet xi   = ploadu<Packet>(px);
+        Packet xi1  = ploadu<Packet>(px+PacketSize);
+        Packet yi   = pload <Packet>(py);
+        Packet yi1  = pload <Packet>(py+PacketSize);
+        pstoreu(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
+        pstoreu(px+PacketSize, padd(pmul(pc,xi1),pcj.pmul(ps,yi1)));
+        pstore (py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+        pstore (py+PacketSize, psub(pcj.pmul(pc,yi1),pmul(ps,xi1)));
+        px += Peeling*PacketSize;
+        py += Peeling*PacketSize;
+      }
+      if(alignedEnd!=peelingEnd)
+      {
+        Packet xi = ploadu<Packet>(x+peelingEnd);
+        Packet yi = pload <Packet>(y+peelingEnd);
+        pstoreu(x+peelingEnd, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
+        pstore (y+peelingEnd, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+      }
+    }
+
+    for(Index i=alignedEnd; i<size; ++i)
+    {
+      Scalar xi = x[i];
+      Scalar yi = y[i];
+      x[i] =  j.c() * xi + conj(j.s()) * yi;
+      y[i] = -j.s() * xi + conj(j.c()) * yi;
+    }
+  }
+
+  /*** fixed-size vectorized path ***/
+  else if(VectorX::SizeAtCompileTime != Dynamic &&
+          (VectorX::Flags & VectorY::Flags & PacketAccessBit) &&
+          (VectorX::Flags & VectorY::Flags & AlignedBit))
+  {
+    const Packet pc = pset1<Packet>(j.c());
+    const Packet ps = pset1<Packet>(j.s());
+    conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex,false> pcj;
+    Scalar* EIGEN_RESTRICT px = x;
+    Scalar* EIGEN_RESTRICT py = y;
+    for(Index i=0; i<size; i+=PacketSize)
+    {
+      Packet xi = pload<Packet>(px);
+      Packet yi = pload<Packet>(py);
+      pstore(px, padd(pmul(pc,xi),pcj.pmul(ps,yi)));
+      pstore(py, psub(pcj.pmul(pc,yi),pmul(ps,xi)));
+      px += PacketSize;
+      py += PacketSize;
+    }
+  }
+
+  /*** non-vectorized path ***/
+  else
+  {
+    for(Index i=0; i<size; ++i)
+    {
+      Scalar xi = *x;
+      Scalar yi = *y;
+      *x =  j.c() * xi + conj(j.s()) * yi;
+      *y = -j.s() * xi + conj(j.c()) * yi;
+      x += incrx;
+      y += incry;
+    }
+  }
+}
+}
+
+#endif // EIGEN_JACOBI_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/CMakeLists.txt
new file mode 100755
index 0000000..e0d8d78
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/CMakeLists.txt
@@ -0,0 +1,8 @@
+FILE(GLOB Eigen_LU_SRCS "*.h")
+
+INSTALL(FILES 
+  ${Eigen_LU_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/LU COMPONENT Devel
+  )
+
+ADD_SUBDIRECTORY(arch)
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/Determinant.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/Determinant.h
new file mode 100755
index 0000000..b4fe36e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/Determinant.h
@@ -0,0 +1,112 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DETERMINANT_H
+#define EIGEN_DETERMINANT_H
+
+namespace internal {
+
+template<typename Derived>
+inline const typename Derived::Scalar bruteforce_det3_helper
+(const MatrixBase<Derived>& matrix, int a, int b, int c)
+{
+  return matrix.coeff(0,a)
+         * (matrix.coeff(1,b) * matrix.coeff(2,c) - matrix.coeff(1,c) * matrix.coeff(2,b));
+}
+
+template<typename Derived>
+const typename Derived::Scalar bruteforce_det4_helper
+(const MatrixBase<Derived>& matrix, int j, int k, int m, int n)
+{
+  return (matrix.coeff(j,0) * matrix.coeff(k,1) - matrix.coeff(k,0) * matrix.coeff(j,1))
+       * (matrix.coeff(m,2) * matrix.coeff(n,3) - matrix.coeff(n,2) * matrix.coeff(m,3));
+}
+
+template<typename Derived,
+         int DeterminantType = Derived::RowsAtCompileTime
+> struct determinant_impl
+{
+  static inline typename traits<Derived>::Scalar run(const Derived& m)
+  {
+    if(Derived::ColsAtCompileTime==Dynamic && m.rows()==0)
+      return typename traits<Derived>::Scalar(1);
+    return m.partialPivLu().determinant();
+  }
+};
+
+template<typename Derived> struct determinant_impl<Derived, 1>
+{
+  static inline typename traits<Derived>::Scalar run(const Derived& m)
+  {
+    return m.coeff(0,0);
+  }
+};
+
+template<typename Derived> struct determinant_impl<Derived, 2>
+{
+  static inline typename traits<Derived>::Scalar run(const Derived& m)
+  {
+    return m.coeff(0,0) * m.coeff(1,1) - m.coeff(1,0) * m.coeff(0,1);
+  }
+};
+
+template<typename Derived> struct determinant_impl<Derived, 3>
+{
+  static inline typename traits<Derived>::Scalar run(const Derived& m)
+  {
+    return bruteforce_det3_helper(m,0,1,2)
+          - bruteforce_det3_helper(m,1,0,2)
+          + bruteforce_det3_helper(m,2,0,1);
+  }
+};
+
+template<typename Derived> struct determinant_impl<Derived, 4>
+{
+  static typename traits<Derived>::Scalar run(const Derived& m)
+  {
+    // trick by Martin Costabel to compute 4x4 det with only 30 muls
+    return bruteforce_det4_helper(m,0,1,2,3)
+          - bruteforce_det4_helper(m,0,2,1,3)
+          + bruteforce_det4_helper(m,0,3,1,2)
+          + bruteforce_det4_helper(m,1,2,0,3)
+          - bruteforce_det4_helper(m,1,3,0,2)
+          + bruteforce_det4_helper(m,2,3,0,1);
+  }
+};
+
+} // end namespace internal
+
+/** \lu_module
+  *
+  * \returns the determinant of this matrix
+  */
+template<typename Derived>
+inline typename internal::traits<Derived>::Scalar MatrixBase<Derived>::determinant() const
+{
+  assert(rows() == cols());
+  typedef typename internal::nested<Derived,Base::RowsAtCompileTime>::type Nested;
+  return internal::determinant_impl<typename internal::remove_all<Nested>::type>::run(derived());
+}
+
+#endif // EIGEN_DETERMINANT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/FullPivLU.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/FullPivLU.h
new file mode 100755
index 0000000..339d784
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/FullPivLU.h
@@ -0,0 +1,754 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// // WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_LU_H
+#define EIGEN_LU_H
+
+/** \ingroup LU_Module
+  *
+  * \class FullPivLU
+  *
+  * \brief LU decomposition of a matrix with complete pivoting, and related features
+  *
+  * \param MatrixType the type of the matrix of which we are computing the LU decomposition
+  *
+  * This class represents a LU decomposition of any matrix, with complete pivoting: the matrix A
+  * is decomposed as A = PLUQ where L is unit-lower-triangular, U is upper-triangular, and P and Q
+  * are permutation matrices. This is a rank-revealing LU decomposition. The eigenvalues (diagonal
+  * coefficients) of U are sorted in such a way that any zeros are at the end.
+  *
+  * This decomposition provides the generic approach to solving systems of linear equations, computing
+  * the rank, invertibility, inverse, kernel, and determinant.
+  *
+  * This LU decomposition is very stable and well tested with large matrices. However there are use cases where the SVD
+  * decomposition is inherently more stable and/or flexible. For example, when computing the kernel of a matrix,
+  * working with the SVD allows to select the smallest singular values of the matrix, something that
+  * the LU decomposition doesn't see.
+  *
+  * The data of the LU decomposition can be directly accessed through the methods matrixLU(),
+  * permutationP(), permutationQ().
+  *
+  * As an exemple, here is how the original matrix can be retrieved:
+  * \include class_FullPivLU.cpp
+  * Output: \verbinclude class_FullPivLU.out
+  *
+  * \sa MatrixBase::fullPivLu(), MatrixBase::determinant(), MatrixBase::inverse()
+  */
+template<typename _MatrixType> class FullPivLU
+{
+  public:
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef typename internal::traits<MatrixType>::StorageKind StorageKind;
+    typedef typename MatrixType::Index Index;
+    typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
+    typedef typename internal::plain_col_type<MatrixType, Index>::type IntColVectorType;
+    typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationQType;
+    typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationPType;
+
+    /**
+      * \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via LU::compute(const MatrixType&).
+      */
+    FullPivLU();
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa FullPivLU()
+      */
+    FullPivLU(Index rows, Index cols);
+
+    /** Constructor.
+      *
+      * \param matrix the matrix of which to compute the LU decomposition.
+      *               It is required to be nonzero.
+      */
+    FullPivLU(const MatrixType& matrix);
+
+    /** Computes the LU decomposition of the given matrix.
+      *
+      * \param matrix the matrix of which to compute the LU decomposition.
+      *               It is required to be nonzero.
+      *
+      * \returns a reference to *this
+      */
+    FullPivLU& compute(const MatrixType& matrix);
+
+    /** \returns the LU decomposition matrix: the upper-triangular part is U, the
+      * unit-lower-triangular part is L (at least for square matrices; in the non-square
+      * case, special care is needed, see the documentation of class FullPivLU).
+      *
+      * \sa matrixL(), matrixU()
+      */
+    inline const MatrixType& matrixLU() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_lu;
+    }
+
+    /** \returns the number of nonzero pivots in the LU decomposition.
+      * Here nonzero is meant in the exact sense, not in a fuzzy sense.
+      * So that notion isn't really intrinsically interesting, but it is
+      * still useful when implementing algorithms.
+      *
+      * \sa rank()
+      */
+    inline Index nonzeroPivots() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_nonzero_pivots;
+    }
+
+    /** \returns the absolute value of the biggest pivot, i.e. the biggest
+      *          diagonal coefficient of U.
+      */
+    RealScalar maxPivot() const { return m_maxpivot; }
+
+    /** \returns the permutation matrix P
+      *
+      * \sa permutationQ()
+      */
+    inline const PermutationPType& permutationP() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_p;
+    }
+
+    /** \returns the permutation matrix Q
+      *
+      * \sa permutationP()
+      */
+    inline const PermutationQType& permutationQ() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_q;
+    }
+
+    /** \returns the kernel of the matrix, also called its null-space. The columns of the returned matrix
+      * will form a basis of the kernel.
+      *
+      * \note If the kernel has dimension zero, then the returned matrix is a column-vector filled with zeros.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      *
+      * Example: \include FullPivLU_kernel.cpp
+      * Output: \verbinclude FullPivLU_kernel.out
+      *
+      * \sa image()
+      */
+    inline const internal::kernel_retval<FullPivLU> kernel() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return internal::kernel_retval<FullPivLU>(*this);
+    }
+
+    /** \returns the image of the matrix, also called its column-space. The columns of the returned matrix
+      * will form a basis of the kernel.
+      *
+      * \param originalMatrix the original matrix, of which *this is the LU decomposition.
+      *                       The reason why it is needed to pass it here, is that this allows
+      *                       a large optimization, as otherwise this method would need to reconstruct it
+      *                       from the LU decomposition.
+      *
+      * \note If the image has dimension zero, then the returned matrix is a column-vector filled with zeros.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      *
+      * Example: \include FullPivLU_image.cpp
+      * Output: \verbinclude FullPivLU_image.out
+      *
+      * \sa kernel()
+      */
+    inline const internal::image_retval<FullPivLU>
+      image(const MatrixType& originalMatrix) const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return internal::image_retval<FullPivLU>(*this, originalMatrix);
+    }
+
+    /** \return a solution x to the equation Ax=b, where A is the matrix of which
+      * *this is the LU decomposition.
+      *
+      * \param b the right-hand-side of the equation to solve. Can be a vector or a matrix,
+      *          the only requirement in order for the equation to make sense is that
+      *          b.rows()==A.rows(), where A is the matrix of which *this is the LU decomposition.
+      *
+      * \returns a solution.
+      *
+      * \note_about_checking_solutions
+      *
+      * \note_about_arbitrary_choice_of_solution
+      * \note_about_using_kernel_to_study_multiple_solutions
+      *
+      * Example: \include FullPivLU_solve.cpp
+      * Output: \verbinclude FullPivLU_solve.out
+      *
+      * \sa TriangularView::solve(), kernel(), inverse()
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<FullPivLU, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return internal::solve_retval<FullPivLU, Rhs>(*this, b.derived());
+    }
+
+    /** \returns the determinant of the matrix of which
+      * *this is the LU decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the LU decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \note For fixed-size matrices of size up to 4, MatrixBase::determinant() offers
+      *       optimized paths.
+      *
+      * \warning a determinant can be very big or small, so for matrices
+      * of large enough dimension, there is a risk of overflow/underflow.
+      *
+      * \sa MatrixBase::determinant()
+      */
+    typename internal::traits<MatrixType>::Scalar determinant() const;
+
+    /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
+      * who need to determine when pivots are to be considered nonzero. This is not used for the
+      * LU decomposition itself.
+      *
+      * When it needs to get the threshold value, Eigen calls threshold(). By default, this
+      * uses a formula to automatically determine a reasonable threshold.
+      * Once you have called the present method setThreshold(const RealScalar&),
+      * your value is used instead.
+      *
+      * \param threshold The new value to use as the threshold.
+      *
+      * A pivot will be considered nonzero if its absolute value is strictly greater than
+      *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+      * where maxpivot is the biggest pivot.
+      *
+      * If you want to come back to the default behavior, call setThreshold(Default_t)
+      */
+    FullPivLU& setThreshold(const RealScalar& threshold)
+    {
+      m_usePrescribedThreshold = true;
+      m_prescribedThreshold = threshold;
+      return *this;
+    }
+
+    /** Allows to come back to the default behavior, letting Eigen use its default formula for
+      * determining the threshold.
+      *
+      * You should pass the special object Eigen::Default as parameter here.
+      * \code lu.setThreshold(Eigen::Default); \endcode
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    FullPivLU& setThreshold(Default_t)
+    {
+      m_usePrescribedThreshold = false;
+    }
+
+    /** Returns the threshold that will be used by certain methods such as rank().
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    RealScalar threshold() const
+    {
+      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+      return m_usePrescribedThreshold ? m_prescribedThreshold
+      // this formula comes from experimenting (see "LU precision tuning" thread on the list)
+      // and turns out to be identical to Higham's formula used already in LDLt.
+                                      : NumTraits<Scalar>::epsilon() * m_lu.diagonalSize();
+    }
+
+    /** \returns the rank of the matrix of which *this is the LU decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index rank() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      RealScalar premultiplied_threshold = internal::abs(m_maxpivot) * threshold();
+      Index result = 0;
+      for(Index i = 0; i < m_nonzero_pivots; ++i)
+        result += (internal::abs(m_lu.coeff(i,i)) > premultiplied_threshold);
+      return result;
+    }
+
+    /** \returns the dimension of the kernel of the matrix of which *this is the LU decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index dimensionOfKernel() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return cols() - rank();
+    }
+
+    /** \returns true if the matrix of which *this is the LU decomposition represents an injective
+      *          linear map, i.e. has trivial kernel; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInjective() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return rank() == cols();
+    }
+
+    /** \returns true if the matrix of which *this is the LU decomposition represents a surjective
+      *          linear map; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isSurjective() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return rank() == rows();
+    }
+
+    /** \returns true if the matrix of which *this is the LU decomposition is invertible.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInvertible() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return isInjective() && (m_lu.rows() == m_lu.cols());
+    }
+
+    /** \returns the inverse of the matrix of which *this is the LU decomposition.
+      *
+      * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
+      *       Use isInvertible() to first determine whether this matrix is invertible.
+      *
+      * \sa MatrixBase::inverse()
+      */
+    inline const internal::solve_retval<FullPivLU,typename MatrixType::IdentityReturnType> inverse() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      eigen_assert(m_lu.rows() == m_lu.cols() && "You can't take the inverse of a non-square matrix!");
+      return internal::solve_retval<FullPivLU,typename MatrixType::IdentityReturnType>
+               (*this, MatrixType::Identity(m_lu.rows(), m_lu.cols()));
+    }
+
+    MatrixType reconstructedMatrix() const;
+
+    inline Index rows() const { return m_lu.rows(); }
+    inline Index cols() const { return m_lu.cols(); }
+
+  protected:
+    MatrixType m_lu;
+    PermutationPType m_p;
+    PermutationQType m_q;
+    IntColVectorType m_rowsTranspositions;
+    IntRowVectorType m_colsTranspositions;
+    Index m_det_pq, m_nonzero_pivots;
+    RealScalar m_maxpivot, m_prescribedThreshold;
+    bool m_isInitialized, m_usePrescribedThreshold;
+};
+
+template<typename MatrixType>
+FullPivLU<MatrixType>::FullPivLU()
+  : m_isInitialized(false), m_usePrescribedThreshold(false)
+{
+}
+
+template<typename MatrixType>
+FullPivLU<MatrixType>::FullPivLU(Index rows, Index cols)
+  : m_lu(rows, cols),
+    m_p(rows),
+    m_q(cols),
+    m_rowsTranspositions(rows),
+    m_colsTranspositions(cols),
+    m_isInitialized(false),
+    m_usePrescribedThreshold(false)
+{
+}
+
+template<typename MatrixType>
+FullPivLU<MatrixType>::FullPivLU(const MatrixType& matrix)
+  : m_lu(matrix.rows(), matrix.cols()),
+    m_p(matrix.rows()),
+    m_q(matrix.cols()),
+    m_rowsTranspositions(matrix.rows()),
+    m_colsTranspositions(matrix.cols()),
+    m_isInitialized(false),
+    m_usePrescribedThreshold(false)
+{
+  compute(matrix);
+}
+
+template<typename MatrixType>
+FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
+{
+  m_isInitialized = true;
+  m_lu = matrix;
+
+  const Index size = matrix.diagonalSize();
+  const Index rows = matrix.rows();
+  const Index cols = matrix.cols();
+
+  // will store the transpositions, before we accumulate them at the end.
+  // can't accumulate on-the-fly because that will be done in reverse order for the rows.
+  m_rowsTranspositions.resize(matrix.rows());
+  m_colsTranspositions.resize(matrix.cols());
+  Index number_of_transpositions = 0; // number of NONTRIVIAL transpositions, i.e. m_rowsTranspositions[i]!=i
+
+  m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
+  m_maxpivot = RealScalar(0);
+  RealScalar cutoff(0);
+
+  for(Index k = 0; k < size; ++k)
+  {
+    // First, we need to find the pivot.
+
+    // biggest coefficient in the remaining bottom-right corner (starting at row k, col k)
+    Index row_of_biggest_in_corner, col_of_biggest_in_corner;
+    RealScalar biggest_in_corner;
+    biggest_in_corner = m_lu.bottomRightCorner(rows-k, cols-k)
+                        .cwiseAbs()
+                        .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
+    row_of_biggest_in_corner += k; // correct the values! since they were computed in the corner,
+    col_of_biggest_in_corner += k; // need to add k to them.
+
+    // when k==0, biggest_in_corner is the biggest coeff absolute value in the original matrix
+    if(k == 0) cutoff = biggest_in_corner * NumTraits<Scalar>::epsilon();
+
+    // if the pivot (hence the corner) is "zero", terminate to avoid generating nan/inf values.
+    // Notice that using an exact comparison (biggest_in_corner==0) here, as Golub-van Loan do in
+    // their pseudo-code, results in numerical instability! The cutoff here has been validated
+    // by running the unit test 'lu' with many repetitions.
+    if(biggest_in_corner < cutoff)
+    {
+      // before exiting, make sure to initialize the still uninitialized transpositions
+      // in a sane state without destroying what we already have.
+      m_nonzero_pivots = k;
+      for(Index i = k; i < size; ++i)
+      {
+        m_rowsTranspositions.coeffRef(i) = i;
+        m_colsTranspositions.coeffRef(i) = i;
+      }
+      break;
+    }
+
+    if(biggest_in_corner > m_maxpivot) m_maxpivot = biggest_in_corner;
+
+    // Now that we've found the pivot, we need to apply the row/col swaps to
+    // bring it to the location (k,k).
+
+    m_rowsTranspositions.coeffRef(k) = row_of_biggest_in_corner;
+    m_colsTranspositions.coeffRef(k) = col_of_biggest_in_corner;
+    if(k != row_of_biggest_in_corner) {
+      m_lu.row(k).swap(m_lu.row(row_of_biggest_in_corner));
+      ++number_of_transpositions;
+    }
+    if(k != col_of_biggest_in_corner) {
+      m_lu.col(k).swap(m_lu.col(col_of_biggest_in_corner));
+      ++number_of_transpositions;
+    }
+
+    // Now that the pivot is at the right location, we update the remaining
+    // bottom-right corner by Gaussian elimination.
+
+    if(k<rows-1)
+      m_lu.col(k).tail(rows-k-1) /= m_lu.coeff(k,k);
+    if(k<size-1)
+      m_lu.block(k+1,k+1,rows-k-1,cols-k-1).noalias() -= m_lu.col(k).tail(rows-k-1) * m_lu.row(k).tail(cols-k-1);
+  }
+
+  // the main loop is over, we still have to accumulate the transpositions to find the
+  // permutations P and Q
+
+  m_p.setIdentity(rows);
+  for(Index k = size-1; k >= 0; --k)
+    m_p.applyTranspositionOnTheRight(k, m_rowsTranspositions.coeff(k));
+
+  m_q.setIdentity(cols);
+  for(Index k = 0; k < size; ++k)
+    m_q.applyTranspositionOnTheRight(k, m_colsTranspositions.coeff(k));
+
+  m_det_pq = (number_of_transpositions%2) ? -1 : 1;
+  return *this;
+}
+
+template<typename MatrixType>
+typename internal::traits<MatrixType>::Scalar FullPivLU<MatrixType>::determinant() const
+{
+  eigen_assert(m_isInitialized && "LU is not initialized.");
+  eigen_assert(m_lu.rows() == m_lu.cols() && "You can't take the determinant of a non-square matrix!");
+  return Scalar(m_det_pq) * Scalar(m_lu.diagonal().prod());
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: P^{-1} L U Q^{-1}.
+ * This function is provided for debug purpose. */
+template<typename MatrixType>
+MatrixType FullPivLU<MatrixType>::reconstructedMatrix() const
+{
+  eigen_assert(m_isInitialized && "LU is not initialized.");
+  const Index smalldim = std::min(m_lu.rows(), m_lu.cols());
+  // LU
+  MatrixType res(m_lu.rows(),m_lu.cols());
+  // FIXME the .toDenseMatrix() should not be needed...
+  res = m_lu.leftCols(smalldim)
+            .template triangularView<UnitLower>().toDenseMatrix()
+      * m_lu.topRows(smalldim)
+            .template triangularView<Upper>().toDenseMatrix();
+
+  // P^{-1}(LU)
+  res = m_p.inverse() * res;
+
+  // (P^{-1}LU)Q^{-1}
+  res = res * m_q.inverse();
+
+  return res;
+}
+
+/********* Implementation of kernel() **************************************************/
+
+namespace internal {
+template<typename _MatrixType>
+struct kernel_retval<FullPivLU<_MatrixType> >
+  : kernel_retval_base<FullPivLU<_MatrixType> >
+{
+  EIGEN_MAKE_KERNEL_HELPERS(FullPivLU<_MatrixType>)
+
+  enum { MaxSmallDimAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(
+            MatrixType::MaxColsAtCompileTime,
+            MatrixType::MaxRowsAtCompileTime)
+  };
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    const Index cols = dec().matrixLU().cols(), dimker = cols - rank();
+    if(dimker == 0)
+    {
+      // The Kernel is just {0}, so it doesn't have a basis properly speaking, but let's
+      // avoid crashing/asserting as that depends on floating point calculations. Let's
+      // just return a single column vector filled with zeros.
+      dst.setZero();
+      return;
+    }
+
+    /* Let us use the following lemma:
+      *
+      * Lemma: If the matrix A has the LU decomposition PAQ = LU,
+      * then Ker A = Q(Ker U).
+      *
+      * Proof: trivial: just keep in mind that P, Q, L are invertible.
+      */
+
+    /* Thus, all we need to do is to compute Ker U, and then apply Q.
+      *
+      * U is upper triangular, with eigenvalues sorted so that any zeros appear at the end.
+      * Thus, the diagonal of U ends with exactly
+      * dimKer zero's. Let us use that to construct dimKer linearly
+      * independent vectors in Ker U.
+      */
+
+    Matrix<Index, Dynamic, 1, 0, MaxSmallDimAtCompileTime, 1> pivots(rank());
+    RealScalar premultiplied_threshold = dec().maxPivot() * dec().threshold();
+    Index p = 0;
+    for(Index i = 0; i < dec().nonzeroPivots(); ++i)
+      if(abs(dec().matrixLU().coeff(i,i)) > premultiplied_threshold)
+        pivots.coeffRef(p++) = i;
+    eigen_internal_assert(p == rank());
+
+    // we construct a temporaty trapezoid matrix m, by taking the U matrix and
+    // permuting the rows and cols to bring the nonnegligible pivots to the top of
+    // the main diagonal. We need that to be able to apply our triangular solvers.
+    // FIXME when we get triangularView-for-rectangular-matrices, this can be simplified
+    Matrix<typename MatrixType::Scalar, Dynamic, Dynamic, MatrixType::Options,
+           MaxSmallDimAtCompileTime, MatrixType::MaxColsAtCompileTime>
+      m(dec().matrixLU().block(0, 0, rank(), cols));
+    for(Index i = 0; i < rank(); ++i)
+    {
+      if(i) m.row(i).head(i).setZero();
+      m.row(i).tail(cols-i) = dec().matrixLU().row(pivots.coeff(i)).tail(cols-i);
+    }
+    m.block(0, 0, rank(), rank());
+    m.block(0, 0, rank(), rank()).template triangularView<StrictlyLower>().setZero();
+    for(Index i = 0; i < rank(); ++i)
+      m.col(i).swap(m.col(pivots.coeff(i)));
+
+    // ok, we have our trapezoid matrix, we can apply the triangular solver.
+    // notice that the math behind this suggests that we should apply this to the
+    // negative of the RHS, but for performance we just put the negative sign elsewhere, see below.
+    m.topLeftCorner(rank(), rank())
+     .template triangularView<Upper>().solveInPlace(
+        m.topRightCorner(rank(), dimker)
+      );
+
+    // now we must undo the column permutation that we had applied!
+    for(Index i = rank()-1; i >= 0; --i)
+      m.col(i).swap(m.col(pivots.coeff(i)));
+
+    // see the negative sign in the next line, that's what we were talking about above.
+    for(Index i = 0; i < rank(); ++i) dst.row(dec().permutationQ().indices().coeff(i)) = -m.row(i).tail(dimker);
+    for(Index i = rank(); i < cols; ++i) dst.row(dec().permutationQ().indices().coeff(i)).setZero();
+    for(Index k = 0; k < dimker; ++k) dst.coeffRef(dec().permutationQ().indices().coeff(rank()+k), k) = Scalar(1);
+  }
+};
+
+/***** Implementation of image() *****************************************************/
+
+template<typename _MatrixType>
+struct image_retval<FullPivLU<_MatrixType> >
+  : image_retval_base<FullPivLU<_MatrixType> >
+{
+  EIGEN_MAKE_IMAGE_HELPERS(FullPivLU<_MatrixType>)
+
+  enum { MaxSmallDimAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(
+            MatrixType::MaxColsAtCompileTime,
+            MatrixType::MaxRowsAtCompileTime)
+  };
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    if(rank() == 0)
+    {
+      // The Image is just {0}, so it doesn't have a basis properly speaking, but let's
+      // avoid crashing/asserting as that depends on floating point calculations. Let's
+      // just return a single column vector filled with zeros.
+      dst.setZero();
+      return;
+    }
+
+    Matrix<Index, Dynamic, 1, 0, MaxSmallDimAtCompileTime, 1> pivots(rank());
+    RealScalar premultiplied_threshold = dec().maxPivot() * dec().threshold();
+    Index p = 0;
+    for(Index i = 0; i < dec().nonzeroPivots(); ++i)
+      if(abs(dec().matrixLU().coeff(i,i)) > premultiplied_threshold)
+        pivots.coeffRef(p++) = i;
+    eigen_internal_assert(p == rank());
+
+    for(Index i = 0; i < rank(); ++i)
+      dst.col(i) = originalMatrix().col(dec().permutationQ().indices().coeff(pivots.coeff(i)));
+  }
+};
+
+/***** Implementation of solve() *****************************************************/
+
+template<typename _MatrixType, typename Rhs>
+struct solve_retval<FullPivLU<_MatrixType>, Rhs>
+  : solve_retval_base<FullPivLU<_MatrixType>, Rhs>
+{
+  EIGEN_MAKE_SOLVE_HELPERS(FullPivLU<_MatrixType>,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1}.
+     * So we proceed as follows:
+     * Step 1: compute c = P * rhs.
+     * Step 2: replace c by the solution x to Lx = c. Exists because L is invertible.
+     * Step 3: replace c by the solution x to Ux = c. May or may not exist.
+     * Step 4: result = Q * c;
+     */
+
+    const Index rows = dec().rows(), cols = dec().cols(),
+              nonzero_pivots = dec().nonzeroPivots();
+    eigen_assert(rhs().rows() == rows);
+    const Index smalldim = std::min(rows, cols);
+
+    if(nonzero_pivots == 0)
+    {
+      dst.setZero();
+      return;
+    }
+
+    typename Rhs::PlainObject c(rhs().rows(), rhs().cols());
+
+    // Step 1
+    c = dec().permutationP() * rhs();
+
+    // Step 2
+    dec().matrixLU()
+        .topLeftCorner(smalldim,smalldim)
+        .template triangularView<UnitLower>()
+        .solveInPlace(c.topRows(smalldim));
+    if(rows>cols)
+    {
+      c.bottomRows(rows-cols)
+        -= dec().matrixLU().bottomRows(rows-cols)
+         * c.topRows(cols);
+    }
+
+    // Step 3
+    dec().matrixLU()
+        .topLeftCorner(nonzero_pivots, nonzero_pivots)
+        .template triangularView<Upper>()
+        .solveInPlace(c.topRows(nonzero_pivots));
+
+    // Step 4
+    for(Index i = 0; i < nonzero_pivots; ++i)
+      dst.row(dec().permutationQ().indices().coeff(i)) = c.row(i);
+    for(Index i = nonzero_pivots; i < dec().matrixLU().cols(); ++i)
+      dst.row(dec().permutationQ().indices().coeff(i)).setZero();
+  }
+};
+
+} // end namespace internal
+
+/******* MatrixBase methods *****************************************************************/
+
+/** \lu_module
+  *
+  * \return the full-pivoting LU decomposition of \c *this.
+  *
+  * \sa class FullPivLU
+  */
+template<typename Derived>
+inline const FullPivLU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::fullPivLu() const
+{
+  return FullPivLU<PlainObject>(eval());
+}
+
+#endif // EIGEN_LU_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/Inverse.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/Inverse.h
new file mode 100755
index 0000000..2d3e6d1
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/Inverse.h
@@ -0,0 +1,407 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_INVERSE_H
+#define EIGEN_INVERSE_H
+
+namespace internal {
+
+/**********************************
+*** General case implementation ***
+**********************************/
+
+template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
+struct compute_inverse
+{
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    result = matrix.partialPivLu().inverse();
+  }
+};
+
+template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
+struct compute_inverse_and_det_with_check { /* nothing! general case not supported. */ };
+
+/****************************
+*** Size 1 implementation ***
+****************************/
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 1>
+{
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    typedef typename MatrixType::Scalar Scalar;
+    result.coeffRef(0,0) = Scalar(1) / matrix.coeff(0,0);
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 1>
+{
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& result,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    determinant = matrix.coeff(0,0);
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(invertible) result.coeffRef(0,0) = typename ResultType::Scalar(1) / determinant;
+  }
+};
+
+/****************************
+*** Size 2 implementation ***
+****************************/
+
+template<typename MatrixType, typename ResultType>
+inline void compute_inverse_size2_helper(
+    const MatrixType& matrix, const typename ResultType::Scalar& invdet,
+    ResultType& result)
+{
+  result.coeffRef(0,0) = matrix.coeff(1,1) * invdet;
+  result.coeffRef(1,0) = -matrix.coeff(1,0) * invdet;
+  result.coeffRef(0,1) = -matrix.coeff(0,1) * invdet;
+  result.coeffRef(1,1) = matrix.coeff(0,0) * invdet;
+}
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 2>
+{
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    typedef typename ResultType::Scalar Scalar;
+    const Scalar invdet = typename MatrixType::Scalar(1) / matrix.determinant();
+    compute_inverse_size2_helper(matrix, invdet, result);
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 2>
+{
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    typedef typename ResultType::Scalar Scalar;
+    determinant = matrix.determinant();
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(!invertible) return;
+    const Scalar invdet = Scalar(1) / determinant;
+    compute_inverse_size2_helper(matrix, invdet, inverse);
+  }
+};
+
+/****************************
+*** Size 3 implementation ***
+****************************/
+
+template<typename MatrixType, int i, int j>
+inline typename MatrixType::Scalar cofactor_3x3(const MatrixType& m)
+{
+  enum {
+    i1 = (i+1) % 3,
+    i2 = (i+2) % 3,
+    j1 = (j+1) % 3,
+    j2 = (j+2) % 3
+  };
+  return m.coeff(i1, j1) * m.coeff(i2, j2)
+       - m.coeff(i1, j2) * m.coeff(i2, j1);
+}
+
+template<typename MatrixType, typename ResultType>
+inline void compute_inverse_size3_helper(
+    const MatrixType& matrix,
+    const typename ResultType::Scalar& invdet,
+    const Matrix<typename ResultType::Scalar,3,1>& cofactors_col0,
+    ResultType& result)
+{
+  result.row(0) = cofactors_col0 * invdet;
+  result.coeffRef(1,0) =  cofactor_3x3<MatrixType,0,1>(matrix) * invdet;
+  result.coeffRef(1,1) =  cofactor_3x3<MatrixType,1,1>(matrix) * invdet;
+  result.coeffRef(1,2) =  cofactor_3x3<MatrixType,2,1>(matrix) * invdet;
+  result.coeffRef(2,0) =  cofactor_3x3<MatrixType,0,2>(matrix) * invdet;
+  result.coeffRef(2,1) =  cofactor_3x3<MatrixType,1,2>(matrix) * invdet;
+  result.coeffRef(2,2) =  cofactor_3x3<MatrixType,2,2>(matrix) * invdet;
+}
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 3>
+{
+  static inline void run(const MatrixType& matrix, ResultType& result)
+  {
+    typedef typename ResultType::Scalar Scalar;
+    Matrix<typename MatrixType::Scalar,3,1> cofactors_col0;
+    cofactors_col0.coeffRef(0) =  cofactor_3x3<MatrixType,0,0>(matrix);
+    cofactors_col0.coeffRef(1) =  cofactor_3x3<MatrixType,1,0>(matrix);
+    cofactors_col0.coeffRef(2) =  cofactor_3x3<MatrixType,2,0>(matrix);
+    const Scalar det = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();
+    const Scalar invdet = Scalar(1) / det;
+    compute_inverse_size3_helper(matrix, invdet, cofactors_col0, result);
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 3>
+{
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    typedef typename ResultType::Scalar Scalar;
+    Matrix<Scalar,3,1> cofactors_col0;
+    cofactors_col0.coeffRef(0) =  cofactor_3x3<MatrixType,0,0>(matrix);
+    cofactors_col0.coeffRef(1) =  cofactor_3x3<MatrixType,1,0>(matrix);
+    cofactors_col0.coeffRef(2) =  cofactor_3x3<MatrixType,2,0>(matrix);
+    determinant = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(!invertible) return;
+    const Scalar invdet = Scalar(1) / determinant;
+    compute_inverse_size3_helper(matrix, invdet, cofactors_col0, inverse);
+  }
+};
+
+/****************************
+*** Size 4 implementation ***
+****************************/
+
+template<typename Derived>
+inline const typename Derived::Scalar general_det3_helper
+(const MatrixBase<Derived>& matrix, int i1, int i2, int i3, int j1, int j2, int j3)
+{
+  return matrix.coeff(i1,j1)
+         * (matrix.coeff(i2,j2) * matrix.coeff(i3,j3) - matrix.coeff(i2,j3) * matrix.coeff(i3,j2));
+}
+
+template<typename MatrixType, int i, int j>
+inline typename MatrixType::Scalar cofactor_4x4(const MatrixType& matrix)
+{
+  enum {
+    i1 = (i+1) % 4,
+    i2 = (i+2) % 4,
+    i3 = (i+3) % 4,
+    j1 = (j+1) % 4,
+    j2 = (j+2) % 4,
+    j3 = (j+3) % 4
+  };
+  return general_det3_helper(matrix, i1, i2, i3, j1, j2, j3)
+       + general_det3_helper(matrix, i2, i3, i1, j1, j2, j3)
+       + general_det3_helper(matrix, i3, i1, i2, j1, j2, j3);
+}
+
+template<int Arch, typename Scalar, typename MatrixType, typename ResultType>
+struct compute_inverse_size4
+{
+  static void run(const MatrixType& matrix, ResultType& result)
+  {
+    result.coeffRef(0,0) =  cofactor_4x4<MatrixType,0,0>(matrix);
+    result.coeffRef(1,0) = -cofactor_4x4<MatrixType,0,1>(matrix);
+    result.coeffRef(2,0) =  cofactor_4x4<MatrixType,0,2>(matrix);
+    result.coeffRef(3,0) = -cofactor_4x4<MatrixType,0,3>(matrix);
+    result.coeffRef(0,2) =  cofactor_4x4<MatrixType,2,0>(matrix);
+    result.coeffRef(1,2) = -cofactor_4x4<MatrixType,2,1>(matrix);
+    result.coeffRef(2,2) =  cofactor_4x4<MatrixType,2,2>(matrix);
+    result.coeffRef(3,2) = -cofactor_4x4<MatrixType,2,3>(matrix);
+    result.coeffRef(0,1) = -cofactor_4x4<MatrixType,1,0>(matrix);
+    result.coeffRef(1,1) =  cofactor_4x4<MatrixType,1,1>(matrix);
+    result.coeffRef(2,1) = -cofactor_4x4<MatrixType,1,2>(matrix);
+    result.coeffRef(3,1) =  cofactor_4x4<MatrixType,1,3>(matrix);
+    result.coeffRef(0,3) = -cofactor_4x4<MatrixType,3,0>(matrix);
+    result.coeffRef(1,3) =  cofactor_4x4<MatrixType,3,1>(matrix);
+    result.coeffRef(2,3) = -cofactor_4x4<MatrixType,3,2>(matrix);
+    result.coeffRef(3,3) =  cofactor_4x4<MatrixType,3,3>(matrix);
+    result /= (matrix.col(0).cwiseProduct(result.row(0).transpose())).sum();
+  }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 4>
+ : compute_inverse_size4<Architecture::Target, typename MatrixType::Scalar,
+                            MatrixType, ResultType>
+{
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 4>
+{
+  static inline void run(
+    const MatrixType& matrix,
+    const typename MatrixType::RealScalar& absDeterminantThreshold,
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible
+  )
+  {
+    determinant = matrix.determinant();
+    invertible = abs(determinant) > absDeterminantThreshold;
+    if(invertible) compute_inverse<MatrixType, ResultType>::run(matrix, inverse);
+  }
+};
+
+/*************************
+*** MatrixBase methods ***
+*************************/
+
+template<typename MatrixType>
+struct traits<inverse_impl<MatrixType> >
+{
+  typedef typename MatrixType::PlainObject ReturnType;
+};
+
+template<typename MatrixType>
+struct inverse_impl : public ReturnByValue<inverse_impl<MatrixType> >
+{
+  typedef typename MatrixType::Index Index;
+  typedef typename internal::eval<MatrixType>::type MatrixTypeNested;
+  typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
+  const MatrixTypeNested m_matrix;
+
+  inverse_impl(const MatrixType& matrix)
+    : m_matrix(matrix)
+  {}
+
+  inline Index rows() const { return m_matrix.rows(); }
+  inline Index cols() const { return m_matrix.cols(); }
+
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  {
+    const int Size = EIGEN_PLAIN_ENUM_MIN(MatrixType::ColsAtCompileTime,Dest::ColsAtCompileTime);
+    EIGEN_ONLY_USED_FOR_DEBUG(Size);
+    eigen_assert(( (Size<=1) || (Size>4) || (extract_data(m_matrix)!=extract_data(dst)))
+              && "Aliasing problem detected in inverse(), you need to do inverse().eval() here.");
+
+    compute_inverse<MatrixTypeNestedCleaned, Dest>::run(m_matrix, dst);
+  }
+};
+
+} // end namespace internal
+
+/** \lu_module
+  *
+  * \returns the matrix inverse of this matrix.
+  *
+  * For small fixed sizes up to 4x4, this method uses cofactors.
+  * In the general case, this method uses class PartialPivLU.
+  *
+  * \note This matrix must be invertible, otherwise the result is undefined. If you need an
+  * invertibility check, do the following:
+  * \li for fixed sizes up to 4x4, use computeInverseAndDetWithCheck().
+  * \li for the general case, use class FullPivLU.
+  *
+  * Example: \include MatrixBase_inverse.cpp
+  * Output: \verbinclude MatrixBase_inverse.out
+  *
+  * \sa computeInverseAndDetWithCheck()
+  */
+template<typename Derived>
+inline const internal::inverse_impl<Derived> MatrixBase<Derived>::inverse() const
+{
+  EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsInteger,THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
+  eigen_assert(rows() == cols());
+  return internal::inverse_impl<Derived>(derived());
+}
+
+/** \lu_module
+  *
+  * Computation of matrix inverse and determinant, with invertibility check.
+  *
+  * This is only for fixed-size square matrices of size up to 4x4.
+  *
+  * \param inverse Reference to the matrix in which to store the inverse.
+  * \param determinant Reference to the variable in which to store the inverse.
+  * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
+  * \param absDeterminantThreshold Optional parameter controlling the invertibility check.
+  *                                The matrix will be declared invertible if the absolute value of its
+  *                                determinant is greater than this threshold.
+  *
+  * Example: \include MatrixBase_computeInverseAndDetWithCheck.cpp
+  * Output: \verbinclude MatrixBase_computeInverseAndDetWithCheck.out
+  *
+  * \sa inverse(), computeInverseWithCheck()
+  */
+template<typename Derived>
+template<typename ResultType>
+inline void MatrixBase<Derived>::computeInverseAndDetWithCheck(
+    ResultType& inverse,
+    typename ResultType::Scalar& determinant,
+    bool& invertible,
+    const RealScalar& absDeterminantThreshold
+  ) const
+{
+  // i'd love to put some static assertions there, but SFINAE means that they have no effect...
+  eigen_assert(rows() == cols());
+  // for 2x2, it's worth giving a chance to avoid evaluating.
+  // for larger sizes, evaluating has negligible cost and limits code size.
+  typedef typename internal::conditional<
+    RowsAtCompileTime == 2,
+    typename internal::remove_all<typename internal::nested<Derived, 2>::type>::type,
+    PlainObject
+  >::type MatrixType;
+  internal::compute_inverse_and_det_with_check<MatrixType, ResultType>::run
+    (derived(), absDeterminantThreshold, inverse, determinant, invertible);
+}
+
+/** \lu_module
+  *
+  * Computation of matrix inverse, with invertibility check.
+  *
+  * This is only for fixed-size square matrices of size up to 4x4.
+  *
+  * \param inverse Reference to the matrix in which to store the inverse.
+  * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
+  * \param absDeterminantThreshold Optional parameter controlling the invertibility check.
+  *                                The matrix will be declared invertible if the absolute value of its
+  *                                determinant is greater than this threshold.
+  *
+  * Example: \include MatrixBase_computeInverseWithCheck.cpp
+  * Output: \verbinclude MatrixBase_computeInverseWithCheck.out
+  *
+  * \sa inverse(), computeInverseAndDetWithCheck()
+  */
+template<typename Derived>
+template<typename ResultType>
+inline void MatrixBase<Derived>::computeInverseWithCheck(
+    ResultType& inverse,
+    bool& invertible,
+    const RealScalar& absDeterminantThreshold
+  ) const
+{
+  RealScalar determinant;
+  // i'd love to put some static assertions there, but SFINAE means that they have no effect...
+  eigen_assert(rows() == cols());
+  computeInverseAndDetWithCheck(inverse,determinant,invertible,absDeterminantThreshold);
+}
+
+#endif // EIGEN_INVERSE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/PartialPivLU.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/PartialPivLU.h
new file mode 100755
index 0000000..2533a38
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/PartialPivLU.h
@@ -0,0 +1,509 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_PARTIALLU_H
+#define EIGEN_PARTIALLU_H
+
+/** \ingroup LU_Module
+  *
+  * \class PartialPivLU
+  *
+  * \brief LU decomposition of a matrix with partial pivoting, and related features
+  *
+  * \param MatrixType the type of the matrix of which we are computing the LU decomposition
+  *
+  * This class represents a LU decomposition of a \b square \b invertible matrix, with partial pivoting: the matrix A
+  * is decomposed as A = PLU where L is unit-lower-triangular, U is upper-triangular, and P
+  * is a permutation matrix.
+  *
+  * Typically, partial pivoting LU decomposition is only considered numerically stable for square invertible
+  * matrices. Thus LAPACK's dgesv and dgesvx require the matrix to be square and invertible. The present class
+  * does the same. It will assert that the matrix is square, but it won't (actually it can't) check that the
+  * matrix is invertible: it is your task to check that you only use this decomposition on invertible matrices.
+  *
+  * The guaranteed safe alternative, working for all matrices, is the full pivoting LU decomposition, provided
+  * by class FullPivLU.
+  *
+  * This is \b not a rank-revealing LU decomposition. Many features are intentionally absent from this class,
+  * such as rank computation. If you need these features, use class FullPivLU.
+  *
+  * This LU decomposition is suitable to invert invertible matrices. It is what MatrixBase::inverse() uses
+  * in the general case.
+  * On the other hand, it is \b not suitable to determine whether a given matrix is invertible.
+  *
+  * The data of the LU decomposition can be directly accessed through the methods matrixLU(), permutationP().
+  *
+  * \sa MatrixBase::partialPivLu(), MatrixBase::determinant(), MatrixBase::inverse(), MatrixBase::computeInverse(), class FullPivLU
+  */
+template<typename _MatrixType> class PartialPivLU
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef typename internal::traits<MatrixType>::StorageKind StorageKind;
+    typedef typename MatrixType::Index Index;
+    typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
+    typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
+
+
+    /**
+    * \brief Default Constructor.
+    *
+    * The default constructor is useful in cases in which the user intends to
+    * perform decompositions via PartialPivLU::compute(const MatrixType&).
+    */
+    PartialPivLU();
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa PartialPivLU()
+      */
+    PartialPivLU(Index size);
+
+    /** Constructor.
+      *
+      * \param matrix the matrix of which to compute the LU decomposition.
+      *
+      * \warning The matrix should have full rank (e.g. if it's square, it should be invertible).
+      * If you need to deal with non-full rank, use class FullPivLU instead.
+      */
+    PartialPivLU(const MatrixType& matrix);
+
+    PartialPivLU& compute(const MatrixType& matrix);
+
+    /** \returns the LU decomposition matrix: the upper-triangular part is U, the
+      * unit-lower-triangular part is L (at least for square matrices; in the non-square
+      * case, special care is needed, see the documentation of class FullPivLU).
+      *
+      * \sa matrixL(), matrixU()
+      */
+    inline const MatrixType& matrixLU() const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return m_lu;
+    }
+
+    /** \returns the permutation matrix P.
+      */
+    inline const PermutationType& permutationP() const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return m_p;
+    }
+
+    /** This method returns the solution x to the equation Ax=b, where A is the matrix of which
+      * *this is the LU decomposition.
+      *
+      * \param b the right-hand-side of the equation to solve. Can be a vector or a matrix,
+      *          the only requirement in order for the equation to make sense is that
+      *          b.rows()==A.rows(), where A is the matrix of which *this is the LU decomposition.
+      *
+      * \returns the solution.
+      *
+      * Example: \include PartialPivLU_solve.cpp
+      * Output: \verbinclude PartialPivLU_solve.out
+      *
+      * Since this PartialPivLU class assumes anyway that the matrix A is invertible, the solution
+      * theoretically exists and is unique regardless of b.
+      *
+      * \sa TriangularView::solve(), inverse(), computeInverse()
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<PartialPivLU, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return internal::solve_retval<PartialPivLU, Rhs>(*this, b.derived());
+    }
+
+    /** \returns the inverse of the matrix of which *this is the LU decomposition.
+      *
+      * \warning The matrix being decomposed here is assumed to be invertible. If you need to check for
+      *          invertibility, use class FullPivLU instead.
+      *
+      * \sa MatrixBase::inverse(), LU::inverse()
+      */
+    inline const internal::solve_retval<PartialPivLU,typename MatrixType::IdentityReturnType> inverse() const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return internal::solve_retval<PartialPivLU,typename MatrixType::IdentityReturnType>
+               (*this, MatrixType::Identity(m_lu.rows(), m_lu.cols()));
+    }
+
+    /** \returns the determinant of the matrix of which
+      * *this is the LU decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the LU decomposition has already been computed.
+      *
+      * \note For fixed-size matrices of size up to 4, MatrixBase::determinant() offers
+      *       optimized paths.
+      *
+      * \warning a determinant can be very big or small, so for matrices
+      * of large enough dimension, there is a risk of overflow/underflow.
+      *
+      * \sa MatrixBase::determinant()
+      */
+    typename internal::traits<MatrixType>::Scalar determinant() const;
+
+    MatrixType reconstructedMatrix() const;
+
+    inline Index rows() const { return m_lu.rows(); }
+    inline Index cols() const { return m_lu.cols(); }
+
+  protected:
+    MatrixType m_lu;
+    PermutationType m_p;
+    TranspositionType m_rowsTranspositions;
+    Index m_det_p;
+    bool m_isInitialized;
+};
+
+template<typename MatrixType>
+PartialPivLU<MatrixType>::PartialPivLU()
+  : m_lu(),
+    m_p(),
+    m_rowsTranspositions(),
+    m_det_p(0),
+    m_isInitialized(false)
+{
+}
+
+template<typename MatrixType>
+PartialPivLU<MatrixType>::PartialPivLU(Index size)
+  : m_lu(size, size),
+    m_p(size),
+    m_rowsTranspositions(size),
+    m_det_p(0),
+    m_isInitialized(false)
+{
+}
+
+template<typename MatrixType>
+PartialPivLU<MatrixType>::PartialPivLU(const MatrixType& matrix)
+  : m_lu(matrix.rows(), matrix.rows()),
+    m_p(matrix.rows()),
+    m_rowsTranspositions(matrix.rows()),
+    m_det_p(0),
+    m_isInitialized(false)
+{
+  compute(matrix);
+}
+
+namespace internal {
+
+/** \internal This is the blocked version of fullpivlu_unblocked() */
+template<typename Scalar, int StorageOrder, typename PivIndex>
+struct partial_lu_impl
+{
+  // FIXME add a stride to Map, so that the following mapping becomes easier,
+  // another option would be to create an expression being able to automatically
+  // warp any Map, Matrix, and Block expressions as a unique type, but since that's exactly
+  // a Map + stride, why not adding a stride to Map, and convenient ctors from a Matrix,
+  // and Block.
+  typedef Map<Matrix<Scalar, Dynamic, Dynamic, StorageOrder> > MapLU;
+  typedef Block<MapLU, Dynamic, Dynamic> MatrixType;
+  typedef Block<MatrixType,Dynamic,Dynamic> BlockType;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef typename MatrixType::Index Index;
+
+  /** \internal performs the LU decomposition in-place of the matrix \a lu
+    * using an unblocked algorithm.
+    *
+    * In addition, this function returns the row transpositions in the
+    * vector \a row_transpositions which must have a size equal to the number
+    * of columns of the matrix \a lu, and an integer \a nb_transpositions
+    * which returns the actual number of transpositions.
+    *
+    * \returns The index of the first pivot which is exactly zero if any, or a negative number otherwise.
+    */
+  static Index unblocked_lu(MatrixType& lu, PivIndex* row_transpositions, PivIndex& nb_transpositions)
+  {
+    const Index rows = lu.rows();
+    const Index cols = lu.cols();
+    const Index size = std::min(rows,cols);
+    nb_transpositions = 0;
+    int first_zero_pivot = -1;
+    for(Index k = 0; k < size; ++k)
+    {
+      Index rrows = rows-k-1;
+      Index rcols = cols-k-1;
+        
+      Index row_of_biggest_in_col;
+      RealScalar biggest_in_corner
+        = lu.col(k).tail(rows-k).cwiseAbs().maxCoeff(&row_of_biggest_in_col);
+      row_of_biggest_in_col += k;
+
+      row_transpositions[k] = row_of_biggest_in_col;
+
+      if(biggest_in_corner != 0)
+      {
+        if(k != row_of_biggest_in_col)
+        {
+          lu.row(k).swap(lu.row(row_of_biggest_in_col));
+          ++nb_transpositions;
+        }
+
+        // FIXME shall we introduce a safe quotient expression in cas 1/lu.coeff(k,k)
+        // overflow but not the actual quotient?
+        lu.col(k).tail(rrows) /= lu.coeff(k,k);
+      }
+      else if(first_zero_pivot==-1)
+      {
+        // the pivot is exactly zero, we record the index of the first pivot which is exactly 0,
+        // and continue the factorization such we still have A = PLU
+        first_zero_pivot = k;
+      }
+
+      if(k<rows-1)
+        lu.bottomRightCorner(rrows,rcols).noalias() -= lu.col(k).tail(rrows) * lu.row(k).tail(rcols);
+    }
+    return first_zero_pivot;
+  }
+
+  /** \internal performs the LU decomposition in-place of the matrix represented
+    * by the variables \a rows, \a cols, \a lu_data, and \a lu_stride using a
+    * recursive, blocked algorithm.
+    *
+    * In addition, this function returns the row transpositions in the
+    * vector \a row_transpositions which must have a size equal to the number
+    * of columns of the matrix \a lu, and an integer \a nb_transpositions
+    * which returns the actual number of transpositions.
+    *
+    * \returns The index of the first pivot which is exactly zero if any, or a negative number otherwise.
+    *
+    * \note This very low level interface using pointers, etc. is to:
+    *   1 - reduce the number of instanciations to the strict minimum
+    *   2 - avoid infinite recursion of the instanciations with Block<Block<Block<...> > >
+    */
+  static Index blocked_lu(Index rows, Index cols, Scalar* lu_data, Index luStride, PivIndex* row_transpositions, PivIndex& nb_transpositions, Index maxBlockSize=256)
+  {
+    MapLU lu1(lu_data,StorageOrder==RowMajor?rows:luStride,StorageOrder==RowMajor?luStride:cols);
+    MatrixType lu(lu1,0,0,rows,cols);
+
+    const Index size = std::min(rows,cols);
+
+    // if the matrix is too small, no blocking:
+    if(size<=16)
+    {
+      return unblocked_lu(lu, row_transpositions, nb_transpositions);
+    }
+
+    // automatically adjust the number of subdivisions to the size
+    // of the matrix so that there is enough sub blocks:
+    Index blockSize;
+    {
+      blockSize = size/8;
+      blockSize = (blockSize/16)*16;
+      blockSize = std::min(std::max(blockSize,Index(8)), maxBlockSize);
+    }
+
+    nb_transpositions = 0;
+    int first_zero_pivot = -1;
+    for(Index k = 0; k < size; k+=blockSize)
+    {
+      Index bs = std::min(size-k,blockSize); // actual size of the block
+      Index trows = rows - k - bs; // trailing rows
+      Index tsize = size - k - bs; // trailing size
+
+      // partition the matrix:
+      //                          A00 | A01 | A02
+      // lu  = A_0 | A_1 | A_2 =  A10 | A11 | A12
+      //                          A20 | A21 | A22
+      BlockType A_0(lu,0,0,rows,k);
+      BlockType A_2(lu,0,k+bs,rows,tsize);
+      BlockType A11(lu,k,k,bs,bs);
+      BlockType A12(lu,k,k+bs,bs,tsize);
+      BlockType A21(lu,k+bs,k,trows,bs);
+      BlockType A22(lu,k+bs,k+bs,trows,tsize);
+
+      PivIndex nb_transpositions_in_panel;
+      // recursively call the blocked LU algorithm on [A11^T A21^T]^T
+      // with a very small blocking size:
+      Index ret = blocked_lu(trows+bs, bs, &lu.coeffRef(k,k), luStride,
+                   row_transpositions+k, nb_transpositions_in_panel, 16);
+      if(ret>=0 && first_zero_pivot==-1)
+        first_zero_pivot = k+ret;
+
+      nb_transpositions += nb_transpositions_in_panel;
+      // update permutations and apply them to A_0
+      for(Index i=k; i<k+bs; ++i)
+      {
+        Index piv = (row_transpositions[i] += k);
+        A_0.row(i).swap(A_0.row(piv));
+      }
+
+      if(trows)
+      {
+        // apply permutations to A_2
+        for(Index i=k;i<k+bs; ++i)
+          A_2.row(i).swap(A_2.row(row_transpositions[i]));
+
+        // A12 = A11^-1 A12
+        A11.template triangularView<UnitLower>().solveInPlace(A12);
+
+        A22.noalias() -= A21 * A12;
+      }
+    }
+    return first_zero_pivot;
+  }
+};
+
+/** \internal performs the LU decomposition with partial pivoting in-place.
+  */
+template<typename MatrixType, typename TranspositionType>
+void partial_lu_inplace(MatrixType& lu, TranspositionType& row_transpositions, typename TranspositionType::Index& nb_transpositions)
+{
+  eigen_assert(lu.cols() == row_transpositions.size());
+  eigen_assert((&row_transpositions.coeffRef(1)-&row_transpositions.coeffRef(0)) == 1);
+
+  partial_lu_impl
+    <typename MatrixType::Scalar, MatrixType::Flags&RowMajorBit?RowMajor:ColMajor, typename TranspositionType::Index>
+    ::blocked_lu(lu.rows(), lu.cols(), &lu.coeffRef(0,0), lu.outerStride(), &row_transpositions.coeffRef(0), nb_transpositions);
+}
+
+} // end namespace internal
+
+template<typename MatrixType>
+PartialPivLU<MatrixType>& PartialPivLU<MatrixType>::compute(const MatrixType& matrix)
+{
+  m_lu = matrix;
+
+  eigen_assert(matrix.rows() == matrix.cols() && "PartialPivLU is only for square (and moreover invertible) matrices");
+  const Index size = matrix.rows();
+
+  m_rowsTranspositions.resize(size);
+
+  typename TranspositionType::Index nb_transpositions;
+  internal::partial_lu_inplace(m_lu, m_rowsTranspositions, nb_transpositions);
+  m_det_p = (nb_transpositions%2) ? -1 : 1;
+
+  m_p = m_rowsTranspositions;
+
+  m_isInitialized = true;
+  return *this;
+}
+
+template<typename MatrixType>
+typename internal::traits<MatrixType>::Scalar PartialPivLU<MatrixType>::determinant() const
+{
+  eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+  return Scalar(m_det_p) * m_lu.diagonal().prod();
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: P^{-1} L U.
+ * This function is provided for debug purpose. */
+template<typename MatrixType>
+MatrixType PartialPivLU<MatrixType>::reconstructedMatrix() const
+{
+  eigen_assert(m_isInitialized && "LU is not initialized.");
+  // LU
+  MatrixType res = m_lu.template triangularView<UnitLower>().toDenseMatrix()
+                 * m_lu.template triangularView<Upper>();
+
+  // P^{-1}(LU)
+  res = m_p.inverse() * res;
+
+  return res;
+}
+
+/***** Implementation of solve() *****************************************************/
+
+namespace internal {
+
+template<typename _MatrixType, typename Rhs>
+struct solve_retval<PartialPivLU<_MatrixType>, Rhs>
+  : solve_retval_base<PartialPivLU<_MatrixType>, Rhs>
+{
+  EIGEN_MAKE_SOLVE_HELPERS(PartialPivLU<_MatrixType>,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
+    * So we proceed as follows:
+    * Step 1: compute c = Pb.
+    * Step 2: replace c by the solution x to Lx = c.
+    * Step 3: replace c by the solution x to Ux = c.
+    */
+
+    eigen_assert(rhs().rows() == dec().matrixLU().rows());
+
+    // Step 1
+    dst = dec().permutationP() * rhs();
+
+    // Step 2
+    dec().matrixLU().template triangularView<UnitLower>().solveInPlace(dst);
+
+    // Step 3
+    dec().matrixLU().template triangularView<Upper>().solveInPlace(dst);
+  }
+};
+
+} // end namespace internal
+
+/******** MatrixBase methods *******/
+
+/** \lu_module
+  *
+  * \return the partial-pivoting LU decomposition of \c *this.
+  *
+  * \sa class PartialPivLU
+  */
+template<typename Derived>
+inline const PartialPivLU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::partialPivLu() const
+{
+  return PartialPivLU<PlainObject>(eval());
+}
+
+#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+/** \lu_module
+  *
+  * Synonym of partialPivLu().
+  *
+  * \return the partial-pivoting LU decomposition of \c *this.
+  *
+  * \sa class PartialPivLU
+  */
+template<typename Derived>
+inline const PartialPivLU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::lu() const
+{
+  return PartialPivLU<PlainObject>(eval());
+}
+#endif
+
+#endif // EIGEN_PARTIALLU_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/arch/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/arch/CMakeLists.txt
new file mode 100755
index 0000000..f6b7ed9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/arch/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_LU_arch_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_LU_arch_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/LU/arch COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/arch/Inverse_SSE.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/arch/Inverse_SSE.h
new file mode 100755
index 0000000..0fe9be3
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/LU/arch/Inverse_SSE.h
@@ -0,0 +1,340 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2001 Intel Corporation
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// The SSE code for the 4x4 float and double matrix inverse in this file
+// comes from the following Intel's library:
+// http://software.intel.com/en-us/articles/optimized-matrix-library-for-use-with-the-intel-pentiumr-4-processors-sse2-instructions/
+//
+// Here is the respective copyright and license statement:
+//
+//   Copyright (c) 2001 Intel Corporation.
+//
+// Permition is granted to use, copy, distribute and prepare derivative works
+// of this library for any purpose and without fee, provided, that the above
+// copyright notice and this statement appear in all copies.
+// Intel makes no representations about the suitability of this software for
+// any purpose, and specifically disclaims all warranties.
+// See LEGAL.TXT for all the legal information.
+
+#ifndef EIGEN_INVERSE_SSE_H
+#define EIGEN_INVERSE_SSE_H
+
+namespace internal {
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_size4<Architecture::SSE, float, MatrixType, ResultType>
+{
+  enum {
+    MatrixAlignment     = bool(MatrixType::Flags&AlignedBit),
+    ResultAlignment     = bool(ResultType::Flags&AlignedBit),
+    StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
+  };
+  
+  static void run(const MatrixType& matrix, ResultType& result)
+  {
+    EIGEN_ALIGN16 const  int _Sign_PNNP[4] = { 0x00000000, 0x80000000, 0x80000000, 0x00000000 };
+
+    // Load the full matrix into registers
+    __m128 _L1 = matrix.template packet<MatrixAlignment>( 0);
+    __m128 _L2 = matrix.template packet<MatrixAlignment>( 4);
+    __m128 _L3 = matrix.template packet<MatrixAlignment>( 8);
+    __m128 _L4 = matrix.template packet<MatrixAlignment>(12);
+
+    // The inverse is calculated using "Divide and Conquer" technique. The
+    // original matrix is divide into four 2x2 sub-matrices. Since each
+    // register holds four matrix element, the smaller matrices are
+    // represented as a registers. Hence we get a better locality of the
+    // calculations.
+
+    __m128 A, B, C, D; // the four sub-matrices
+    if(!StorageOrdersMatch)
+    {
+      A = _mm_unpacklo_ps(_L1, _L2);
+      B = _mm_unpacklo_ps(_L3, _L4);
+      C = _mm_unpackhi_ps(_L1, _L2);
+      D = _mm_unpackhi_ps(_L3, _L4);
+    }
+    else
+    {
+      A = _mm_movelh_ps(_L1, _L2);
+      B = _mm_movehl_ps(_L2, _L1);
+      C = _mm_movelh_ps(_L3, _L4);
+      D = _mm_movehl_ps(_L4, _L3);
+    }
+
+    __m128 iA, iB, iC, iD,                 // partial inverse of the sub-matrices
+            DC, AB;
+    __m128 dA, dB, dC, dD;                 // determinant of the sub-matrices
+    __m128 det, d, d1, d2;
+    __m128 rd;                             // reciprocal of the determinant
+
+    //  AB = A# * B
+    AB = _mm_mul_ps(_mm_shuffle_ps(A,A,0x0F), B);
+    AB = _mm_sub_ps(AB,_mm_mul_ps(_mm_shuffle_ps(A,A,0xA5), _mm_shuffle_ps(B,B,0x4E)));
+    //  DC = D# * C
+    DC = _mm_mul_ps(_mm_shuffle_ps(D,D,0x0F), C);
+    DC = _mm_sub_ps(DC,_mm_mul_ps(_mm_shuffle_ps(D,D,0xA5), _mm_shuffle_ps(C,C,0x4E)));
+
+    //  dA = |A|
+    dA = _mm_mul_ps(_mm_shuffle_ps(A, A, 0x5F),A);
+    dA = _mm_sub_ss(dA, _mm_movehl_ps(dA,dA));
+    //  dB = |B|
+    dB = _mm_mul_ps(_mm_shuffle_ps(B, B, 0x5F),B);
+    dB = _mm_sub_ss(dB, _mm_movehl_ps(dB,dB));
+
+    //  dC = |C|
+    dC = _mm_mul_ps(_mm_shuffle_ps(C, C, 0x5F),C);
+    dC = _mm_sub_ss(dC, _mm_movehl_ps(dC,dC));
+    //  dD = |D|
+    dD = _mm_mul_ps(_mm_shuffle_ps(D, D, 0x5F),D);
+    dD = _mm_sub_ss(dD, _mm_movehl_ps(dD,dD));
+
+    //  d = trace(AB*DC) = trace(A#*B*D#*C)
+    d = _mm_mul_ps(_mm_shuffle_ps(DC,DC,0xD8),AB);
+
+    //  iD = C*A#*B
+    iD = _mm_mul_ps(_mm_shuffle_ps(C,C,0xA0), _mm_movelh_ps(AB,AB));
+    iD = _mm_add_ps(iD,_mm_mul_ps(_mm_shuffle_ps(C,C,0xF5), _mm_movehl_ps(AB,AB)));
+    //  iA = B*D#*C
+    iA = _mm_mul_ps(_mm_shuffle_ps(B,B,0xA0), _mm_movelh_ps(DC,DC));
+    iA = _mm_add_ps(iA,_mm_mul_ps(_mm_shuffle_ps(B,B,0xF5), _mm_movehl_ps(DC,DC)));
+
+    //  d = trace(AB*DC) = trace(A#*B*D#*C) [continue]
+    d  = _mm_add_ps(d, _mm_movehl_ps(d, d));
+    d  = _mm_add_ss(d, _mm_shuffle_ps(d, d, 1));
+    d1 = _mm_mul_ss(dA,dD);
+    d2 = _mm_mul_ss(dB,dC);
+
+    //  iD = D*|A| - C*A#*B
+    iD = _mm_sub_ps(_mm_mul_ps(D,_mm_shuffle_ps(dA,dA,0)), iD);
+
+    //  iA = A*|D| - B*D#*C;
+    iA = _mm_sub_ps(_mm_mul_ps(A,_mm_shuffle_ps(dD,dD,0)), iA);
+
+    //  det = |A|*|D| + |B|*|C| - trace(A#*B*D#*C)
+    det = _mm_sub_ss(_mm_add_ss(d1,d2),d);
+    rd  = _mm_div_ss(_mm_set_ss(1.0f), det);
+
+//     #ifdef ZERO_SINGULAR
+//         rd = _mm_and_ps(_mm_cmpneq_ss(det,_mm_setzero_ps()), rd);
+//     #endif
+
+    //  iB = D * (A#B)# = D*B#*A
+    iB = _mm_mul_ps(D, _mm_shuffle_ps(AB,AB,0x33));
+    iB = _mm_sub_ps(iB, _mm_mul_ps(_mm_shuffle_ps(D,D,0xB1), _mm_shuffle_ps(AB,AB,0x66)));
+    //  iC = A * (D#C)# = A*C#*D
+    iC = _mm_mul_ps(A, _mm_shuffle_ps(DC,DC,0x33));
+    iC = _mm_sub_ps(iC, _mm_mul_ps(_mm_shuffle_ps(A,A,0xB1), _mm_shuffle_ps(DC,DC,0x66)));
+
+    rd = _mm_shuffle_ps(rd,rd,0);
+    rd = _mm_xor_ps(rd, _mm_load_ps((float*)_Sign_PNNP));
+
+    //  iB = C*|B| - D*B#*A
+    iB = _mm_sub_ps(_mm_mul_ps(C,_mm_shuffle_ps(dB,dB,0)), iB);
+
+    //  iC = B*|C| - A*C#*D;
+    iC = _mm_sub_ps(_mm_mul_ps(B,_mm_shuffle_ps(dC,dC,0)), iC);
+
+    //  iX = iX / det
+    iA = _mm_mul_ps(rd,iA);
+    iB = _mm_mul_ps(rd,iB);
+    iC = _mm_mul_ps(rd,iC);
+    iD = _mm_mul_ps(rd,iD);
+
+    result.template writePacket<ResultAlignment>( 0, _mm_shuffle_ps(iA,iB,0x77));
+    result.template writePacket<ResultAlignment>( 4, _mm_shuffle_ps(iA,iB,0x22));
+    result.template writePacket<ResultAlignment>( 8, _mm_shuffle_ps(iC,iD,0x77));
+    result.template writePacket<ResultAlignment>(12, _mm_shuffle_ps(iC,iD,0x22));
+  }
+
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_size4<Architecture::SSE, double, MatrixType, ResultType>
+{
+  enum {
+    MatrixAlignment = bool(MatrixType::Flags&AlignedBit),
+    ResultAlignment = bool(ResultType::Flags&AlignedBit),
+    StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
+  };
+  static void run(const MatrixType& matrix, ResultType& result)
+  {
+    const EIGEN_ALIGN16 long long int _Sign_NP[2] = { 0x8000000000000000ll, 0x0000000000000000ll };
+    const EIGEN_ALIGN16 long long int _Sign_PN[2] = { 0x0000000000000000ll, 0x8000000000000000ll };
+
+    // The inverse is calculated using "Divide and Conquer" technique. The
+    // original matrix is divide into four 2x2 sub-matrices. Since each
+    // register of the matrix holds two element, the smaller matrices are
+    // consisted of two registers. Hence we get a better locality of the
+    // calculations.
+
+    // the four sub-matrices
+    __m128d A1, A2, B1, B2, C1, C2, D1, D2;
+    
+    if(StorageOrdersMatch)
+    {
+      A1 = matrix.template packet<MatrixAlignment>( 0); B1 = matrix.template packet<MatrixAlignment>( 2);
+      A2 = matrix.template packet<MatrixAlignment>( 4); B2 = matrix.template packet<MatrixAlignment>( 6);
+      C1 = matrix.template packet<MatrixAlignment>( 8); D1 = matrix.template packet<MatrixAlignment>(10);
+      C2 = matrix.template packet<MatrixAlignment>(12); D2 = matrix.template packet<MatrixAlignment>(14);
+    }
+    else
+    {
+      __m128d tmp;
+      A1 = matrix.template packet<MatrixAlignment>( 0); C1 = matrix.template packet<MatrixAlignment>( 2);
+      A2 = matrix.template packet<MatrixAlignment>( 4); C2 = matrix.template packet<MatrixAlignment>( 6);
+      tmp = A1;
+      A1 = _mm_unpacklo_pd(A1,A2);
+      A2 = _mm_unpackhi_pd(tmp,A2);
+      tmp = C1;
+      C1 = _mm_unpacklo_pd(C1,C2);
+      C2 = _mm_unpackhi_pd(tmp,C2);
+      
+      B1 = matrix.template packet<MatrixAlignment>( 8); D1 = matrix.template packet<MatrixAlignment>(10);
+      B2 = matrix.template packet<MatrixAlignment>(12); D2 = matrix.template packet<MatrixAlignment>(14);
+      tmp = B1;
+      B1 = _mm_unpacklo_pd(B1,B2);
+      B2 = _mm_unpackhi_pd(tmp,B2);
+      tmp = D1;
+      D1 = _mm_unpacklo_pd(D1,D2);
+      D2 = _mm_unpackhi_pd(tmp,D2);
+    }
+    
+    __m128d iA1, iA2, iB1, iB2, iC1, iC2, iD1, iD2,     // partial invese of the sub-matrices
+            DC1, DC2, AB1, AB2;
+    __m128d dA, dB, dC, dD;     // determinant of the sub-matrices
+    __m128d det, d1, d2, rd;
+
+    //  dA = |A|
+    dA = _mm_shuffle_pd(A2, A2, 1);
+    dA = _mm_mul_pd(A1, dA);
+    dA = _mm_sub_sd(dA, _mm_shuffle_pd(dA,dA,3));
+    //  dB = |B|
+    dB = _mm_shuffle_pd(B2, B2, 1);
+    dB = _mm_mul_pd(B1, dB);
+    dB = _mm_sub_sd(dB, _mm_shuffle_pd(dB,dB,3));
+
+    //  AB = A# * B
+    AB1 = _mm_mul_pd(B1, _mm_shuffle_pd(A2,A2,3));
+    AB2 = _mm_mul_pd(B2, _mm_shuffle_pd(A1,A1,0));
+    AB1 = _mm_sub_pd(AB1, _mm_mul_pd(B2, _mm_shuffle_pd(A1,A1,3)));
+    AB2 = _mm_sub_pd(AB2, _mm_mul_pd(B1, _mm_shuffle_pd(A2,A2,0)));
+
+    //  dC = |C|
+    dC = _mm_shuffle_pd(C2, C2, 1);
+    dC = _mm_mul_pd(C1, dC);
+    dC = _mm_sub_sd(dC, _mm_shuffle_pd(dC,dC,3));
+    //  dD = |D|
+    dD = _mm_shuffle_pd(D2, D2, 1);
+    dD = _mm_mul_pd(D1, dD);
+    dD = _mm_sub_sd(dD, _mm_shuffle_pd(dD,dD,3));
+
+    //  DC = D# * C
+    DC1 = _mm_mul_pd(C1, _mm_shuffle_pd(D2,D2,3));
+    DC2 = _mm_mul_pd(C2, _mm_shuffle_pd(D1,D1,0));
+    DC1 = _mm_sub_pd(DC1, _mm_mul_pd(C2, _mm_shuffle_pd(D1,D1,3)));
+    DC2 = _mm_sub_pd(DC2, _mm_mul_pd(C1, _mm_shuffle_pd(D2,D2,0)));
+
+    //  rd = trace(AB*DC) = trace(A#*B*D#*C)
+    d1 = _mm_mul_pd(AB1, _mm_shuffle_pd(DC1, DC2, 0));
+    d2 = _mm_mul_pd(AB2, _mm_shuffle_pd(DC1, DC2, 3));
+    rd = _mm_add_pd(d1, d2);
+    rd = _mm_add_sd(rd, _mm_shuffle_pd(rd, rd,3));
+
+    //  iD = C*A#*B
+    iD1 = _mm_mul_pd(AB1, _mm_shuffle_pd(C1,C1,0));
+    iD2 = _mm_mul_pd(AB1, _mm_shuffle_pd(C2,C2,0));
+    iD1 = _mm_add_pd(iD1, _mm_mul_pd(AB2, _mm_shuffle_pd(C1,C1,3)));
+    iD2 = _mm_add_pd(iD2, _mm_mul_pd(AB2, _mm_shuffle_pd(C2,C2,3)));
+
+    //  iA = B*D#*C
+    iA1 = _mm_mul_pd(DC1, _mm_shuffle_pd(B1,B1,0));
+    iA2 = _mm_mul_pd(DC1, _mm_shuffle_pd(B2,B2,0));
+    iA1 = _mm_add_pd(iA1, _mm_mul_pd(DC2, _mm_shuffle_pd(B1,B1,3)));
+    iA2 = _mm_add_pd(iA2, _mm_mul_pd(DC2, _mm_shuffle_pd(B2,B2,3)));
+
+    //  iD = D*|A| - C*A#*B
+    dA = _mm_shuffle_pd(dA,dA,0);
+    iD1 = _mm_sub_pd(_mm_mul_pd(D1, dA), iD1);
+    iD2 = _mm_sub_pd(_mm_mul_pd(D2, dA), iD2);
+
+    //  iA = A*|D| - B*D#*C;
+    dD = _mm_shuffle_pd(dD,dD,0);
+    iA1 = _mm_sub_pd(_mm_mul_pd(A1, dD), iA1);
+    iA2 = _mm_sub_pd(_mm_mul_pd(A2, dD), iA2);
+
+    d1 = _mm_mul_sd(dA, dD);
+    d2 = _mm_mul_sd(dB, dC);
+
+    //  iB = D * (A#B)# = D*B#*A
+    iB1 = _mm_mul_pd(D1, _mm_shuffle_pd(AB2,AB1,1));
+    iB2 = _mm_mul_pd(D2, _mm_shuffle_pd(AB2,AB1,1));
+    iB1 = _mm_sub_pd(iB1, _mm_mul_pd(_mm_shuffle_pd(D1,D1,1), _mm_shuffle_pd(AB2,AB1,2)));
+    iB2 = _mm_sub_pd(iB2, _mm_mul_pd(_mm_shuffle_pd(D2,D2,1), _mm_shuffle_pd(AB2,AB1,2)));
+
+    //  det = |A|*|D| + |B|*|C| - trace(A#*B*D#*C)
+    det = _mm_add_sd(d1, d2);
+    det = _mm_sub_sd(det, rd);
+
+    //  iC = A * (D#C)# = A*C#*D
+    iC1 = _mm_mul_pd(A1, _mm_shuffle_pd(DC2,DC1,1));
+    iC2 = _mm_mul_pd(A2, _mm_shuffle_pd(DC2,DC1,1));
+    iC1 = _mm_sub_pd(iC1, _mm_mul_pd(_mm_shuffle_pd(A1,A1,1), _mm_shuffle_pd(DC2,DC1,2)));
+    iC2 = _mm_sub_pd(iC2, _mm_mul_pd(_mm_shuffle_pd(A2,A2,1), _mm_shuffle_pd(DC2,DC1,2)));
+
+    rd = _mm_div_sd(_mm_set_sd(1.0), det);
+//     #ifdef ZERO_SINGULAR
+//         rd = _mm_and_pd(_mm_cmpneq_sd(det,_mm_setzero_pd()), rd);
+//     #endif
+    rd = _mm_shuffle_pd(rd,rd,0);
+
+    //  iB = C*|B| - D*B#*A
+    dB = _mm_shuffle_pd(dB,dB,0);
+    iB1 = _mm_sub_pd(_mm_mul_pd(C1, dB), iB1);
+    iB2 = _mm_sub_pd(_mm_mul_pd(C2, dB), iB2);
+
+    d1 = _mm_xor_pd(rd, _mm_load_pd((double*)_Sign_PN));
+    d2 = _mm_xor_pd(rd, _mm_load_pd((double*)_Sign_NP));
+
+    //  iC = B*|C| - A*C#*D;
+    dC = _mm_shuffle_pd(dC,dC,0);
+    iC1 = _mm_sub_pd(_mm_mul_pd(B1, dC), iC1);
+    iC2 = _mm_sub_pd(_mm_mul_pd(B2, dC), iC2);
+
+    result.template writePacket<ResultAlignment>( 0, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 3), d1));     // iA# / det
+    result.template writePacket<ResultAlignment>( 4, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 0), d2));
+    result.template writePacket<ResultAlignment>( 2, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 3), d1));     // iB# / det
+    result.template writePacket<ResultAlignment>( 6, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 0), d2));
+    result.template writePacket<ResultAlignment>( 8, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 3), d1));     // iC# / det
+    result.template writePacket<ResultAlignment>(12, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 0), d2));
+    result.template writePacket<ResultAlignment>(10, _mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 3), d1));     // iD# / det
+    result.template writePacket<ResultAlignment>(14, _mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 0), d2));
+  }
+};
+
+}
+
+#endif // EIGEN_INVERSE_SSE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/CMakeLists.txt
new file mode 100755
index 0000000..96f43d7
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_QR_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_QR_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/QR COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/ColPivHouseholderQR.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/ColPivHouseholderQR.h
new file mode 100755
index 0000000..6c7d1d4
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/ColPivHouseholderQR.h
@@ -0,0 +1,532 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
+#define EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
+
+/** \ingroup QR_Module
+  *
+  * \class ColPivHouseholderQR
+  *
+  * \brief Householder rank-revealing QR decomposition of a matrix with column-pivoting
+  *
+  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  *
+  * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b Q and \b R
+  * such that 
+  * \f[
+  *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \, \mathbf{R}
+  * \f]
+  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an 
+  * upper triangular matrix.
+  *
+  * This decomposition performs column pivoting in order to be rank-revealing and improve
+  * numerical stability. It is slower than HouseholderQR, and faster than FullPivHouseholderQR.
+  *
+  * \sa MatrixBase::colPivHouseholderQr()
+  */
+template<typename _MatrixType> class ColPivHouseholderQR
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, Options, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
+    typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+    typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
+    typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
+    typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+    typedef typename internal::plain_row_type<MatrixType, RealScalar>::type RealRowVectorType;
+    typedef typename HouseholderSequence<MatrixType,HCoeffsType>::ConjugateReturnType HouseholderSequenceType;
+
+    /**
+    * \brief Default Constructor.
+    *
+    * The default constructor is useful in cases in which the user intends to
+    * perform decompositions via ColPivHouseholderQR::compute(const MatrixType&).
+    */
+    ColPivHouseholderQR()
+      : m_qr(),
+        m_hCoeffs(),
+        m_colsPermutation(),
+        m_colsTranspositions(),
+        m_temp(),
+        m_colSqNorms(),
+        m_isInitialized(false) {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa ColPivHouseholderQR()
+      */
+    ColPivHouseholderQR(Index rows, Index cols)
+      : m_qr(rows, cols),
+        m_hCoeffs(std::min(rows,cols)),
+        m_colsPermutation(cols),
+        m_colsTranspositions(cols),
+        m_temp(cols),
+        m_colSqNorms(cols),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false) {}
+
+    ColPivHouseholderQR(const MatrixType& matrix)
+      : m_qr(matrix.rows(), matrix.cols()),
+        m_hCoeffs(std::min(matrix.rows(),matrix.cols())),
+        m_colsPermutation(matrix.cols()),
+        m_colsTranspositions(matrix.cols()),
+        m_temp(matrix.cols()),
+        m_colSqNorms(matrix.cols()),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false)
+    {
+      compute(matrix);
+    }
+
+    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
+      * *this is the QR decomposition, if any exists.
+      *
+      * \param b the right-hand-side of the equation to solve.
+      *
+      * \returns a solution.
+      *
+      * \note The case where b is a matrix is not yet implemented. Also, this
+      *       code is space inefficient.
+      *
+      * \note_about_checking_solutions
+      *
+      * \note_about_arbitrary_choice_of_solution
+      *
+      * Example: \include ColPivHouseholderQR_solve.cpp
+      * Output: \verbinclude ColPivHouseholderQR_solve.out
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<ColPivHouseholderQR, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return internal::solve_retval<ColPivHouseholderQR, Rhs>(*this, b.derived());
+    }
+
+    HouseholderSequenceType householderQ(void) const;
+
+    /** \returns a reference to the matrix where the Householder QR decomposition is stored
+      */
+    const MatrixType& matrixQR() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return m_qr;
+    }
+
+    ColPivHouseholderQR& compute(const MatrixType& matrix);
+
+    const PermutationType& colsPermutation() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return m_colsPermutation;
+    }
+
+    /** \returns the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \warning a determinant can be very big or small, so for matrices
+      * of large enough dimension, there is a risk of overflow/underflow.
+      * One way to work around that is to use logAbsDeterminant() instead.
+      *
+      * \sa logAbsDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar absDeterminant() const;
+
+    /** \returns the natural log of the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \note This method is useful to work around the risk of overflow/underflow that's inherent
+      * to determinant computation.
+      *
+      * \sa absDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar logAbsDeterminant() const;
+
+    /** \returns the rank of the matrix of which *this is the QR decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index rank() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      RealScalar premultiplied_threshold = internal::abs(m_maxpivot) * threshold();
+      Index result = 0;
+      for(Index i = 0; i < m_nonzero_pivots; ++i)
+        result += (internal::abs(m_qr.coeff(i,i)) > premultiplied_threshold);
+      return result;
+    }
+
+    /** \returns the dimension of the kernel of the matrix of which *this is the QR decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index dimensionOfKernel() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return cols() - rank();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition represents an injective
+      *          linear map, i.e. has trivial kernel; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInjective() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return rank() == cols();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition represents a surjective
+      *          linear map; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isSurjective() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return rank() == rows();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition is invertible.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInvertible() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return isInjective() && isSurjective();
+    }
+
+    /** \returns the inverse of the matrix of which *this is the QR decomposition.
+      *
+      * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
+      *       Use isInvertible() to first determine whether this matrix is invertible.
+      */
+    inline const
+    internal::solve_retval<ColPivHouseholderQR, typename MatrixType::IdentityReturnType>
+    inverse() const
+    {
+      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+      return internal::solve_retval<ColPivHouseholderQR,typename MatrixType::IdentityReturnType>
+               (*this, MatrixType::Identity(m_qr.rows(), m_qr.cols()));
+    }
+
+    inline Index rows() const { return m_qr.rows(); }
+    inline Index cols() const { return m_qr.cols(); }
+    const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+
+    /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
+      * who need to determine when pivots are to be considered nonzero. This is not used for the
+      * QR decomposition itself.
+      *
+      * When it needs to get the threshold value, Eigen calls threshold(). By default, this
+      * uses a formula to automatically determine a reasonable threshold.
+      * Once you have called the present method setThreshold(const RealScalar&),
+      * your value is used instead.
+      *
+      * \param threshold The new value to use as the threshold.
+      *
+      * A pivot will be considered nonzero if its absolute value is strictly greater than
+      *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+      * where maxpivot is the biggest pivot.
+      *
+      * If you want to come back to the default behavior, call setThreshold(Default_t)
+      */
+    ColPivHouseholderQR& setThreshold(const RealScalar& threshold)
+    {
+      m_usePrescribedThreshold = true;
+      m_prescribedThreshold = threshold;
+      return *this;
+    }
+
+    /** Allows to come back to the default behavior, letting Eigen use its default formula for
+      * determining the threshold.
+      *
+      * You should pass the special object Eigen::Default as parameter here.
+      * \code qr.setThreshold(Eigen::Default); \endcode
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    ColPivHouseholderQR& setThreshold(Default_t)
+    {
+      m_usePrescribedThreshold = false;
+      return *this;
+    }
+
+    /** Returns the threshold that will be used by certain methods such as rank().
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    RealScalar threshold() const
+    {
+      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+      return m_usePrescribedThreshold ? m_prescribedThreshold
+      // this formula comes from experimenting (see "LU precision tuning" thread on the list)
+      // and turns out to be identical to Higham's formula used already in LDLt.
+                                      : NumTraits<Scalar>::epsilon() * m_qr.diagonalSize();
+    }
+
+    /** \returns the number of nonzero pivots in the QR decomposition.
+      * Here nonzero is meant in the exact sense, not in a fuzzy sense.
+      * So that notion isn't really intrinsically interesting, but it is
+      * still useful when implementing algorithms.
+      *
+      * \sa rank()
+      */
+    inline Index nonzeroPivots() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_nonzero_pivots;
+    }
+
+    /** \returns the absolute value of the biggest pivot, i.e. the biggest
+      *          diagonal coefficient of U.
+      */
+    RealScalar maxPivot() const { return m_maxpivot; }
+
+  protected:
+    MatrixType m_qr;
+    HCoeffsType m_hCoeffs;
+    PermutationType m_colsPermutation;
+    IntRowVectorType m_colsTranspositions;
+    RowVectorType m_temp;
+    RealRowVectorType m_colSqNorms;
+    bool m_isInitialized, m_usePrescribedThreshold;
+    RealScalar m_prescribedThreshold, m_maxpivot;
+    Index m_nonzero_pivots;
+    Index m_det_pq;
+};
+
+template<typename MatrixType>
+typename MatrixType::RealScalar ColPivHouseholderQR<MatrixType>::absDeterminant() const
+{
+  eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return internal::abs(m_qr.diagonal().prod());
+}
+
+template<typename MatrixType>
+typename MatrixType::RealScalar ColPivHouseholderQR<MatrixType>::logAbsDeterminant() const
+{
+  eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return m_qr.diagonal().cwiseAbs().array().log().sum();
+}
+
+template<typename MatrixType>
+ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  Index size = matrix.diagonalSize();
+
+  m_qr = matrix;
+  m_hCoeffs.resize(size);
+
+  m_temp.resize(cols);
+
+  m_colsTranspositions.resize(matrix.cols());
+  Index number_of_transpositions = 0;
+
+  m_colSqNorms.resize(cols);
+  for(Index k = 0; k < cols; ++k)
+    m_colSqNorms.coeffRef(k) = m_qr.col(k).squaredNorm();
+
+  RealScalar threshold_helper = m_colSqNorms.maxCoeff() * internal::abs2(NumTraits<Scalar>::epsilon()) / rows;
+
+  m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
+  m_maxpivot = RealScalar(0);
+
+  for(Index k = 0; k < size; ++k)
+  {
+    // first, we look up in our table m_colSqNorms which column has the biggest squared norm
+    Index biggest_col_index;
+    RealScalar biggest_col_sq_norm = m_colSqNorms.tail(cols-k).maxCoeff(&biggest_col_index);
+    biggest_col_index += k;
+
+    // since our table m_colSqNorms accumulates imprecision at every step, we must now recompute
+    // the actual squared norm of the selected column.
+    // Note that not doing so does result in solve() sometimes returning inf/nan values
+    // when running the unit test with 1000 repetitions.
+    biggest_col_sq_norm = m_qr.col(biggest_col_index).tail(rows-k).squaredNorm();
+
+    // we store that back into our table: it can't hurt to correct our table.
+    m_colSqNorms.coeffRef(biggest_col_index) = biggest_col_sq_norm;
+
+    // if the current biggest column is smaller than epsilon times the initial biggest column,
+    // terminate to avoid generating nan/inf values.
+    // Note that here, if we test instead for "biggest == 0", we get a failure every 1000 (or so)
+    // repetitions of the unit test, with the result of solve() filled with large values of the order
+    // of 1/(size*epsilon).
+    if(biggest_col_sq_norm < threshold_helper * (rows-k))
+    {
+      m_nonzero_pivots = k;
+      m_hCoeffs.tail(size-k).setZero();
+      m_qr.bottomRightCorner(rows-k,cols-k)
+          .template triangularView<StrictlyLower>()
+          .setZero();
+      break;
+    }
+
+    // apply the transposition to the columns
+    m_colsTranspositions.coeffRef(k) = biggest_col_index;
+    if(k != biggest_col_index) {
+      m_qr.col(k).swap(m_qr.col(biggest_col_index));
+      std::swap(m_colSqNorms.coeffRef(k), m_colSqNorms.coeffRef(biggest_col_index));
+      ++number_of_transpositions;
+    }
+
+    // generate the householder vector, store it below the diagonal
+    RealScalar beta;
+    m_qr.col(k).tail(rows-k).makeHouseholderInPlace(m_hCoeffs.coeffRef(k), beta);
+
+    // apply the householder transformation to the diagonal coefficient
+    m_qr.coeffRef(k,k) = beta;
+
+    // remember the maximum absolute value of diagonal coefficients
+    if(internal::abs(beta) > m_maxpivot) m_maxpivot = internal::abs(beta);
+
+    // apply the householder transformation
+    m_qr.bottomRightCorner(rows-k, cols-k-1)
+        .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), m_hCoeffs.coeffRef(k), &m_temp.coeffRef(k+1));
+
+    // update our table of squared norms of the columns
+    m_colSqNorms.tail(cols-k-1) -= m_qr.row(k).tail(cols-k-1).cwiseAbs2();
+  }
+
+  m_colsPermutation.setIdentity(cols);
+  for(Index k = 0; k < m_nonzero_pivots; ++k)
+    m_colsPermutation.applyTranspositionOnTheRight(k, m_colsTranspositions.coeff(k));
+
+  m_det_pq = (number_of_transpositions%2) ? -1 : 1;
+  m_isInitialized = true;
+
+  return *this;
+}
+
+namespace internal {
+
+template<typename _MatrixType, typename Rhs>
+struct solve_retval<ColPivHouseholderQR<_MatrixType>, Rhs>
+  : solve_retval_base<ColPivHouseholderQR<_MatrixType>, Rhs>
+{
+  EIGEN_MAKE_SOLVE_HELPERS(ColPivHouseholderQR<_MatrixType>,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    eigen_assert(rhs().rows() == dec().rows());
+
+    const int cols = dec().cols(),
+    nonzero_pivots = dec().nonzeroPivots();
+
+    if(nonzero_pivots == 0)
+    {
+      dst.setZero();
+      return;
+    }
+
+    typename Rhs::PlainObject c(rhs());
+
+    // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
+    c.applyOnTheLeft(householderSequence(dec().matrixQR(), dec().hCoeffs())
+                     .setLength(dec().nonzeroPivots())
+		     .transpose()
+      );
+
+    dec().matrixQR()
+       .topLeftCorner(nonzero_pivots, nonzero_pivots)
+       .template triangularView<Upper>()
+       .solveInPlace(c.topRows(nonzero_pivots));
+
+
+    typename Rhs::PlainObject d(c);
+    d.topRows(nonzero_pivots)
+      = dec().matrixQR()
+       .topLeftCorner(nonzero_pivots, nonzero_pivots)
+       .template triangularView<Upper>()
+       * c.topRows(nonzero_pivots);
+
+    for(Index i = 0; i < nonzero_pivots; ++i) dst.row(dec().colsPermutation().indices().coeff(i)) = c.row(i);
+    for(Index i = nonzero_pivots; i < cols; ++i) dst.row(dec().colsPermutation().indices().coeff(i)).setZero();
+  }
+};
+
+} // end namespace internal
+
+/** \returns the matrix Q as a sequence of householder transformations */
+template<typename MatrixType>
+typename ColPivHouseholderQR<MatrixType>::HouseholderSequenceType ColPivHouseholderQR<MatrixType>
+  ::householderQ() const
+{
+  eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+  return HouseholderSequenceType(m_qr, m_hCoeffs.conjugate()).setLength(m_nonzero_pivots);
+}
+
+/** \return the column-pivoting Householder QR decomposition of \c *this.
+  *
+  * \sa class ColPivHouseholderQR
+  */
+template<typename Derived>
+const ColPivHouseholderQR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::colPivHouseholderQr() const
+{
+  return ColPivHouseholderQR<PlainObject>(eval());
+}
+
+
+#endif // EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/FullPivHouseholderQR.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/FullPivHouseholderQR.h
new file mode 100755
index 0000000..7f1d98c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/FullPivHouseholderQR.h
@@ -0,0 +1,546 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
+#define EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
+
+/** \ingroup QR_Module
+  *
+  * \class FullPivHouseholderQR
+  *
+  * \brief Householder rank-revealing QR decomposition of a matrix with full pivoting
+  *
+  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  *
+  * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b Q and \b R
+  * such that 
+  * \f[
+  *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \, \mathbf{R}
+  * \f]
+  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an 
+  * upper triangular matrix.
+  *
+  * This decomposition performs a very prudent full pivoting in order to be rank-revealing and achieve optimal
+  * numerical stability. The trade-off is that it is slower than HouseholderQR and ColPivHouseholderQR.
+  *
+  * \sa MatrixBase::fullPivHouseholderQr()
+  */
+template<typename _MatrixType> class FullPivHouseholderQR
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, Options, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
+    typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+    typedef Matrix<Index, 1, ColsAtCompileTime, RowMajor, 1, MaxColsAtCompileTime> IntRowVectorType;
+    typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
+    typedef typename internal::plain_col_type<MatrixType, Index>::type IntColVectorType;
+    typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+    typedef typename internal::plain_col_type<MatrixType>::type ColVectorType;
+
+    /** \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via FullPivHouseholderQR::compute(const MatrixType&).
+      */
+    FullPivHouseholderQR()
+      : m_qr(),
+        m_hCoeffs(),
+        m_rows_transpositions(),
+        m_cols_transpositions(),
+        m_cols_permutation(),
+        m_temp(),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false) {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa FullPivHouseholderQR()
+      */
+    FullPivHouseholderQR(Index rows, Index cols)
+      : m_qr(rows, cols),
+        m_hCoeffs(std::min(rows,cols)),
+        m_rows_transpositions(rows),
+        m_cols_transpositions(cols),
+        m_cols_permutation(cols),
+        m_temp(std::min(rows,cols)),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false) {}
+
+    FullPivHouseholderQR(const MatrixType& matrix)
+      : m_qr(matrix.rows(), matrix.cols()),
+        m_hCoeffs(std::min(matrix.rows(), matrix.cols())),
+        m_rows_transpositions(matrix.rows()),
+        m_cols_transpositions(matrix.cols()),
+        m_cols_permutation(matrix.cols()),
+        m_temp(std::min(matrix.rows(), matrix.cols())),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false)
+    {
+      compute(matrix);
+    }
+
+    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
+      * *this is the QR decomposition, if any exists.
+      *
+      * \param b the right-hand-side of the equation to solve.
+      *
+      * \returns a solution.
+      *
+      * \note The case where b is a matrix is not yet implemented. Also, this
+      *       code is space inefficient.
+      *
+      * \note_about_checking_solutions
+      *
+      * \note_about_arbitrary_choice_of_solution
+      *
+      * Example: \include FullPivHouseholderQR_solve.cpp
+      * Output: \verbinclude FullPivHouseholderQR_solve.out
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<FullPivHouseholderQR, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return internal::solve_retval<FullPivHouseholderQR, Rhs>(*this, b.derived());
+    }
+
+    MatrixQType matrixQ(void) const;
+
+    /** \returns a reference to the matrix where the Householder QR decomposition is stored
+      */
+    const MatrixType& matrixQR() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return m_qr;
+    }
+
+    FullPivHouseholderQR& compute(const MatrixType& matrix);
+
+    const PermutationType& colsPermutation() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return m_cols_permutation;
+    }
+
+    const IntColVectorType& rowsTranspositions() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return m_rows_transpositions;
+    }
+
+    /** \returns the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \warning a determinant can be very big or small, so for matrices
+      * of large enough dimension, there is a risk of overflow/underflow.
+      * One way to work around that is to use logAbsDeterminant() instead.
+      *
+      * \sa logAbsDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar absDeterminant() const;
+
+    /** \returns the natural log of the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \note This method is useful to work around the risk of overflow/underflow that's inherent
+      * to determinant computation.
+      *
+      * \sa absDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar logAbsDeterminant() const;
+
+    /** \returns the rank of the matrix of which *this is the QR decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index rank() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      RealScalar premultiplied_threshold = internal::abs(m_maxpivot) * threshold();
+      Index result = 0;
+      for(Index i = 0; i < m_nonzero_pivots; ++i)
+        result += (internal::abs(m_qr.coeff(i,i)) > premultiplied_threshold);
+      return result;
+    }
+
+    /** \returns the dimension of the kernel of the matrix of which *this is the QR decomposition.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline Index dimensionOfKernel() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return cols() - rank();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition represents an injective
+      *          linear map, i.e. has trivial kernel; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInjective() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return rank() == cols();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition represents a surjective
+      *          linear map; false otherwise.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isSurjective() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return rank() == rows();
+    }
+
+    /** \returns true if the matrix of which *this is the QR decomposition is invertible.
+      *
+      * \note This method has to determine which pivots should be considered nonzero.
+      *       For that, it uses the threshold value that you can control by calling
+      *       setThreshold(const RealScalar&).
+      */
+    inline bool isInvertible() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return isInjective() && isSurjective();
+    }
+
+    /** \returns the inverse of the matrix of which *this is the QR decomposition.
+      *
+      * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
+      *       Use isInvertible() to first determine whether this matrix is invertible.
+      */    inline const
+    internal::solve_retval<FullPivHouseholderQR, typename MatrixType::IdentityReturnType>
+    inverse() const
+    {
+      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+      return internal::solve_retval<FullPivHouseholderQR,typename MatrixType::IdentityReturnType>
+               (*this, MatrixType::Identity(m_qr.rows(), m_qr.cols()));
+    }
+
+    inline Index rows() const { return m_qr.rows(); }
+    inline Index cols() const { return m_qr.cols(); }
+    const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+
+    /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
+      * who need to determine when pivots are to be considered nonzero. This is not used for the
+      * QR decomposition itself.
+      *
+      * When it needs to get the threshold value, Eigen calls threshold(). By default, this
+      * uses a formula to automatically determine a reasonable threshold.
+      * Once you have called the present method setThreshold(const RealScalar&),
+      * your value is used instead.
+      *
+      * \param threshold The new value to use as the threshold.
+      *
+      * A pivot will be considered nonzero if its absolute value is strictly greater than
+      *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+      * where maxpivot is the biggest pivot.
+      *
+      * If you want to come back to the default behavior, call setThreshold(Default_t)
+      */
+    FullPivHouseholderQR& setThreshold(const RealScalar& threshold)
+    {
+      m_usePrescribedThreshold = true;
+      m_prescribedThreshold = threshold;
+      return *this;
+    }
+
+    /** Allows to come back to the default behavior, letting Eigen use its default formula for
+      * determining the threshold.
+      *
+      * You should pass the special object Eigen::Default as parameter here.
+      * \code qr.setThreshold(Eigen::Default); \endcode
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    FullPivHouseholderQR& setThreshold(Default_t)
+    {
+      m_usePrescribedThreshold = false;
+      return *this;
+    }
+
+    /** Returns the threshold that will be used by certain methods such as rank().
+      *
+      * See the documentation of setThreshold(const RealScalar&).
+      */
+    RealScalar threshold() const
+    {
+      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+      return m_usePrescribedThreshold ? m_prescribedThreshold
+      // this formula comes from experimenting (see "LU precision tuning" thread on the list)
+      // and turns out to be identical to Higham's formula used already in LDLt.
+                                      : NumTraits<Scalar>::epsilon() * m_qr.diagonalSize();
+    }
+
+    /** \returns the number of nonzero pivots in the QR decomposition.
+      * Here nonzero is meant in the exact sense, not in a fuzzy sense.
+      * So that notion isn't really intrinsically interesting, but it is
+      * still useful when implementing algorithms.
+      *
+      * \sa rank()
+      */
+    inline Index nonzeroPivots() const
+    {
+      eigen_assert(m_isInitialized && "LU is not initialized.");
+      return m_nonzero_pivots;
+    }
+
+    /** \returns the absolute value of the biggest pivot, i.e. the biggest
+      *          diagonal coefficient of U.
+      */
+    RealScalar maxPivot() const { return m_maxpivot; }
+
+  protected:
+    MatrixType m_qr;
+    HCoeffsType m_hCoeffs;
+    IntColVectorType m_rows_transpositions;
+    IntRowVectorType m_cols_transpositions;
+    PermutationType m_cols_permutation;
+    RowVectorType m_temp;
+    bool m_isInitialized, m_usePrescribedThreshold;
+    RealScalar m_prescribedThreshold, m_maxpivot;
+    Index m_nonzero_pivots;
+    RealScalar m_precision;
+    Index m_det_pq;
+};
+
+template<typename MatrixType>
+typename MatrixType::RealScalar FullPivHouseholderQR<MatrixType>::absDeterminant() const
+{
+  eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return internal::abs(m_qr.diagonal().prod());
+}
+
+template<typename MatrixType>
+typename MatrixType::RealScalar FullPivHouseholderQR<MatrixType>::logAbsDeterminant() const
+{
+  eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return m_qr.diagonal().cwiseAbs().array().log().sum();
+}
+
+template<typename MatrixType>
+FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  Index size = std::min(rows,cols);
+
+  m_qr = matrix;
+  m_hCoeffs.resize(size);
+
+  m_temp.resize(cols);
+
+  m_precision = NumTraits<Scalar>::epsilon() * size;
+
+  m_rows_transpositions.resize(matrix.rows());
+  m_cols_transpositions.resize(matrix.cols());
+  Index number_of_transpositions = 0;
+
+  RealScalar biggest(0);
+
+  m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
+  m_maxpivot = RealScalar(0);
+
+  for (Index k = 0; k < size; ++k)
+  {
+    Index row_of_biggest_in_corner, col_of_biggest_in_corner;
+    RealScalar biggest_in_corner;
+
+    biggest_in_corner = m_qr.bottomRightCorner(rows-k, cols-k)
+                            .cwiseAbs()
+                            .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
+    row_of_biggest_in_corner += k;
+    col_of_biggest_in_corner += k;
+    if(k==0) biggest = biggest_in_corner;
+
+    // if the corner is negligible, then we have less than full rank, and we can finish early
+    if(internal::isMuchSmallerThan(biggest_in_corner, biggest, m_precision))
+    {
+      m_nonzero_pivots = k;
+      for(Index i = k; i < size; i++)
+      {
+        m_rows_transpositions.coeffRef(i) = i;
+        m_cols_transpositions.coeffRef(i) = i;
+        m_hCoeffs.coeffRef(i) = Scalar(0);
+      }
+      break;
+    }
+
+    m_rows_transpositions.coeffRef(k) = row_of_biggest_in_corner;
+    m_cols_transpositions.coeffRef(k) = col_of_biggest_in_corner;
+    if(k != row_of_biggest_in_corner) {
+      m_qr.row(k).tail(cols-k).swap(m_qr.row(row_of_biggest_in_corner).tail(cols-k));
+      ++number_of_transpositions;
+    }
+    if(k != col_of_biggest_in_corner) {
+      m_qr.col(k).swap(m_qr.col(col_of_biggest_in_corner));
+      ++number_of_transpositions;
+    }
+
+    RealScalar beta;
+    m_qr.col(k).tail(rows-k).makeHouseholderInPlace(m_hCoeffs.coeffRef(k), beta);
+    m_qr.coeffRef(k,k) = beta;
+
+    // remember the maximum absolute value of diagonal coefficients
+    if(internal::abs(beta) > m_maxpivot) m_maxpivot = internal::abs(beta);
+
+    m_qr.bottomRightCorner(rows-k, cols-k-1)
+        .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), m_hCoeffs.coeffRef(k), &m_temp.coeffRef(k+1));
+  }
+
+  m_cols_permutation.setIdentity(cols);
+  for(Index k = 0; k < size; ++k)
+    m_cols_permutation.applyTranspositionOnTheRight(k, m_cols_transpositions.coeff(k));
+
+  m_det_pq = (number_of_transpositions%2) ? -1 : 1;
+  m_isInitialized = true;
+
+  return *this;
+}
+
+namespace internal {
+
+template<typename _MatrixType, typename Rhs>
+struct solve_retval<FullPivHouseholderQR<_MatrixType>, Rhs>
+  : solve_retval_base<FullPivHouseholderQR<_MatrixType>, Rhs>
+{
+  EIGEN_MAKE_SOLVE_HELPERS(FullPivHouseholderQR<_MatrixType>,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    const Index rows = dec().rows(), cols = dec().cols();
+    eigen_assert(rhs().rows() == rows);
+
+    // FIXME introduce nonzeroPivots() and use it here. and more generally,
+    // make the same improvements in this dec as in FullPivLU.
+    if(dec().rank()==0)
+    {
+      dst.setZero();
+      return;
+    }
+
+    typename Rhs::PlainObject c(rhs());
+
+    Matrix<Scalar,1,Rhs::ColsAtCompileTime> temp(rhs().cols());
+    for (Index k = 0; k < dec().rank(); ++k)
+    {
+      Index remainingSize = rows-k;
+      c.row(k).swap(c.row(dec().rowsTranspositions().coeff(k)));
+      c.bottomRightCorner(remainingSize, rhs().cols())
+       .applyHouseholderOnTheLeft(dec().matrixQR().col(k).tail(remainingSize-1),
+                                  dec().hCoeffs().coeff(k), &temp.coeffRef(0));
+    }
+
+    if(!dec().isSurjective())
+    {
+      // is c is in the image of R ?
+      RealScalar biggest_in_upper_part_of_c = c.topRows(   dec().rank()     ).cwiseAbs().maxCoeff();
+      RealScalar biggest_in_lower_part_of_c = c.bottomRows(rows-dec().rank()).cwiseAbs().maxCoeff();
+      // FIXME brain dead
+      const RealScalar m_precision = NumTraits<Scalar>::epsilon() * std::min(rows,cols);
+      // this internal:: prefix is needed by at least gcc 3.4 and ICC
+      if(!internal::isMuchSmallerThan(biggest_in_lower_part_of_c, biggest_in_upper_part_of_c, m_precision))
+        return;
+    }
+    dec().matrixQR()
+       .topLeftCorner(dec().rank(), dec().rank())
+       .template triangularView<Upper>()
+       .solveInPlace(c.topRows(dec().rank()));
+
+    for(Index i = 0; i < dec().rank(); ++i) dst.row(dec().colsPermutation().indices().coeff(i)) = c.row(i);
+    for(Index i = dec().rank(); i < cols; ++i) dst.row(dec().colsPermutation().indices().coeff(i)).setZero();
+  }
+};
+
+} // end namespace internal
+
+/** \returns the matrix Q */
+template<typename MatrixType>
+typename FullPivHouseholderQR<MatrixType>::MatrixQType FullPivHouseholderQR<MatrixType>::matrixQ() const
+{
+  eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+  // compute the product H'_0 H'_1 ... H'_n-1,
+  // where H_k is the k-th Householder transformation I - h_k v_k v_k'
+  // and v_k is the k-th Householder vector [1,m_qr(k+1,k), m_qr(k+2,k), ...]
+  Index rows = m_qr.rows();
+  Index cols = m_qr.cols();
+  Index size = std::min(rows,cols);
+  MatrixQType res = MatrixQType::Identity(rows, rows);
+  Matrix<Scalar,1,MatrixType::RowsAtCompileTime> temp(rows);
+  for (Index k = size-1; k >= 0; k--)
+  {
+    res.block(k, k, rows-k, rows-k)
+       .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), internal::conj(m_hCoeffs.coeff(k)), &temp.coeffRef(k));
+    res.row(k).swap(res.row(m_rows_transpositions.coeff(k)));
+  }
+  return res;
+}
+
+/** \return the full-pivoting Householder QR decomposition of \c *this.
+  *
+  * \sa class FullPivHouseholderQR
+  */
+template<typename Derived>
+const FullPivHouseholderQR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::fullPivHouseholderQr() const
+{
+  return FullPivHouseholderQR<PlainObject>(eval());
+}
+
+#endif // EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/HouseholderQR.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/HouseholderQR.h
new file mode 100755
index 0000000..0d2b748
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/QR/HouseholderQR.h
@@ -0,0 +1,355 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2010 Vincent Lejeune
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_QR_H
+#define EIGEN_QR_H
+
+/** \ingroup QR_Module
+  *
+  *
+  * \class HouseholderQR
+  *
+  * \brief Householder QR decomposition of a matrix
+  *
+  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  *
+  * This class performs a QR decomposition of a matrix \b A into matrices \b Q and \b R
+  * such that 
+  * \f[
+  *  \mathbf{A} = \mathbf{Q} \, \mathbf{R}
+  * \f]
+  * by using Householder transformations. Here, \b Q a unitary matrix and \b R an upper triangular matrix.
+  * The result is stored in a compact way compatible with LAPACK.
+  *
+  * Note that no pivoting is performed. This is \b not a rank-revealing decomposition.
+  * If you want that feature, use FullPivHouseholderQR or ColPivHouseholderQR instead.
+  *
+  * This Householder QR decomposition is faster, but less numerically stable and less feature-full than
+  * FullPivHouseholderQR or ColPivHouseholderQR.
+  *
+  * \sa MatrixBase::householderQr()
+  */
+template<typename _MatrixType> class HouseholderQR
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      Options = MatrixType::Options,
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, (MatrixType::Flags&RowMajorBit) ? RowMajor : ColMajor, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
+    typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+    typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+    typedef typename HouseholderSequence<MatrixType,HCoeffsType>::ConjugateReturnType HouseholderSequenceType;
+
+    /**
+    * \brief Default Constructor.
+    *
+    * The default constructor is useful in cases in which the user intends to
+    * perform decompositions via HouseholderQR::compute(const MatrixType&).
+    */
+    HouseholderQR() : m_qr(), m_hCoeffs(), m_temp(), m_isInitialized(false) {}
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem \a size.
+      * \sa HouseholderQR()
+      */
+    HouseholderQR(Index rows, Index cols)
+      : m_qr(rows, cols),
+        m_hCoeffs(std::min(rows,cols)),
+        m_temp(cols),
+        m_isInitialized(false) {}
+
+    HouseholderQR(const MatrixType& matrix)
+      : m_qr(matrix.rows(), matrix.cols()),
+        m_hCoeffs(std::min(matrix.rows(),matrix.cols())),
+        m_temp(matrix.cols()),
+        m_isInitialized(false)
+    {
+      compute(matrix);
+    }
+
+    /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
+      * *this is the QR decomposition, if any exists.
+      *
+      * \param b the right-hand-side of the equation to solve.
+      *
+      * \returns a solution.
+      *
+      * \note The case where b is a matrix is not yet implemented. Also, this
+      *       code is space inefficient.
+      *
+      * \note_about_checking_solutions
+      *
+      * \note_about_arbitrary_choice_of_solution
+      *
+      * Example: \include HouseholderQR_solve.cpp
+      * Output: \verbinclude HouseholderQR_solve.out
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<HouseholderQR, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+      return internal::solve_retval<HouseholderQR, Rhs>(*this, b.derived());
+    }
+
+    HouseholderSequenceType householderQ() const
+    {
+      eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+      return HouseholderSequenceType(m_qr, m_hCoeffs.conjugate());
+    }
+
+    /** \returns a reference to the matrix where the Householder QR decomposition is stored
+      * in a LAPACK-compatible way.
+      */
+    const MatrixType& matrixQR() const
+    {
+        eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+        return m_qr;
+    }
+
+    HouseholderQR& compute(const MatrixType& matrix);
+
+    /** \returns the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \warning a determinant can be very big or small, so for matrices
+      * of large enough dimension, there is a risk of overflow/underflow.
+      * One way to work around that is to use logAbsDeterminant() instead.
+      *
+      * \sa logAbsDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar absDeterminant() const;
+
+    /** \returns the natural log of the absolute value of the determinant of the matrix of which
+      * *this is the QR decomposition. It has only linear complexity
+      * (that is, O(n) where n is the dimension of the square matrix)
+      * as the QR decomposition has already been computed.
+      *
+      * \note This is only for square matrices.
+      *
+      * \note This method is useful to work around the risk of overflow/underflow that's inherent
+      * to determinant computation.
+      *
+      * \sa absDeterminant(), MatrixBase::determinant()
+      */
+    typename MatrixType::RealScalar logAbsDeterminant() const;
+
+    inline Index rows() const { return m_qr.rows(); }
+    inline Index cols() const { return m_qr.cols(); }
+    const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+
+  protected:
+    MatrixType m_qr;
+    HCoeffsType m_hCoeffs;
+    RowVectorType m_temp;
+    bool m_isInitialized;
+};
+
+template<typename MatrixType>
+typename MatrixType::RealScalar HouseholderQR<MatrixType>::absDeterminant() const
+{
+  eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return internal::abs(m_qr.diagonal().prod());
+}
+
+template<typename MatrixType>
+typename MatrixType::RealScalar HouseholderQR<MatrixType>::logAbsDeterminant() const
+{
+  eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+  eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+  return m_qr.diagonal().cwiseAbs().array().log().sum();
+}
+
+namespace internal {
+
+/** \internal */
+template<typename MatrixQR, typename HCoeffs>
+void householder_qr_inplace_unblocked(MatrixQR& mat, HCoeffs& hCoeffs, typename MatrixQR::Scalar* tempData = 0)
+{
+  typedef typename MatrixQR::Index Index;
+  typedef typename MatrixQR::Scalar Scalar;
+  typedef typename MatrixQR::RealScalar RealScalar;
+  Index rows = mat.rows();
+  Index cols = mat.cols();
+  Index size = std::min(rows,cols);
+
+  eigen_assert(hCoeffs.size() == size);
+
+  typedef Matrix<Scalar,MatrixQR::ColsAtCompileTime,1> TempType;
+  TempType tempVector;
+  if(tempData==0)
+  {
+    tempVector.resize(cols);
+    tempData = tempVector.data();
+  }
+
+  for(Index k = 0; k < size; ++k)
+  {
+    Index remainingRows = rows - k;
+    Index remainingCols = cols - k - 1;
+
+    RealScalar beta;
+    mat.col(k).tail(remainingRows).makeHouseholderInPlace(hCoeffs.coeffRef(k), beta);
+    mat.coeffRef(k,k) = beta;
+
+    // apply H to remaining part of m_qr from the left
+    mat.bottomRightCorner(remainingRows, remainingCols)
+        .applyHouseholderOnTheLeft(mat.col(k).tail(remainingRows-1), hCoeffs.coeffRef(k), tempData+k+1);
+  }
+}
+
+/** \internal */
+template<typename MatrixQR, typename HCoeffs>
+void householder_qr_inplace_blocked(MatrixQR& mat, HCoeffs& hCoeffs,
+                                       typename MatrixQR::Index maxBlockSize=32,
+                                       typename MatrixQR::Scalar* tempData = 0)
+{
+  typedef typename MatrixQR::Index Index;
+  typedef typename MatrixQR::Scalar Scalar;
+  typedef typename MatrixQR::RealScalar RealScalar;
+  typedef Block<MatrixQR,Dynamic,Dynamic> BlockType;
+
+  Index rows = mat.rows();
+  Index cols = mat.cols();
+  Index size = std::min(rows, cols);
+
+  typedef Matrix<Scalar,Dynamic,1,ColMajor,MatrixQR::MaxColsAtCompileTime,1> TempType;
+  TempType tempVector;
+  if(tempData==0)
+  {
+    tempVector.resize(cols);
+    tempData = tempVector.data();
+  }
+
+  Index blockSize = std::min(maxBlockSize,size);
+
+  int k = 0;
+  for (k = 0; k < size; k += blockSize)
+  {
+    Index bs = std::min(size-k,blockSize);  // actual size of the block
+    Index tcols = cols - k - bs;            // trailing columns
+    Index brows = rows-k;                   // rows of the block
+
+    // partition the matrix:
+    //        A00 | A01 | A02
+    // mat  = A10 | A11 | A12
+    //        A20 | A21 | A22
+    // and performs the qr dec of [A11^T A12^T]^T
+    // and update [A21^T A22^T]^T using level 3 operations.
+    // Finally, the algorithm continue on A22
+
+    BlockType A11_21 = mat.block(k,k,brows,bs);
+    Block<HCoeffs,Dynamic,1> hCoeffsSegment = hCoeffs.segment(k,bs);
+
+    householder_qr_inplace_unblocked(A11_21, hCoeffsSegment, tempData);
+
+    if(tcols)
+    {
+      BlockType A21_22 = mat.block(k,k+bs,brows,tcols);
+      apply_block_householder_on_the_left(A21_22,A11_21,hCoeffsSegment.adjoint());
+    }
+  }
+}
+
+template<typename _MatrixType, typename Rhs>
+struct solve_retval<HouseholderQR<_MatrixType>, Rhs>
+  : solve_retval_base<HouseholderQR<_MatrixType>, Rhs>
+{
+  EIGEN_MAKE_SOLVE_HELPERS(HouseholderQR<_MatrixType>,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    const Index rows = dec().rows(), cols = dec().cols();
+    const Index rank = std::min(rows, cols);
+    eigen_assert(rhs().rows() == rows);
+
+    typename Rhs::PlainObject c(rhs());
+
+    // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
+    c.applyOnTheLeft(householderSequence(
+      dec().matrixQR().leftCols(rank),
+      dec().hCoeffs().head(rank)).transpose()
+    );
+
+    dec().matrixQR()
+       .topLeftCorner(rank, rank)
+       .template triangularView<Upper>()
+       .solveInPlace(c.topRows(rank));
+
+    dst.topRows(rank) = c.topRows(rank);
+    dst.bottomRows(cols-rank).setZero();
+  }
+};
+
+} // end namespace internal
+
+template<typename MatrixType>
+HouseholderQR<MatrixType>& HouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  Index size = std::min(rows,cols);
+
+  m_qr = matrix;
+  m_hCoeffs.resize(size);
+
+  m_temp.resize(cols);
+
+  internal::householder_qr_inplace_blocked(m_qr, m_hCoeffs, 48, m_temp.data());
+
+  m_isInitialized = true;
+  return *this;
+}
+
+/** \return the Householder QR decomposition of \c *this.
+  *
+  * \sa class HouseholderQR
+  */
+template<typename Derived>
+const HouseholderQR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::householderQr() const
+{
+  return HouseholderQR<PlainObject>(eval());
+}
+
+
+#endif // EIGEN_QR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/SVD/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/SVD/CMakeLists.txt
new file mode 100755
index 0000000..55efc44
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/SVD/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_SVD_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_SVD_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/SVD COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/SVD/JacobiSVD.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/SVD/JacobiSVD.h
new file mode 100755
index 0000000..6826e2c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/SVD/JacobiSVD.h
@@ -0,0 +1,715 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_JACOBISVD_H
+#define EIGEN_JACOBISVD_H
+
+namespace internal {
+// forward declaration (needed by ICC)
+// the empty body is required by MSVC
+template<typename MatrixType, int QRPreconditioner,
+         bool IsComplex = NumTraits<typename MatrixType::Scalar>::IsComplex>
+struct svd_precondition_2x2_block_to_be_real {};
+
+/*** QR preconditioners (R-SVD)
+ ***
+ *** Their role is to reduce the problem of computing the SVD to the case of a square matrix.
+ *** This approach, known as R-SVD, is an optimization for rectangular-enough matrices, and is a requirement for
+ *** JacobiSVD which by itself is only able to work on square matrices.
+ ***/
+
+enum { PreconditionIfMoreColsThanRows, PreconditionIfMoreRowsThanCols };
+
+template<typename MatrixType, int QRPreconditioner, int Case>
+struct qr_preconditioner_should_do_anything
+{
+  enum { a = MatrixType::RowsAtCompileTime != Dynamic &&
+             MatrixType::ColsAtCompileTime != Dynamic &&
+             MatrixType::ColsAtCompileTime <= MatrixType::RowsAtCompileTime,
+         b = MatrixType::RowsAtCompileTime != Dynamic &&
+             MatrixType::ColsAtCompileTime != Dynamic &&
+             MatrixType::RowsAtCompileTime <= MatrixType::ColsAtCompileTime,
+         ret = !( (QRPreconditioner == NoQRPreconditioner) ||
+                  (Case == PreconditionIfMoreColsThanRows && bool(a)) ||
+                  (Case == PreconditionIfMoreRowsThanCols && bool(b)) )
+  };
+};
+
+template<typename MatrixType, int QRPreconditioner, int Case,
+         bool DoAnything = qr_preconditioner_should_do_anything<MatrixType, QRPreconditioner, Case>::ret
+> struct qr_preconditioner_impl {};
+
+template<typename MatrixType, int QRPreconditioner, int Case>
+struct qr_preconditioner_impl<MatrixType, QRPreconditioner, Case, false>
+{
+  static bool run(JacobiSVD<MatrixType, QRPreconditioner>&, const MatrixType&)
+  {
+    return false;
+  }
+};
+
+/*** preconditioner using FullPivHouseholderQR ***/
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
+{
+  static bool run(JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.rows() > matrix.cols())
+    {
+      FullPivHouseholderQR<MatrixType> qr(matrix);
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
+      if(svd.m_computeFullU) svd.m_matrixU = qr.matrixQ();
+      if(svd.computeV()) svd.m_matrixV = qr.colsPermutation();
+      return true;
+    }
+    return false;
+  }
+};
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
+{
+  static bool run(JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.cols() > matrix.rows())
+    {
+      typedef Matrix<typename MatrixType::Scalar, MatrixType::ColsAtCompileTime, MatrixType::RowsAtCompileTime,
+                     MatrixType::Options, MatrixType::MaxColsAtCompileTime, MatrixType::MaxRowsAtCompileTime>
+              TransposeTypeWithSameStorageOrder;
+      FullPivHouseholderQR<TransposeTypeWithSameStorageOrder> qr(matrix.adjoint());
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
+      if(svd.m_computeFullV) svd.m_matrixV = qr.matrixQ();
+      if(svd.computeU()) svd.m_matrixU = qr.colsPermutation();
+      return true;
+    }
+    else return false;
+  }
+};
+
+/*** preconditioner using ColPivHouseholderQR ***/
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
+{
+  static bool run(JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.rows() > matrix.cols())
+    {
+      ColPivHouseholderQR<MatrixType> qr(matrix);
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
+      if(svd.m_computeFullU) svd.m_matrixU = qr.householderQ();
+      else if(svd.m_computeThinU) {
+        svd.m_matrixU.setIdentity(matrix.rows(), matrix.cols());
+        qr.householderQ().applyThisOnTheLeft(svd.m_matrixU);
+      }
+      if(svd.computeV()) svd.m_matrixV = qr.colsPermutation();
+      return true;
+    }
+    return false;
+  }
+};
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
+{
+  static bool run(JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.cols() > matrix.rows())
+    {
+      typedef Matrix<typename MatrixType::Scalar, MatrixType::ColsAtCompileTime, MatrixType::RowsAtCompileTime,
+                     MatrixType::Options, MatrixType::MaxColsAtCompileTime, MatrixType::MaxRowsAtCompileTime>
+              TransposeTypeWithSameStorageOrder;
+      ColPivHouseholderQR<TransposeTypeWithSameStorageOrder> qr(matrix.adjoint());
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
+      if(svd.m_computeFullV) svd.m_matrixV = qr.householderQ();
+      else if(svd.m_computeThinV) {
+        svd.m_matrixV.setIdentity(matrix.cols(), matrix.rows());
+        qr.householderQ().applyThisOnTheLeft(svd.m_matrixV);
+      }
+      if(svd.computeU()) svd.m_matrixU = qr.colsPermutation();
+      return true;
+    }
+    else return false;
+  }
+};
+
+/*** preconditioner using HouseholderQR ***/
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
+{
+  static bool run(JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.rows() > matrix.cols())
+    {
+      HouseholderQR<MatrixType> qr(matrix);
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
+      if(svd.m_computeFullU) svd.m_matrixU = qr.householderQ();
+      else if(svd.m_computeThinU) {
+        svd.m_matrixU.setIdentity(matrix.rows(), matrix.cols());
+        qr.householderQ().applyThisOnTheLeft(svd.m_matrixU);
+      }
+      if(svd.computeV()) svd.m_matrixV.setIdentity(matrix.cols(), matrix.cols());
+      return true;
+    }
+    return false;
+  }
+};
+
+template<typename MatrixType>
+struct qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
+{
+  static bool run(JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+  {
+    if(matrix.cols() > matrix.rows())
+    {
+      typedef Matrix<typename MatrixType::Scalar, MatrixType::ColsAtCompileTime, MatrixType::RowsAtCompileTime,
+                     MatrixType::Options, MatrixType::MaxColsAtCompileTime, MatrixType::MaxRowsAtCompileTime>
+              TransposeTypeWithSameStorageOrder;
+      HouseholderQR<TransposeTypeWithSameStorageOrder> qr(matrix.adjoint());
+      svd.m_workMatrix = qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
+      if(svd.m_computeFullV) svd.m_matrixV = qr.householderQ();
+      else if(svd.m_computeThinV) {
+        svd.m_matrixV.setIdentity(matrix.cols(), matrix.rows());
+        qr.householderQ().applyThisOnTheLeft(svd.m_matrixV);
+      }
+      if(svd.computeU()) svd.m_matrixU.setIdentity(matrix.rows(), matrix.rows());
+      return true;
+    }
+    else return false;
+  }
+};
+
+/*** 2x2 SVD implementation
+ ***
+ *** JacobiSVD consists in performing a series of 2x2 SVD subproblems
+ ***/
+
+template<typename MatrixType, int QRPreconditioner>
+struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, false>
+{
+  typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
+  typedef typename SVD::Index Index;
+  static void run(typename SVD::WorkMatrixType&, SVD&, Index, Index) {}
+};
+
+template<typename MatrixType, int QRPreconditioner>
+struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
+{
+  typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef typename SVD::Index Index;
+  static void run(typename SVD::WorkMatrixType& work_matrix, SVD& svd, Index p, Index q)
+  {
+    Scalar z;
+    JacobiRotation<Scalar> rot;
+    RealScalar n = sqrt(abs2(work_matrix.coeff(p,p)) + abs2(work_matrix.coeff(q,p)));
+    if(n==0)
+    {
+      z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
+      work_matrix.row(p) *= z;
+      if(svd.computeU()) svd.m_matrixU.col(p) *= conj(z);
+      z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
+      work_matrix.row(q) *= z;
+      if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
+    }
+    else
+    {
+      rot.c() = conj(work_matrix.coeff(p,p)) / n;
+      rot.s() = work_matrix.coeff(q,p) / n;
+      work_matrix.applyOnTheLeft(p,q,rot);
+      if(svd.computeU()) svd.m_matrixU.applyOnTheRight(p,q,rot.adjoint());
+      if(work_matrix.coeff(p,q) != Scalar(0))
+      {
+        Scalar z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
+        work_matrix.col(q) *= z;
+        if(svd.computeV()) svd.m_matrixV.col(q) *= z;
+      }
+      if(work_matrix.coeff(q,q) != Scalar(0))
+      {
+        z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
+        work_matrix.row(q) *= z;
+        if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
+      }
+    }
+  }
+};
+
+template<typename MatrixType, typename RealScalar, typename Index>
+void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
+                            JacobiRotation<RealScalar> *j_left,
+                            JacobiRotation<RealScalar> *j_right)
+{
+  Matrix<RealScalar,2,2> m;
+  m << real(matrix.coeff(p,p)), real(matrix.coeff(p,q)),
+       real(matrix.coeff(q,p)), real(matrix.coeff(q,q));
+  JacobiRotation<RealScalar> rot1;
+  RealScalar t = m.coeff(0,0) + m.coeff(1,1);
+  RealScalar d = m.coeff(1,0) - m.coeff(0,1);
+  if(t == RealScalar(0))
+  {
+    rot1.c() = 0;
+    rot1.s() = d > 0 ? 1 : -1;
+  }
+  else
+  {
+    RealScalar u = d / t;
+    rot1.c() = RealScalar(1) / sqrt(1 + abs2(u));
+    rot1.s() = rot1.c() * u;
+  }
+  m.applyOnTheLeft(0,1,rot1);
+  j_right->makeJacobi(m,0,1);
+  *j_left  = rot1 * j_right->transpose();
+}
+
+} // end namespace internal
+
+/** \ingroup SVD_Module
+  *
+  *
+  * \class JacobiSVD
+  *
+  * \brief Two-sided Jacobi SVD decomposition of a square matrix
+  *
+  * \param MatrixType the type of the matrix of which we are computing the SVD decomposition
+  * \param QRPreconditioner this optional parameter allows to specify the type of QR decomposition that will be used internally
+  *                        for the R-SVD step for non-square matrices. See discussion of possible values below.
+  *
+  * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
+  *   \f[ A = U S V^* \f]
+  * where \a U is a n-by-n unitary, \a V is a p-by-p unitary, and \a S is a n-by-p real positive matrix which is zero outside of its main diagonal;
+  * the diagonal entries of S are known as the \em singular \em values of \a A and the columns of \a U and \a V are known as the left
+  * and right \em singular \em vectors of \a A respectively.
+  *
+  * Singular values are always sorted in decreasing order.
+  *
+  * This JacobiSVD decomposition computes only the singular values by default. If you want \a U or \a V, you need to ask for them explicitly.
+  *
+  * You can ask for only \em thin \a U or \a V to be computed, meaning the following. In case of a rectangular n-by-p matrix, letting \a m be the
+  * smaller value among \a n and \a p, there are only \a m singular vectors; the remaining columns of \a U and \a V do not correspond to actual
+  * singular vectors. Asking for \em thin \a U or \a V means asking for only their \a m first columns to be formed. So \a U is then a n-by-m matrix,
+  * and \a V is then a p-by-m matrix. Notice that thin \a U and \a V are all you need for (least squares) solving.
+  *
+  * Here's an example demonstrating basic usage:
+  * \include JacobiSVD_basic.cpp
+  * Output: \verbinclude JacobiSVD_basic.out
+  * 
+  * This JacobiSVD class is a two-sided Jacobi R-SVD decomposition, ensuring optimal reliability and accuracy. The downside is that it's slower than
+  * bidiagonalizing SVD algorithms for large square matrices; however its complexity is still \f$ O(n^2p) \f$ where \a n is the smaller dimension and
+  * \a p is the greater dimension, meaning that it is still of the same order of complexity as the faster bidiagonalizing R-SVD algorithms.
+  * In particular, like any R-SVD, it takes advantage of non-squareness in that its complexity is only linear in the greater dimension.
+  *
+  * If the input matrix has inf or nan coefficients, the result of the computation is undefined, but the computation is guaranteed to
+  * terminate in finite (and reasonable) time.
+  * 
+  * The possible values for QRPreconditioner are:
+  * \li ColPivHouseholderQRPreconditioner is the default. In practice it's very safe. It uses column-pivoting QR.
+  * \li FullPivHouseholderQRPreconditioner, is the safest and slowest. It uses full-pivoting QR.
+  *     Contrary to other QRs, it doesn't allow computing thin unitaries.
+  * \li HouseholderQRPreconditioner is the fastest, and less safe and accurate than the pivoting variants. It uses non-pivoting QR.
+  *     This is very similar in safety and accuracy to the bidiagonalization process used by bidiagonalizing SVD algorithms (since bidiagonalization
+  *     is inherently non-pivoting). However the resulting SVD is still more reliable than bidiagonalizing SVDs because the Jacobi-based iterarive
+  *     process is more reliable than the optimized bidiagonal SVD iterations.
+  * \li NoQRPreconditioner allows not to use a QR preconditioner at all. This is useful if you know that you will only be computing
+  *     JacobiSVD decompositions of square matrices. Non-square matrices require a QR preconditioner. Using this option will result in
+  *     faster compilation and smaller executable code. It won't significantly speed up computation, since JacobiSVD is always checking
+  *     if QR preconditioning is needed before applying it anyway.
+  *
+  * \sa MatrixBase::jacobiSvd()
+  */
+template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+    typedef typename MatrixType::Index Index;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime),
+      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+      MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime,MaxColsAtCompileTime),
+      MatrixOptions = MatrixType::Options
+    };
+
+    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime,
+                   MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime>
+            MatrixUType;
+    typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime,
+                   MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime>
+            MatrixVType;
+    typedef typename internal::plain_diag_type<MatrixType, RealScalar>::type SingularValuesType;
+    typedef typename internal::plain_row_type<MatrixType>::type RowType;
+    typedef typename internal::plain_col_type<MatrixType>::type ColType;
+    typedef Matrix<Scalar, DiagSizeAtCompileTime, DiagSizeAtCompileTime,
+                   MatrixOptions, MaxDiagSizeAtCompileTime, MaxDiagSizeAtCompileTime>
+            WorkMatrixType;
+
+    /** \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via JacobiSVD::compute(const MatrixType&).
+      */
+    JacobiSVD()
+      : m_isInitialized(false),
+        m_isAllocated(false),
+        m_computationOptions(0),
+        m_rows(-1), m_cols(-1)
+    {}
+
+
+    /** \brief Default Constructor with memory preallocation
+      *
+      * Like the default constructor but with preallocation of the internal data
+      * according to the specified problem size.
+      * \sa JacobiSVD()
+      */
+    JacobiSVD(Index rows, Index cols, unsigned int computationOptions = 0)
+      : m_isInitialized(false),
+        m_isAllocated(false),
+        m_computationOptions(0),
+        m_rows(-1), m_cols(-1)
+    {
+      allocate(rows, cols, computationOptions);
+    }
+
+    /** \brief Constructor performing the decomposition of given matrix.
+     *
+     * \param matrix the matrix to decompose
+     * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+     *                           By default, none is computed. This is a bit-field, the possible bits are ComputeFullU, ComputeThinU,
+     *                           ComputeFullV, ComputeThinV.
+     *
+     * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+     * available with the (non-default) FullPivHouseholderQR preconditioner.
+     */
+    JacobiSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
+      : m_isInitialized(false),
+        m_isAllocated(false),
+        m_computationOptions(0),
+        m_rows(-1), m_cols(-1)
+    {
+      compute(matrix, computationOptions);
+    }
+
+    /** \brief Method performing the decomposition of given matrix using custom options.
+     *
+     * \param matrix the matrix to decompose
+     * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+     *                           By default, none is computed. This is a bit-field, the possible bits are ComputeFullU, ComputeThinU,
+     *                           ComputeFullV, ComputeThinV.
+     *
+     * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+     * available with the (non-default) FullPivHouseholderQR preconditioner.
+     */
+    JacobiSVD& compute(const MatrixType& matrix, unsigned int computationOptions);
+
+    /** \brief Method performing the decomposition of given matrix using current options.
+     *
+     * \param matrix the matrix to decompose
+     *
+     * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
+     */
+    JacobiSVD& compute(const MatrixType& matrix)
+    {
+      return compute(matrix, m_computationOptions);
+    }
+
+    /** \returns the \a U matrix.
+     *
+     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
+     * the U matrix is n-by-n if you asked for ComputeFullU, and is n-by-m if you asked for ComputeThinU.
+     *
+     * The \a m first columns of \a U are the left singular vectors of the matrix being decomposed.
+     *
+     * This method asserts that you asked for \a U to be computed.
+     */
+    const MatrixUType& matrixU() const
+    {
+      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+      eigen_assert(computeU() && "This JacobiSVD decomposition didn't compute U. Did you ask for it?");
+      return m_matrixU;
+    }
+
+    /** \returns the \a V matrix.
+     *
+     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
+     * the V matrix is p-by-p if you asked for ComputeFullV, and is p-by-m if you asked for ComputeThinV.
+     *
+     * The \a m first columns of \a V are the right singular vectors of the matrix being decomposed.
+     *
+     * This method asserts that you asked for \a V to be computed.
+     */
+    const MatrixVType& matrixV() const
+    {
+      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+      eigen_assert(computeV() && "This JacobiSVD decomposition didn't compute V. Did you ask for it?");
+      return m_matrixV;
+    }
+
+    /** \returns the vector of singular values.
+     *
+     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p, the
+     * returned vector has size \a m.  Singular values are always sorted in decreasing order.
+     */
+    const SingularValuesType& singularValues() const
+    {
+      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+      return m_singularValues;
+    }
+
+    /** \returns true if \a U (full or thin) is asked for in this SVD decomposition */
+    inline bool computeU() const { return m_computeFullU || m_computeThinU; }
+    /** \returns true if \a V (full or thin) is asked for in this SVD decomposition */
+    inline bool computeV() const { return m_computeFullV || m_computeThinV; }
+
+    /** \returns a (least squares) solution of \f$ A x = b \f$ using the current SVD decomposition of A.
+      *
+      * \param b the right-hand-side of the equation to solve.
+      *
+      * \note Solving requires both U and V to be computed. Thin U and V are enough, there is no need for full U or V.
+      * 
+      * \note SVD solving is implicitly least-squares. Thus, this method serves both purposes of exact solving and least-squares solving.
+      * In other words, the returned solution is guaranteed to minimize the Euclidean norm \f$ \Vert A x - b \Vert \f$.
+      */
+    template<typename Rhs>
+    inline const internal::solve_retval<JacobiSVD, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+      eigen_assert(computeU() && computeV() && "JacobiSVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
+      return internal::solve_retval<JacobiSVD, Rhs>(*this, b.derived());
+    }
+
+    /** \returns the number of singular values that are not exactly 0 */
+    Index nonzeroSingularValues() const
+    {
+      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+      return m_nonzeroSingularValues;
+    }
+
+    inline Index rows() const { return m_rows; }
+    inline Index cols() const { return m_cols; }
+
+  private:
+    void allocate(Index rows, Index cols, unsigned int computationOptions);
+
+  protected:
+    MatrixUType m_matrixU;
+    MatrixVType m_matrixV;
+    SingularValuesType m_singularValues;
+    WorkMatrixType m_workMatrix;
+    bool m_isInitialized, m_isAllocated;
+    bool m_computeFullU, m_computeThinU;
+    bool m_computeFullV, m_computeThinV;
+    unsigned int m_computationOptions;
+    Index m_nonzeroSingularValues, m_rows, m_cols, m_diagSize;
+
+    template<typename __MatrixType, int _QRPreconditioner, bool _IsComplex>
+    friend struct internal::svd_precondition_2x2_block_to_be_real;
+    template<typename __MatrixType, int _QRPreconditioner, int _Case, bool _DoAnything>
+    friend struct internal::qr_preconditioner_impl;
+};
+
+template<typename MatrixType, int QRPreconditioner>
+void JacobiSVD<MatrixType, QRPreconditioner>::allocate(Index rows, Index cols, unsigned int computationOptions)
+{
+  eigen_assert(rows >= 0 && cols >= 0);
+
+  if (m_isAllocated &&
+      rows == m_rows &&
+      cols == m_cols &&
+      computationOptions == m_computationOptions)
+  {
+    return;
+  }
+
+  m_rows = rows;
+  m_cols = cols;
+  m_isInitialized = false;
+  m_isAllocated = true;
+  m_computationOptions = computationOptions;
+  m_computeFullU = (computationOptions & ComputeFullU) != 0;
+  m_computeThinU = (computationOptions & ComputeThinU) != 0;
+  m_computeFullV = (computationOptions & ComputeFullV) != 0;
+  m_computeThinV = (computationOptions & ComputeThinV) != 0;
+  eigen_assert(!(m_computeFullU && m_computeThinU) && "JacobiSVD: you can't ask for both full and thin U");
+  eigen_assert(!(m_computeFullV && m_computeThinV) && "JacobiSVD: you can't ask for both full and thin V");
+  eigen_assert(EIGEN_IMPLIES(m_computeThinU || m_computeThinV, MatrixType::ColsAtCompileTime==Dynamic) &&
+              "JacobiSVD: thin U and V are only available when your matrix has a dynamic number of columns.");
+  if (QRPreconditioner == FullPivHouseholderQRPreconditioner)
+  {
+      eigen_assert(!(m_computeThinU || m_computeThinV) &&
+              "JacobiSVD: can't compute thin U or thin V with the FullPivHouseholderQR preconditioner. "
+              "Use the ColPivHouseholderQR preconditioner instead.");
+  }
+  m_diagSize = std::min(m_rows, m_cols);
+  m_singularValues.resize(m_diagSize);
+  m_matrixU.resize(m_rows, m_computeFullU ? m_rows
+                          : m_computeThinU ? m_diagSize
+                          : 0);
+  m_matrixV.resize(m_cols, m_computeFullV ? m_cols
+                          : m_computeThinV ? m_diagSize
+                          : 0);
+  m_workMatrix.resize(m_diagSize, m_diagSize);
+}
+
+template<typename MatrixType, int QRPreconditioner>
+JacobiSVD<MatrixType, QRPreconditioner>&
+JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsigned int computationOptions)
+{
+  allocate(matrix.rows(), matrix.cols(), computationOptions);
+
+  // currently we stop when we reach precision 2*epsilon as the last bit of precision can require an unreasonable number of iterations,
+  // only worsening the precision of U and V as we accumulate more rotations
+  const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();
+
+  /*** step 1. The R-SVD step: we use a QR decomposition to reduce to the case of a square matrix */
+
+  if(!internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows>::run(*this, matrix)
+  && !internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreRowsThanCols>::run(*this, matrix))
+  {
+    m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize);
+    if(m_computeFullU) m_matrixU.setIdentity(m_rows,m_rows);
+    if(m_computeThinU) m_matrixU.setIdentity(m_rows,m_diagSize);
+    if(m_computeFullV) m_matrixV.setIdentity(m_cols,m_cols);
+    if(m_computeThinV) m_matrixV.setIdentity(m_cols, m_diagSize);
+  }
+
+  /*** step 2. The main Jacobi SVD iteration. ***/
+
+  bool finished = false;
+  while(!finished)
+  {
+    finished = true;
+
+    // do a sweep: for all index pairs (p,q), perform SVD of the corresponding 2x2 sub-matrix
+
+    for(Index p = 1; p < m_diagSize; ++p)
+    {
+      for(Index q = 0; q < p; ++q)
+      {
+        // if this 2x2 sub-matrix is not diagonal already...
+        // notice that this comparison will evaluate to false if any NaN is involved, ensuring that NaN's don't
+        // keep us iterating forever.
+        if(std::max(internal::abs(m_workMatrix.coeff(p,q)),internal::abs(m_workMatrix.coeff(q,p)))
+            > std::max(internal::abs(m_workMatrix.coeff(p,p)),internal::abs(m_workMatrix.coeff(q,q)))*precision)
+        {
+          finished = false;
+
+          // perform SVD decomposition of 2x2 sub-matrix corresponding to indices p,q to make it diagonal
+          internal::svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner>::run(m_workMatrix, *this, p, q);
+          JacobiRotation<RealScalar> j_left, j_right;
+          internal::real_2x2_jacobi_svd(m_workMatrix, p, q, &j_left, &j_right);
+
+          // accumulate resulting Jacobi rotations
+          m_workMatrix.applyOnTheLeft(p,q,j_left);
+          if(computeU()) m_matrixU.applyOnTheRight(p,q,j_left.transpose());
+
+          m_workMatrix.applyOnTheRight(p,q,j_right);
+          if(computeV()) m_matrixV.applyOnTheRight(p,q,j_right);
+        }
+      }
+    }
+  }
+
+  /*** step 3. The work matrix is now diagonal, so ensure it's positive so its diagonal entries are the singular values ***/
+
+  for(Index i = 0; i < m_diagSize; ++i)
+  {
+    RealScalar a = internal::abs(m_workMatrix.coeff(i,i));
+    m_singularValues.coeffRef(i) = a;
+    if(computeU() && (a!=RealScalar(0))) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
+  }
+
+  /*** step 4. Sort singular values in descending order and compute the number of nonzero singular values ***/
+
+  m_nonzeroSingularValues = m_diagSize;
+  for(Index i = 0; i < m_diagSize; i++)
+  {
+    Index pos;
+    RealScalar maxRemainingSingularValue = m_singularValues.tail(m_diagSize-i).maxCoeff(&pos);
+    if(maxRemainingSingularValue == RealScalar(0))
+    {
+      m_nonzeroSingularValues = i;
+      break;
+    }
+    if(pos)
+    {
+      pos += i;
+      std::swap(m_singularValues.coeffRef(i), m_singularValues.coeffRef(pos));
+      if(computeU()) m_matrixU.col(pos).swap(m_matrixU.col(i));
+      if(computeV()) m_matrixV.col(pos).swap(m_matrixV.col(i));
+    }
+  }
+
+  m_isInitialized = true;
+  return *this;
+}
+
+namespace internal {
+template<typename _MatrixType, int QRPreconditioner, typename Rhs>
+struct solve_retval<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
+  : solve_retval_base<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
+{
+  typedef JacobiSVD<_MatrixType, QRPreconditioner> JacobiSVDType;
+  EIGEN_MAKE_SOLVE_HELPERS(JacobiSVDType,Rhs)
+
+  template<typename Dest> void evalTo(Dest& dst) const
+  {
+    eigen_assert(rhs().rows() == dec().rows());
+
+    // A = U S V^*
+    // So A^{-1} = V S^{-1} U^*
+
+    Index diagSize = std::min(dec().rows(), dec().cols());
+    typename JacobiSVDType::SingularValuesType invertedSingVals(diagSize);
+
+    Index nonzeroSingVals = dec().nonzeroSingularValues();
+    invertedSingVals.head(nonzeroSingVals) = dec().singularValues().head(nonzeroSingVals).array().inverse();
+    invertedSingVals.tail(diagSize - nonzeroSingVals).setZero();
+
+    dst = dec().matrixV().leftCols(diagSize)
+        * invertedSingVals.asDiagonal()
+        * dec().matrixU().leftCols(diagSize).adjoint()
+        * rhs();
+  }
+};
+} // end namespace internal
+
+template<typename Derived>
+JacobiSVD<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::jacobiSvd(unsigned int computationOptions) const
+{
+  return JacobiSVD<PlainObject>(*this, computationOptions);
+}
+
+
+
+#endif // EIGEN_JACOBISVD_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/SVD/UpperBidiagonalization.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/SVD/UpperBidiagonalization.h
new file mode 100755
index 0000000..2de197d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/SVD/UpperBidiagonalization.h
@@ -0,0 +1,159 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BIDIAGONALIZATION_H
+#define EIGEN_BIDIAGONALIZATION_H
+
+namespace internal {
+// UpperBidiagonalization will probably be replaced by a Bidiagonalization class, don't want to make it stable API.
+// At the same time, it's useful to keep for now as it's about the only thing that is testing the BandMatrix class.
+
+template<typename _MatrixType> class UpperBidiagonalization
+{
+  public:
+
+    typedef _MatrixType MatrixType;
+    enum {
+      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      ColsAtCompileTimeMinusOne = internal::decrement_size<ColsAtCompileTime>::ret
+    };
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Scalar, 1, ColsAtCompileTime> RowVectorType;
+    typedef Matrix<Scalar, RowsAtCompileTime, 1> ColVectorType;
+    typedef BandMatrix<RealScalar, ColsAtCompileTime, ColsAtCompileTime, 1, 0> BidiagonalType;
+    typedef Matrix<Scalar, ColsAtCompileTime, 1> DiagVectorType;
+    typedef Matrix<Scalar, ColsAtCompileTimeMinusOne, 1> SuperDiagVectorType;
+    typedef HouseholderSequence<
+              const MatrixType,
+              CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Diagonal<const MatrixType,0> >
+            > HouseholderUSequenceType;
+    typedef HouseholderSequence<
+              const MatrixType,
+              Diagonal<const MatrixType,1>,
+              OnTheRight
+            > HouseholderVSequenceType;
+    
+    /**
+    * \brief Default Constructor.
+    *
+    * The default constructor is useful in cases in which the user intends to
+    * perform decompositions via Bidiagonalization::compute(const MatrixType&).
+    */
+    UpperBidiagonalization() : m_householder(), m_bidiagonal(), m_isInitialized(false) {}
+
+    UpperBidiagonalization(const MatrixType& matrix)
+      : m_householder(matrix.rows(), matrix.cols()),
+        m_bidiagonal(matrix.cols(), matrix.cols()),
+        m_isInitialized(false)
+    {
+      compute(matrix);
+    }
+    
+    UpperBidiagonalization& compute(const MatrixType& matrix);
+    
+    const MatrixType& householder() const { return m_householder; }
+    const BidiagonalType& bidiagonal() const { return m_bidiagonal; }
+    
+    const HouseholderUSequenceType householderU() const
+    {
+      eigen_assert(m_isInitialized && "UpperBidiagonalization is not initialized.");
+      return HouseholderUSequenceType(m_householder, m_householder.diagonal().conjugate());
+    }
+
+    const HouseholderVSequenceType householderV() // const here gives nasty errors and i'm lazy
+    {
+      eigen_assert(m_isInitialized && "UpperBidiagonalization is not initialized.");
+      return HouseholderVSequenceType(m_householder, m_householder.const_derived().template diagonal<1>())
+             .setLength(m_householder.cols()-1)
+             .setShift(1);
+    }
+    
+  protected:
+    MatrixType m_householder;
+    BidiagonalType m_bidiagonal;
+    bool m_isInitialized;
+};
+
+template<typename _MatrixType>
+UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::compute(const _MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  
+  eigen_assert(rows >= cols && "UpperBidiagonalization is only for matrices satisfying rows>=cols.");
+  
+  m_householder = matrix;
+
+  ColVectorType temp(rows);
+
+  for (Index k = 0; /* breaks at k==cols-1 below */ ; ++k)
+  {
+    Index remainingRows = rows - k;
+    Index remainingCols = cols - k - 1;
+
+    // construct left householder transform in-place in m_householder
+    m_householder.col(k).tail(remainingRows)
+                 .makeHouseholderInPlace(m_householder.coeffRef(k,k),
+                                         m_bidiagonal.template diagonal<0>().coeffRef(k));
+    // apply householder transform to remaining part of m_householder on the left
+    m_householder.bottomRightCorner(remainingRows, remainingCols)
+                 .applyHouseholderOnTheLeft(m_householder.col(k).tail(remainingRows-1),
+                                            m_householder.coeff(k,k),
+                                            temp.data());
+
+    if(k == cols-1) break;
+    
+    // construct right householder transform in-place in m_householder
+    m_householder.row(k).tail(remainingCols)
+                 .makeHouseholderInPlace(m_householder.coeffRef(k,k+1),
+                                         m_bidiagonal.template diagonal<1>().coeffRef(k));
+    // apply householder transform to remaining part of m_householder on the left
+    m_householder.bottomRightCorner(remainingRows-1, remainingCols)
+                 .applyHouseholderOnTheRight(m_householder.row(k).tail(remainingCols-1).transpose(),
+                                             m_householder.coeff(k,k+1),
+                                             temp.data());
+  }
+  m_isInitialized = true;
+  return *this;
+}
+
+#if 0
+/** \return the Householder QR decomposition of \c *this.
+  *
+  * \sa class Bidiagonalization
+  */
+template<typename Derived>
+const UpperBidiagonalization<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::bidiagonalization() const
+{
+  return UpperBidiagonalization<PlainObject>(eval());
+}
+#endif
+
+} // end namespace internal
+
+#endif // EIGEN_BIDIAGONALIZATION_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/AmbiVector.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/AmbiVector.h
new file mode 100755
index 0000000..01c93fb
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/AmbiVector.h
@@ -0,0 +1,379 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_AMBIVECTOR_H
+#define EIGEN_AMBIVECTOR_H
+
+/** \internal
+  * Hybrid sparse/dense vector class designed for intensive read-write operations.
+  *
+  * See BasicSparseLLT and SparseProduct for usage examples.
+  */
+template<typename _Scalar, typename _Index>
+class AmbiVector
+{
+  public:
+    typedef _Scalar Scalar;
+    typedef _Index Index;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    AmbiVector(Index size)
+      : m_buffer(0), m_zero(0), m_size(0), m_allocatedSize(0), m_allocatedElements(0), m_mode(-1)
+    {
+      resize(size);
+    }
+
+    void init(double estimatedDensity);
+    void init(int mode);
+
+    Index nonZeros() const;
+
+    /** Specifies a sub-vector to work on */
+    void setBounds(Index start, Index end) { m_start = start; m_end = end; }
+
+    void setZero();
+
+    void restart();
+    Scalar& coeffRef(Index i);
+    Scalar& coeff(Index i);
+
+    class Iterator;
+
+    ~AmbiVector() { delete[] m_buffer; }
+
+    void resize(Index size)
+    {
+      if (m_allocatedSize < size)
+        reallocate(size);
+      m_size = size;
+    }
+
+    Index size() const { return m_size; }
+
+  protected:
+
+    void reallocate(Index size)
+    {
+      // if the size of the matrix is not too large, let's allocate a bit more than needed such
+      // that we can handle dense vector even in sparse mode.
+      delete[] m_buffer;
+      if (size<1000)
+      {
+        Index allocSize = (size * sizeof(ListEl))/sizeof(Scalar);
+        m_allocatedElements = (allocSize*sizeof(Scalar))/sizeof(ListEl);
+        m_buffer = new Scalar[allocSize];
+      }
+      else
+      {
+        m_allocatedElements = (size*sizeof(Scalar))/sizeof(ListEl);
+        m_buffer = new Scalar[size];
+      }
+      m_size = size;
+      m_start = 0;
+      m_end = m_size;
+    }
+
+    void reallocateSparse()
+    {
+      Index copyElements = m_allocatedElements;
+      m_allocatedElements = std::min(Index(m_allocatedElements*1.5),m_size);
+      Index allocSize = m_allocatedElements * sizeof(ListEl);
+      allocSize = allocSize/sizeof(Scalar) + (allocSize%sizeof(Scalar)>0?1:0);
+      Scalar* newBuffer = new Scalar[allocSize];
+      memcpy(newBuffer,  m_buffer,  copyElements * sizeof(ListEl));
+      delete[] m_buffer;
+      m_buffer = newBuffer;
+    }
+
+  protected:
+    // element type of the linked list
+    struct ListEl
+    {
+      Index next;
+      Index index;
+      Scalar value;
+    };
+
+    // used to store data in both mode
+    Scalar* m_buffer;
+    Scalar m_zero;
+    Index m_size;
+    Index m_start;
+    Index m_end;
+    Index m_allocatedSize;
+    Index m_allocatedElements;
+    Index m_mode;
+
+    // linked list mode
+    Index m_llStart;
+    Index m_llCurrent;
+    Index m_llSize;
+};
+
+/** \returns the number of non zeros in the current sub vector */
+template<typename _Scalar,typename _Index>
+_Index AmbiVector<_Scalar,_Index>::nonZeros() const
+{
+  if (m_mode==IsSparse)
+    return m_llSize;
+  else
+    return m_end - m_start;
+}
+
+template<typename _Scalar,typename _Index>
+void AmbiVector<_Scalar,_Index>::init(double estimatedDensity)
+{
+  if (estimatedDensity>0.1)
+    init(IsDense);
+  else
+    init(IsSparse);
+}
+
+template<typename _Scalar,typename _Index>
+void AmbiVector<_Scalar,_Index>::init(int mode)
+{
+  m_mode = mode;
+  if (m_mode==IsSparse)
+  {
+    m_llSize = 0;
+    m_llStart = -1;
+  }
+}
+
+/** Must be called whenever we might perform a write access
+  * with an index smaller than the previous one.
+  *
+  * Don't worry, this function is extremely cheap.
+  */
+template<typename _Scalar,typename _Index>
+void AmbiVector<_Scalar,_Index>::restart()
+{
+  m_llCurrent = m_llStart;
+}
+
+/** Set all coefficients of current subvector to zero */
+template<typename _Scalar,typename _Index>
+void AmbiVector<_Scalar,_Index>::setZero()
+{
+  if (m_mode==IsDense)
+  {
+    for (Index i=m_start; i<m_end; ++i)
+      m_buffer[i] = Scalar(0);
+  }
+  else
+  {
+    eigen_assert(m_mode==IsSparse);
+    m_llSize = 0;
+    m_llStart = -1;
+  }
+}
+
+template<typename _Scalar,typename _Index>
+_Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
+{
+  if (m_mode==IsDense)
+    return m_buffer[i];
+  else
+  {
+    ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_buffer);
+    // TODO factorize the following code to reduce code generation
+    eigen_assert(m_mode==IsSparse);
+    if (m_llSize==0)
+    {
+      // this is the first element
+      m_llStart = 0;
+      m_llCurrent = 0;
+      ++m_llSize;
+      llElements[0].value = Scalar(0);
+      llElements[0].index = i;
+      llElements[0].next = -1;
+      return llElements[0].value;
+    }
+    else if (i<llElements[m_llStart].index)
+    {
+      // this is going to be the new first element of the list
+      ListEl& el = llElements[m_llSize];
+      el.value = Scalar(0);
+      el.index = i;
+      el.next = m_llStart;
+      m_llStart = m_llSize;
+      ++m_llSize;
+      m_llCurrent = m_llStart;
+      return el.value;
+    }
+    else
+    {
+      Index nextel = llElements[m_llCurrent].next;
+      eigen_assert(i>=llElements[m_llCurrent].index && "you must call restart() before inserting an element with lower or equal index");
+      while (nextel >= 0 && llElements[nextel].index<=i)
+      {
+        m_llCurrent = nextel;
+        nextel = llElements[nextel].next;
+      }
+
+      if (llElements[m_llCurrent].index==i)
+      {
+        // the coefficient already exists and we found it !
+        return llElements[m_llCurrent].value;
+      }
+      else
+      {
+        if (m_llSize>=m_allocatedElements)
+        {
+          reallocateSparse();
+          llElements = reinterpret_cast<ListEl*>(m_buffer);
+        }
+        eigen_internal_assert(m_llSize<m_allocatedElements && "internal error: overflow in sparse mode");
+        // let's insert a new coefficient
+        ListEl& el = llElements[m_llSize];
+        el.value = Scalar(0);
+        el.index = i;
+        el.next = llElements[m_llCurrent].next;
+        llElements[m_llCurrent].next = m_llSize;
+        ++m_llSize;
+        return el.value;
+      }
+    }
+  }
+}
+
+template<typename _Scalar,typename _Index>
+_Scalar& AmbiVector<_Scalar,_Index>::coeff(_Index i)
+{
+  if (m_mode==IsDense)
+    return m_buffer[i];
+  else
+  {
+    ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_buffer);
+    eigen_assert(m_mode==IsSparse);
+    if ((m_llSize==0) || (i<llElements[m_llStart].index))
+    {
+      return m_zero;
+    }
+    else
+    {
+      Index elid = m_llStart;
+      while (elid >= 0 && llElements[elid].index<i)
+        elid = llElements[elid].next;
+
+      if (llElements[elid].index==i)
+        return llElements[m_llCurrent].value;
+      else
+        return m_zero;
+    }
+  }
+}
+
+/** Iterator over the nonzero coefficients */
+template<typename _Scalar,typename _Index>
+class AmbiVector<_Scalar,_Index>::Iterator
+{
+  public:
+    typedef _Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    /** Default constructor
+      * \param vec the vector on which we iterate
+      * \param epsilon the minimal value used to prune zero coefficients.
+      * In practice, all coefficients having a magnitude smaller than \a epsilon
+      * are skipped.
+      */
+    Iterator(const AmbiVector& vec, RealScalar epsilon = RealScalar(0.1)*NumTraits<RealScalar>::dummy_precision())
+      : m_vector(vec)
+    {
+      m_epsilon = epsilon;
+      m_isDense = m_vector.m_mode==IsDense;
+      if (m_isDense)
+      {
+        m_currentEl = 0;   // this is to avoid a compilation warning
+        m_cachedValue = 0; // this is to avoid a compilation warning
+        m_cachedIndex = m_vector.m_start-1;
+        ++(*this);
+      }
+      else
+      {
+        ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_vector.m_buffer);
+        m_currentEl = m_vector.m_llStart;
+        while (m_currentEl>=0 && internal::abs(llElements[m_currentEl].value)<m_epsilon)
+          m_currentEl = llElements[m_currentEl].next;
+        if (m_currentEl<0)
+        {
+          m_cachedValue = 0; // this is to avoid a compilation warning
+          m_cachedIndex = -1;
+        }
+        else
+        {
+          m_cachedIndex = llElements[m_currentEl].index;
+          m_cachedValue = llElements[m_currentEl].value;
+        }
+      }
+    }
+
+    Index index() const { return m_cachedIndex; }
+    Scalar value() const { return m_cachedValue; }
+
+    operator bool() const { return m_cachedIndex>=0; }
+
+    Iterator& operator++()
+    {
+      if (m_isDense)
+      {
+        do {
+          ++m_cachedIndex;
+        } while (m_cachedIndex<m_vector.m_end && internal::abs(m_vector.m_buffer[m_cachedIndex])<m_epsilon);
+        if (m_cachedIndex<m_vector.m_end)
+          m_cachedValue = m_vector.m_buffer[m_cachedIndex];
+        else
+          m_cachedIndex=-1;
+      }
+      else
+      {
+        ListEl* EIGEN_RESTRICT llElements = reinterpret_cast<ListEl*>(m_vector.m_buffer);
+        do {
+          m_currentEl = llElements[m_currentEl].next;
+        } while (m_currentEl>=0 && internal::abs(llElements[m_currentEl].value)<m_epsilon);
+        if (m_currentEl<0)
+        {
+          m_cachedIndex = -1;
+        }
+        else
+        {
+          m_cachedIndex = llElements[m_currentEl].index;
+          m_cachedValue = llElements[m_currentEl].value;
+        }
+      }
+      return *this;
+    }
+
+  protected:
+    const AmbiVector& m_vector; // the target vector
+    Index m_currentEl;            // the current element in sparse/linked-list mode
+    RealScalar m_epsilon;       // epsilon used to prune zero coefficients
+    Index m_cachedIndex;          // current coordinate
+    Scalar m_cachedValue;       // current value
+    bool m_isDense;             // mode of the vector
+};
+
+
+#endif // EIGEN_AMBIVECTOR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/CMakeLists.txt
new file mode 100755
index 0000000..aa14688
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_Sparse_SRCS "*.h")
+
+INSTALL(FILES 
+  ${Eigen_Sparse_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Sparse COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/CompressedStorage.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/CompressedStorage.h
new file mode 100755
index 0000000..1c36a26
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/CompressedStorage.h
@@ -0,0 +1,239 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COMPRESSED_STORAGE_H
+#define EIGEN_COMPRESSED_STORAGE_H
+
+/** Stores a sparse set of values as a list of values and a list of indices.
+  *
+  */
+template<typename _Scalar,typename _Index>
+class CompressedStorage
+{
+  public:
+
+    typedef _Scalar Scalar;
+    typedef _Index Index;
+
+  protected:
+
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+  public:
+
+    CompressedStorage()
+      : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
+    {}
+
+    CompressedStorage(size_t size)
+      : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
+    {
+      resize(size);
+    }
+
+    CompressedStorage(const CompressedStorage& other)
+      : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
+    {
+      *this = other;
+    }
+
+    CompressedStorage& operator=(const CompressedStorage& other)
+    {
+      resize(other.size());
+      memcpy(m_values, other.m_values, m_size * sizeof(Scalar));
+      memcpy(m_indices, other.m_indices, m_size * sizeof(Index));
+      return *this;
+    }
+
+    void swap(CompressedStorage& other)
+    {
+      std::swap(m_values, other.m_values);
+      std::swap(m_indices, other.m_indices);
+      std::swap(m_size, other.m_size);
+      std::swap(m_allocatedSize, other.m_allocatedSize);
+    }
+
+    ~CompressedStorage()
+    {
+      delete[] m_values;
+      delete[] m_indices;
+    }
+
+    void reserve(size_t size)
+    {
+      size_t newAllocatedSize = m_size + size;
+      if (newAllocatedSize > m_allocatedSize)
+        reallocate(newAllocatedSize);
+    }
+
+    void squeeze()
+    {
+      if (m_allocatedSize>m_size)
+        reallocate(m_size);
+    }
+
+    void resize(size_t size, float reserveSizeFactor = 0)
+    {
+      if (m_allocatedSize<size)
+        reallocate(size + size_t(reserveSizeFactor*size));
+      m_size = size;
+    }
+
+    void append(const Scalar& v, Index i)
+    {
+      Index id = static_cast<Index>(m_size);
+      resize(m_size+1, 1);
+      m_values[id] = v;
+      m_indices[id] = i;
+    }
+
+    inline size_t size() const { return m_size; }
+    inline size_t allocatedSize() const { return m_allocatedSize; }
+    inline void clear() { m_size = 0; }
+
+    inline Scalar& value(size_t i) { return m_values[i]; }
+    inline const Scalar& value(size_t i) const { return m_values[i]; }
+
+    inline Index& index(size_t i) { return m_indices[i]; }
+    inline const Index& index(size_t i) const { return m_indices[i]; }
+
+    static CompressedStorage Map(Index* indices, Scalar* values, size_t size)
+    {
+      CompressedStorage res;
+      res.m_indices = indices;
+      res.m_values = values;
+      res.m_allocatedSize = res.m_size = size;
+      return res;
+    }
+
+    /** \returns the largest \c k such that for all \c j in [0,k) index[\c j]\<\a key */
+    inline Index searchLowerIndex(Index key) const
+    {
+      return searchLowerIndex(0, m_size, key);
+    }
+
+    /** \returns the largest \c k in [start,end) such that for all \c j in [start,k) index[\c j]\<\a key */
+    inline Index searchLowerIndex(size_t start, size_t end, Index key) const
+    {
+      while(end>start)
+      {
+        size_t mid = (end+start)>>1;
+        if (m_indices[mid]<key)
+          start = mid+1;
+        else
+          end = mid;
+      }
+      return static_cast<Index>(start);
+    }
+
+    /** \returns the stored value at index \a key
+      * If the value does not exist, then the value \a defaultValue is returned without any insertion. */
+    inline Scalar at(Index key, Scalar defaultValue = Scalar(0)) const
+    {
+      if (m_size==0)
+        return defaultValue;
+      else if (key==m_indices[m_size-1])
+        return m_values[m_size-1];
+      // ^^  optimization: let's first check if it is the last coefficient
+      // (very common in high level algorithms)
+      const size_t id = searchLowerIndex(0,m_size-1,key);
+      return ((id<m_size) && (m_indices[id]==key)) ? m_values[id] : defaultValue;
+    }
+
+    /** Like at(), but the search is performed in the range [start,end) */
+    inline Scalar atInRange(size_t start, size_t end, Index key, Scalar defaultValue = Scalar(0)) const
+    {
+      if (start>=end)
+        return Scalar(0);
+      else if (end>start && key==m_indices[end-1])
+        return m_values[end-1];
+      // ^^  optimization: let's first check if it is the last coefficient
+      // (very common in high level algorithms)
+      const size_t id = searchLowerIndex(start,end-1,key);
+      return ((id<end) && (m_indices[id]==key)) ? m_values[id] : defaultValue;
+    }
+
+    /** \returns a reference to the value at index \a key
+      * If the value does not exist, then the value \a defaultValue is inserted
+      * such that the keys are sorted. */
+    inline Scalar& atWithInsertion(Index key, Scalar defaultValue = Scalar(0))
+    {
+      size_t id = searchLowerIndex(0,m_size,key);
+      if (id>=m_size || m_indices[id]!=key)
+      {
+        resize(m_size+1,1);
+        for (size_t j=m_size-1; j>id; --j)
+        {
+          m_indices[j] = m_indices[j-1];
+          m_values[j] = m_values[j-1];
+        }
+        m_indices[id] = key;
+        m_values[id] = defaultValue;
+      }
+      return m_values[id];
+    }
+
+    void prune(Scalar reference, RealScalar epsilon = NumTraits<RealScalar>::dummy_precision())
+    {
+      size_t k = 0;
+      size_t n = size();
+      for (size_t i=0; i<n; ++i)
+      {
+        if (!internal::isMuchSmallerThan(value(i), reference, epsilon))
+        {
+          value(k) = value(i);
+          index(k) = index(i);
+          ++k;
+        }
+      }
+      resize(k,0);
+    }
+
+  protected:
+
+    inline void reallocate(size_t size)
+    {
+      Scalar* newValues  = new Scalar[size];
+      Index* newIndices = new Index[size];
+      size_t copySize = std::min(size, m_size);
+      // copy
+      memcpy(newValues,  m_values,  copySize * sizeof(Scalar));
+      memcpy(newIndices, m_indices, copySize * sizeof(Index));
+      // delete old stuff
+      delete[] m_values;
+      delete[] m_indices;
+      m_values = newValues;
+      m_indices = newIndices;
+      m_allocatedSize = size;
+    }
+
+  protected:
+    Scalar* m_values;
+    Index* m_indices;
+    size_t m_size;
+    size_t m_allocatedSize;
+
+};
+
+#endif // EIGEN_COMPRESSED_STORAGE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/CoreIterators.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/CoreIterators.h
new file mode 100755
index 0000000..b4beaee
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/CoreIterators.h
@@ -0,0 +1,71 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_COREITERATORS_H
+#define EIGEN_COREITERATORS_H
+
+/* This file contains the respective InnerIterator definition of the expressions defined in Eigen/Core
+ */
+
+/** \class InnerIterator
+  * \brief An InnerIterator allows to loop over the element of a sparse (or dense) matrix or expression
+  *
+  * todo
+  */
+
+// generic version for dense matrix and expressions
+template<typename Derived> class DenseBase<Derived>::InnerIterator
+{
+  protected:
+    typedef typename Derived::Scalar Scalar;
+    typedef typename Derived::Index Index;
+
+    enum { IsRowMajor = (Derived::Flags&RowMajorBit)==RowMajorBit };
+  public:
+    EIGEN_STRONG_INLINE InnerIterator(const Derived& expr, Index outer)
+      : m_expression(expr), m_inner(0), m_outer(outer), m_end(expr.innerSize())
+    {}
+
+    EIGEN_STRONG_INLINE Scalar value() const
+    {
+      return (IsRowMajor) ? m_expression.coeff(m_outer, m_inner)
+                          : m_expression.coeff(m_inner, m_outer);
+    }
+
+    EIGEN_STRONG_INLINE InnerIterator& operator++() { m_inner++; return *this; }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_inner; }
+    inline Index row() const { return IsRowMajor ? m_outer : index(); }
+    inline Index col() const { return IsRowMajor ? index() : m_outer; }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
+
+  protected:
+    const Derived& m_expression;
+    Index m_inner;
+    const Index m_outer;
+    const Index m_end;
+};
+
+#endif // EIGEN_COREITERATORS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/DynamicSparseMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/DynamicSparseMatrix.h
new file mode 100755
index 0000000..abbc995
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/DynamicSparseMatrix.h
@@ -0,0 +1,346 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_DYNAMIC_SPARSEMATRIX_H
+#define EIGEN_DYNAMIC_SPARSEMATRIX_H
+
+/** \class DynamicSparseMatrix
+  *
+  * \brief A sparse matrix class designed for matrix assembly purpose
+  *
+  * \param _Scalar the scalar type, i.e. the type of the coefficients
+  *
+  * Unlike SparseMatrix, this class provides a much higher degree of flexibility. In particular, it allows
+  * random read/write accesses in log(rho*outer_size) where \c rho is the probability that a coefficient is
+  * nonzero and outer_size is the number of columns if the matrix is column-major and the number of rows
+  * otherwise.
+  *
+  * Internally, the data are stored as a std::vector of compressed vector. The performances of random writes might
+  * decrease as the number of nonzeros per inner-vector increase. In practice, we observed very good performance
+  * till about 100 nonzeros/vector, and the performance remains relatively good till 500 nonzeros/vectors.
+  *
+  * \see SparseMatrix
+  */
+
+namespace internal {
+template<typename _Scalar, int _Options, typename _Index>
+struct traits<DynamicSparseMatrix<_Scalar, _Options, _Index> >
+{
+  typedef _Scalar Scalar;
+  typedef _Index Index;
+  typedef Sparse StorageKind;
+  typedef MatrixXpr XprKind;
+  enum {
+    RowsAtCompileTime = Dynamic,
+    ColsAtCompileTime = Dynamic,
+    MaxRowsAtCompileTime = Dynamic,
+    MaxColsAtCompileTime = Dynamic,
+    Flags = _Options | NestByRefBit | LvalueBit,
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    SupportedAccessPatterns = OuterRandomAccessPattern
+  };
+};
+}
+
+template<typename _Scalar, int _Options, typename _Index>
+class DynamicSparseMatrix
+  : public SparseMatrixBase<DynamicSparseMatrix<_Scalar, _Options, _Index> >
+{
+  public:
+    EIGEN_SPARSE_PUBLIC_INTERFACE(DynamicSparseMatrix)
+    // FIXME: why are these operator already alvailable ???
+    // EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(DynamicSparseMatrix, +=)
+    // EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(DynamicSparseMatrix, -=)
+    typedef MappedSparseMatrix<Scalar,Flags> Map;
+    using Base::IsRowMajor;
+    using Base::operator=;
+    enum {
+      Options = _Options
+    };
+
+  protected:
+
+    typedef DynamicSparseMatrix<Scalar,(Flags&~RowMajorBit)|(IsRowMajor?RowMajorBit:0)> TransposedSparseMatrix;
+
+    Index m_innerSize;
+    std::vector<CompressedStorage<Scalar,Index> > m_data;
+
+  public:
+
+    inline Index rows() const { return IsRowMajor ? outerSize() : m_innerSize; }
+    inline Index cols() const { return IsRowMajor ? m_innerSize : outerSize(); }
+    inline Index innerSize() const { return m_innerSize; }
+    inline Index outerSize() const { return static_cast<Index>(m_data.size()); }
+    inline Index innerNonZeros(Index j) const { return m_data[j].size(); }
+
+    std::vector<CompressedStorage<Scalar,Index> >& _data() { return m_data; }
+    const std::vector<CompressedStorage<Scalar,Index> >& _data() const { return m_data; }
+
+    /** \returns the coefficient value at given position \a row, \a col
+      * This operation involes a log(rho*outer_size) binary search.
+      */
+    inline Scalar coeff(Index row, Index col) const
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+      return m_data[outer].at(inner);
+    }
+
+    /** \returns a reference to the coefficient value at given position \a row, \a col
+      * This operation involes a log(rho*outer_size) binary search. If the coefficient does not
+      * exist yet, then a sorted insertion into a sequential buffer is performed.
+      */
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+      return m_data[outer].atWithInsertion(inner);
+    }
+
+    class InnerIterator;
+
+    void setZero()
+    {
+      for (Index j=0; j<outerSize(); ++j)
+        m_data[j].clear();
+    }
+
+    /** \returns the number of non zero coefficients */
+    Index nonZeros() const
+    {
+      Index res = 0;
+      for (Index j=0; j<outerSize(); ++j)
+        res += static_cast<Index>(m_data[j].size());
+      return res;
+    }
+
+
+
+    void reserve(Index reserveSize = 1000)
+    {
+      if (outerSize()>0)
+      {
+        Index reserveSizePerVector = std::max(reserveSize/outerSize(),Index(4));
+        for (Index j=0; j<outerSize(); ++j)
+        {
+          m_data[j].reserve(reserveSizePerVector);
+        }
+      }
+    }
+
+    /** Does nothing: provided for compatibility with SparseMatrix */
+    inline void startVec(Index /*outer*/) {}
+
+    /** \returns a reference to the non zero coefficient at position \a row, \a col assuming that:
+      * - the nonzero does not already exist
+      * - the new coefficient is the last one of the given inner vector.
+      *
+      * \sa insert, insertBackByOuterInner */
+    inline Scalar& insertBack(Index row, Index col)
+    {
+      return insertBackByOuterInner(IsRowMajor?row:col, IsRowMajor?col:row);
+    }
+
+    /** \sa insertBack */
+    inline Scalar& insertBackByOuterInner(Index outer, Index inner)
+    {
+      eigen_assert(outer<Index(m_data.size()) && inner<m_innerSize && "out of range");
+      eigen_assert(((m_data[outer].size()==0) || (m_data[outer].index(m_data[outer].size()-1)<inner))
+                && "wrong sorted insertion");
+      m_data[outer].append(0, inner);
+      return m_data[outer].value(m_data[outer].size()-1);
+    }
+
+    inline Scalar& insert(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index startId = 0;
+      Index id = static_cast<Index>(m_data[outer].size()) - 1;
+      m_data[outer].resize(id+2,1);
+
+      while ( (id >= startId) && (m_data[outer].index(id) > inner) )
+      {
+        m_data[outer].index(id+1) = m_data[outer].index(id);
+        m_data[outer].value(id+1) = m_data[outer].value(id);
+        --id;
+      }
+      m_data[outer].index(id+1) = inner;
+      m_data[outer].value(id+1) = 0;
+      return m_data[outer].value(id+1);
+    }
+
+    /** Does nothing: provided for compatibility with SparseMatrix */
+    inline void finalize() {}
+
+    /** Suppress all nonzeros which are smaller than \a reference under the tolerence \a epsilon */
+    void prune(Scalar reference, RealScalar epsilon = NumTraits<RealScalar>::dummy_precision())
+    {
+      for (Index j=0; j<outerSize(); ++j)
+        m_data[j].prune(reference,epsilon);
+    }
+
+    /** Resize the matrix without preserving the data (the matrix is set to zero)
+      */
+    void resize(Index rows, Index cols)
+    {
+      const Index outerSize = IsRowMajor ? rows : cols;
+      m_innerSize = IsRowMajor ? cols : rows;
+      setZero();
+      if (Index(m_data.size()) != outerSize)
+      {
+        m_data.resize(outerSize);
+      }
+    }
+
+    void resizeAndKeepData(Index rows, Index cols)
+    {
+      const Index outerSize = IsRowMajor ? rows : cols;
+      const Index innerSize = IsRowMajor ? cols : rows;
+      if (m_innerSize>innerSize)
+      {
+        // remove all coefficients with innerCoord>=innerSize
+        // TODO
+        //std::cerr << "not implemented yet\n";
+        exit(2);
+      }
+      if (m_data.size() != outerSize)
+      {
+        m_data.resize(outerSize);
+      }
+    }
+
+    inline DynamicSparseMatrix()
+      : m_innerSize(0), m_data(0)
+    {
+      eigen_assert(innerSize()==0 && outerSize()==0);
+    }
+
+    inline DynamicSparseMatrix(Index rows, Index cols)
+      : m_innerSize(0)
+    {
+      resize(rows, cols);
+    }
+
+    template<typename OtherDerived>
+    explicit inline DynamicSparseMatrix(const SparseMatrixBase<OtherDerived>& other)
+      : m_innerSize(0)
+    {
+    Base::operator=(other.derived());
+    }
+
+    inline DynamicSparseMatrix(const DynamicSparseMatrix& other)
+      : Base(), m_innerSize(0)
+    {
+      *this = other.derived();
+    }
+
+    inline void swap(DynamicSparseMatrix& other)
+    {
+      //EIGEN_DBG_SPARSE(std::cout << "SparseMatrix:: swap\n");
+      std::swap(m_innerSize, other.m_innerSize);
+      //std::swap(m_outerSize, other.m_outerSize);
+      m_data.swap(other.m_data);
+    }
+
+    inline DynamicSparseMatrix& operator=(const DynamicSparseMatrix& other)
+    {
+      if (other.isRValue())
+      {
+        swap(other.const_cast_derived());
+      }
+      else
+      {
+        resize(other.rows(), other.cols());
+        m_data = other.m_data;
+      }
+      return *this;
+    }
+
+    /** Destructor */
+    inline ~DynamicSparseMatrix() {}
+
+  public:
+
+    /** \deprecated
+      * Set the matrix to zero and reserve the memory for \a reserveSize nonzero coefficients. */
+    EIGEN_DEPRECATED void startFill(Index reserveSize = 1000)
+    {
+      setZero();
+      reserve(reserveSize);
+    }
+
+    /** \deprecated use insert()
+      * inserts a nonzero coefficient at given coordinates \a row, \a col and returns its reference assuming that:
+      *  1 - the coefficient does not exist yet
+      *  2 - this the coefficient with greater inner coordinate for the given outer coordinate.
+      * In other words, assuming \c *this is column-major, then there must not exists any nonzero coefficient of coordinates
+      * \c i \c x \a col such that \c i >= \a row. Otherwise the matrix is invalid.
+      *
+      * \see fillrand(), coeffRef()
+      */
+    EIGEN_DEPRECATED Scalar& fill(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+      return insertBack(outer,inner);
+    }
+
+    /** \deprecated use insert()
+      * Like fill() but with random inner coordinates.
+      * Compared to the generic coeffRef(), the unique limitation is that we assume
+      * the coefficient does not exist yet.
+      */
+    EIGEN_DEPRECATED Scalar& fillrand(Index row, Index col)
+    {
+      return insert(row,col);
+    }
+
+    /** \deprecated use finalize()
+      * Does nothing. Provided for compatibility with SparseMatrix. */
+    EIGEN_DEPRECATED void endFill() {}
+    
+#   ifdef EIGEN_DYNAMICSPARSEMATRIX_PLUGIN
+#     include EIGEN_DYNAMICSPARSEMATRIX_PLUGIN
+#   endif
+};
+
+template<typename Scalar, int _Options, typename _Index>
+class DynamicSparseMatrix<Scalar,_Options,_Index>::InnerIterator : public SparseVector<Scalar,_Options>::InnerIterator
+{
+    typedef typename SparseVector<Scalar,_Options>::InnerIterator Base;
+  public:
+    InnerIterator(const DynamicSparseMatrix& mat, Index outer)
+      : Base(mat.m_data[outer]), m_outer(outer)
+    {}
+
+    inline Index row() const { return IsRowMajor ? m_outer : Base::index(); }
+    inline Index col() const { return IsRowMajor ? Base::index() : m_outer; }
+
+  protected:
+    const Index m_outer;
+};
+
+#endif // EIGEN_DYNAMIC_SPARSEMATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/MappedSparseMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/MappedSparseMatrix.h
new file mode 100755
index 0000000..31a431f
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/MappedSparseMatrix.h
@@ -0,0 +1,165 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MAPPED_SPARSEMATRIX_H
+#define EIGEN_MAPPED_SPARSEMATRIX_H
+
+/** \class MappedSparseMatrix
+  *
+  * \brief Sparse matrix
+  *
+  * \param _Scalar the scalar type, i.e. the type of the coefficients
+  *
+  * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
+  *
+  */
+namespace internal {
+template<typename _Scalar, int _Flags, typename _Index>
+struct traits<MappedSparseMatrix<_Scalar, _Flags, _Index> > : traits<SparseMatrix<_Scalar, _Flags, _Index> >
+{};
+}
+
+template<typename _Scalar, int _Flags, typename _Index>
+class MappedSparseMatrix
+  : public SparseMatrixBase<MappedSparseMatrix<_Scalar, _Flags, _Index> >
+{
+  public:
+    EIGEN_SPARSE_PUBLIC_INTERFACE(MappedSparseMatrix)
+
+  protected:
+    enum { IsRowMajor = Base::IsRowMajor };
+
+    Index   m_outerSize;
+    Index   m_innerSize;
+    Index   m_nnz;
+    Index*  m_outerIndex;
+    Index*  m_innerIndices;
+    Scalar* m_values;
+
+  public:
+
+    inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
+    inline Index cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
+    inline Index innerSize() const { return m_innerSize; }
+    inline Index outerSize() const { return m_outerSize; }
+    inline Index innerNonZeros(Index j) const { return m_outerIndex[j+1]-m_outerIndex[j]; }
+
+    //----------------------------------------
+    // direct access interface
+    inline const Scalar* _valuePtr() const { return m_values; }
+    inline Scalar* _valuePtr() { return m_values; }
+
+    inline const Index* _innerIndexPtr() const { return m_innerIndices; }
+    inline Index* _innerIndexPtr() { return m_innerIndices; }
+
+    inline const Index* _outerIndexPtr() const { return m_outerIndex; }
+    inline Index* _outerIndexPtr() { return m_outerIndex; }
+    //----------------------------------------
+
+    inline Scalar coeff(Index row, Index col) const
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index start = m_outerIndex[outer];
+      Index end = m_outerIndex[outer+1];
+      if (start==end)
+        return Scalar(0);
+      else if (end>0 && inner==m_innerIndices[end-1])
+        return m_values[end-1];
+      // ^^  optimization: let's first check if it is the last coefficient
+      // (very common in high level algorithms)
+
+      const Index* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end-1],inner);
+      const Index id = r-&m_innerIndices[0];
+      return ((*r==inner) && (id<end)) ? m_values[id] : Scalar(0);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index start = m_outerIndex[outer];
+      Index end = m_outerIndex[outer+1];
+      eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
+      eigen_assert(end>start && "coeffRef cannot be called on a zero coefficient");
+      Index* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end],inner);
+      const Index id = r-&m_innerIndices[0];
+      eigen_assert((*r==inner) && (id<end) && "coeffRef cannot be called on a zero coefficient");
+      return m_values[id];
+    }
+
+    class InnerIterator;
+
+    /** \returns the number of non zero coefficients */
+    inline Index nonZeros() const  { return m_nnz; }
+
+    inline MappedSparseMatrix(Index rows, Index cols, Index nnz, Index* outerIndexPtr, Index* innerIndexPtr, Scalar* valuePtr)
+      : m_outerSize(IsRowMajor?rows:cols), m_innerSize(IsRowMajor?cols:rows), m_nnz(nnz), m_outerIndex(outerIndexPtr),
+        m_innerIndices(innerIndexPtr), m_values(valuePtr)
+    {}
+
+    /** Empty destructor */
+    inline ~MappedSparseMatrix() {}
+};
+
+template<typename Scalar, int _Flags, typename _Index>
+class MappedSparseMatrix<Scalar,_Flags,_Index>::InnerIterator
+{
+  public:
+    InnerIterator(const MappedSparseMatrix& mat, Index outer)
+      : m_matrix(mat),
+        m_outer(outer),
+        m_id(mat._outerIndexPtr()[outer]),
+        m_start(m_id),
+        m_end(mat._outerIndexPtr()[outer+1])
+    {}
+
+    template<unsigned int Added, unsigned int Removed>
+    InnerIterator(const Flagged<MappedSparseMatrix,Added,Removed>& mat, Index outer)
+      : m_matrix(mat._expression()), m_id(m_matrix._outerIndexPtr()[outer]),
+        m_start(m_id), m_end(m_matrix._outerIndexPtr()[outer+1])
+    {}
+
+    inline InnerIterator& operator++() { m_id++; return *this; }
+
+    inline Scalar value() const { return m_matrix._valuePtr()[m_id]; }
+    inline Scalar& valueRef() { return const_cast<Scalar&>(m_matrix._valuePtr()[m_id]); }
+
+    inline Index index() const { return m_matrix._innerIndexPtr()[m_id]; }
+    inline Index row() const { return IsRowMajor ? m_outer : index(); }
+    inline Index col() const { return IsRowMajor ? index() : m_outer; }
+
+    inline operator bool() const { return (m_id < m_end) && (m_id>=m_start); }
+
+  protected:
+    const MappedSparseMatrix& m_matrix;
+    const Index m_outer;
+    Index m_id;
+    const Index m_start;
+    const Index m_end;
+};
+
+#endif // EIGEN_MAPPED_SPARSEMATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseAssign.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseAssign.h
new file mode 100755
index 0000000..e69de29
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseBlock.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseBlock.h
new file mode 100755
index 0000000..8079c99
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseBlock.h
@@ -0,0 +1,465 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_BLOCK_H
+#define EIGEN_SPARSE_BLOCK_H
+
+namespace internal {
+template<typename MatrixType, int Size>
+struct traits<SparseInnerVectorSet<MatrixType, Size> >
+{
+  typedef typename traits<MatrixType>::Scalar Scalar;
+  typedef typename traits<MatrixType>::Index Index;
+  typedef typename traits<MatrixType>::StorageKind StorageKind;
+  typedef MatrixXpr XprKind;
+  enum {
+    IsRowMajor = (int(MatrixType::Flags)&RowMajorBit)==RowMajorBit,
+    Flags = MatrixType::Flags,
+    RowsAtCompileTime = IsRowMajor ? Size : MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = IsRowMajor ? MatrixType::ColsAtCompileTime : Size,
+    MaxRowsAtCompileTime = RowsAtCompileTime,
+    MaxColsAtCompileTime = ColsAtCompileTime,
+    CoeffReadCost = MatrixType::CoeffReadCost
+  };
+};
+} // end namespace internal
+
+template<typename MatrixType, int Size>
+class SparseInnerVectorSet : internal::no_assignment_operator,
+  public SparseMatrixBase<SparseInnerVectorSet<MatrixType, Size> >
+{
+  public:
+
+    enum { IsRowMajor = internal::traits<SparseInnerVectorSet>::IsRowMajor };
+
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseInnerVectorSet)
+    class InnerIterator: public MatrixType::InnerIterator
+    {
+      public:
+        inline InnerIterator(const SparseInnerVectorSet& xpr, Index outer)
+          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
+        {}
+        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
+        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
+      protected:
+        Index m_outer;
+    };
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outerStart, Index outerSize)
+      : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
+    {
+      eigen_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
+    }
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outer)
+      : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size)
+    {
+      eigen_assert(Size!=Dynamic);
+      eigen_assert( (outer>=0) && (outer<matrix.outerSize()) );
+    }
+
+//     template<typename OtherDerived>
+//     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+//     {
+//       return *this;
+//     }
+
+//     template<typename Sparse>
+//     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+//     {
+//       return *this;
+//     }
+
+    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+
+  protected:
+
+    const typename MatrixType::Nested m_matrix;
+    Index m_outerStart;
+    const internal::variable_if_dynamic<Index, Size> m_outerSize;
+};
+
+/***************************************************************************
+* specialisation for DynamicSparseMatrix
+***************************************************************************/
+
+template<typename _Scalar, int _Options, int Size>
+class SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options>, Size>
+  : public SparseMatrixBase<SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options>, Size> >
+{
+    typedef DynamicSparseMatrix<_Scalar, _Options> MatrixType;
+  public:
+
+    enum { IsRowMajor = internal::traits<SparseInnerVectorSet>::IsRowMajor };
+
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseInnerVectorSet)
+    class InnerIterator: public MatrixType::InnerIterator
+    {
+      public:
+        inline InnerIterator(const SparseInnerVectorSet& xpr, Index outer)
+          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
+        {}
+        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
+        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
+      protected:
+        Index m_outer;
+    };
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outerStart, Index outerSize)
+      : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
+    {
+      eigen_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
+    }
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outer)
+      : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size)
+    {
+      eigen_assert(Size!=Dynamic);
+      eigen_assert( (outer>=0) && (outer<matrix.outerSize()) );
+    }
+
+    template<typename OtherDerived>
+    inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+    {
+      if (IsRowMajor != ((OtherDerived::Flags&RowMajorBit)==RowMajorBit))
+      {
+        // need to transpose => perform a block evaluation followed by a big swap
+        DynamicSparseMatrix<Scalar,IsRowMajor?RowMajorBit:0> aux(other);
+        *this = aux.markAsRValue();
+      }
+      else
+      {
+        // evaluate/copy vector per vector
+        for (Index j=0; j<m_outerSize.value(); ++j)
+        {
+          SparseVector<Scalar,IsRowMajor ? RowMajorBit : 0> aux(other.innerVector(j));
+          m_matrix.const_cast_derived()._data()[m_outerStart+j].swap(aux._data());
+        }
+      }
+      return *this;
+    }
+
+    inline SparseInnerVectorSet& operator=(const SparseInnerVectorSet& other)
+    {
+      return operator=<SparseInnerVectorSet>(other);
+    }
+
+    Index nonZeros() const
+    {
+      Index count = 0;
+      for (Index j=0; j<m_outerSize.value(); ++j)
+        count += m_matrix._data()[m_outerStart+j].size();
+      return count;
+    }
+
+    const Scalar& lastCoeff() const
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(SparseInnerVectorSet);
+      eigen_assert(m_matrix.data()[m_outerStart].size()>0);
+      return m_matrix.data()[m_outerStart].vale(m_matrix.data()[m_outerStart].size()-1);
+    }
+
+//     template<typename Sparse>
+//     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+//     {
+//       return *this;
+//     }
+
+    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+
+  protected:
+
+    const typename MatrixType::Nested m_matrix;
+    Index m_outerStart;
+    const internal::variable_if_dynamic<Index, Size> m_outerSize;
+
+};
+
+
+/***************************************************************************
+* specialisation for SparseMatrix
+***************************************************************************/
+
+template<typename _Scalar, int _Options, typename _Index, int Size>
+class SparseInnerVectorSet<SparseMatrix<_Scalar, _Options, _Index>, Size>
+  : public SparseMatrixBase<SparseInnerVectorSet<SparseMatrix<_Scalar, _Options>, Size> >
+{
+    typedef SparseMatrix<_Scalar, _Options> MatrixType;
+  public:
+
+    enum { IsRowMajor = internal::traits<SparseInnerVectorSet>::IsRowMajor };
+
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseInnerVectorSet)
+    class InnerIterator: public MatrixType::InnerIterator
+    {
+      public:
+        inline InnerIterator(const SparseInnerVectorSet& xpr, Index outer)
+          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
+        {}
+        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
+        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
+      protected:
+        Index m_outer;
+    };
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outerStart, Index outerSize)
+      : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
+    {
+      eigen_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
+    }
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, Index outer)
+      : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size)
+    {
+      eigen_assert(Size==1);
+      eigen_assert( (outer>=0) && (outer<matrix.outerSize()) );
+    }
+
+    template<typename OtherDerived>
+    inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+    {
+      typedef typename internal::remove_all<typename MatrixType::Nested>::type _NestedMatrixType;
+      _NestedMatrixType& matrix = const_cast<_NestedMatrixType&>(m_matrix);;
+      // This assignement is slow if this vector set not empty
+      // and/or it is not at the end of the nonzeros of the underlying matrix.
+
+      // 1 - eval to a temporary to avoid transposition and/or aliasing issues
+      SparseMatrix<Scalar, IsRowMajor ? RowMajor : ColMajor, Index> tmp(other);
+
+      // 2 - let's check whether there is enough allocated memory
+      Index nnz = tmp.nonZeros();
+      Index nnz_previous = nonZeros();
+      Index free_size = matrix.data().allocatedSize() - nnz_previous;
+      std::size_t nnz_head = m_outerStart==0 ? 0 : matrix._outerIndexPtr()[m_outerStart];
+      std::size_t tail = m_matrix._outerIndexPtr()[m_outerStart+m_outerSize.value()];
+      std::size_t nnz_tail = matrix.nonZeros() - tail;
+
+      if(nnz>free_size)
+      {
+        // realloc manually to reduce copies
+        typename MatrixType::Storage newdata(m_matrix.nonZeros() - nnz_previous + nnz);
+
+        std::memcpy(&newdata.value(0), &m_matrix.data().value(0), nnz_head*sizeof(Scalar));
+        std::memcpy(&newdata.index(0), &m_matrix.data().index(0), nnz_head*sizeof(Index));
+
+        std::memcpy(&newdata.value(nnz_head), &tmp.data().value(0), nnz*sizeof(Scalar));
+        std::memcpy(&newdata.index(nnz_head), &tmp.data().index(0), nnz*sizeof(Index));
+
+        std::memcpy(&newdata.value(nnz_head+nnz), &matrix.data().value(tail), nnz_tail*sizeof(Scalar));
+        std::memcpy(&newdata.index(nnz_head+nnz), &matrix.data().index(tail), nnz_tail*sizeof(Index));
+
+        matrix.data().swap(newdata);
+      }
+      else
+      {
+        // no need to realloc, simply copy the tail at its respective position and insert tmp
+        matrix.data().resize(nnz_head + nnz + nnz_tail);
+
+        if(nnz<nnz_previous)
+        {
+          std::memcpy(&matrix.data().value(nnz_head+nnz), &matrix.data().value(tail), nnz_tail*sizeof(Scalar));
+          std::memcpy(&matrix.data().index(nnz_head+nnz), &matrix.data().index(tail), nnz_tail*sizeof(Index));
+        }
+        else
+        {
+          for(Index i=nnz_tail-1; i>=0; --i)
+          {
+            matrix.data().value(nnz_head+nnz+i) = matrix.data().value(tail+i);
+            matrix.data().index(nnz_head+nnz+i) = matrix.data().index(tail+i);
+          }
+        }
+
+        std::memcpy(&matrix.data().value(nnz_head), &tmp.data().value(0), nnz*sizeof(Scalar));
+        std::memcpy(&matrix.data().index(nnz_head), &tmp.data().index(0), nnz*sizeof(Index));
+      }
+
+      // update outer index pointers
+      Index p = nnz_head;
+      for(Index k=1; k<m_outerSize.value(); ++k)
+      {
+        matrix._outerIndexPtr()[m_outerStart+k] = p;
+        p += tmp.innerVector(k).nonZeros();
+      }
+      std::ptrdiff_t offset = nnz - nnz_previous;
+      for(Index k = m_outerStart + m_outerSize.value(); k<=matrix.outerSize(); ++k)
+      {
+        matrix._outerIndexPtr()[k] += offset;
+      }
+
+      return *this;
+    }
+
+    inline SparseInnerVectorSet& operator=(const SparseInnerVectorSet& other)
+    {
+      return operator=<SparseInnerVectorSet>(other);
+    }
+
+    inline const Scalar* _valuePtr() const
+    { return m_matrix._valuePtr() + m_matrix._outerIndexPtr()[m_outerStart]; }
+    inline Scalar* _valuePtr()
+    { return m_matrix.const_cast_derived()._valuePtr() + m_matrix._outerIndexPtr()[m_outerStart]; }
+
+    inline const Index* _innerIndexPtr() const
+    { return m_matrix._innerIndexPtr() + m_matrix._outerIndexPtr()[m_outerStart]; }
+    inline Index* _innerIndexPtr()
+    { return m_matrix.const_cast_derived()._innerIndexPtr() + m_matrix._outerIndexPtr()[m_outerStart]; }
+
+    inline const Index* _outerIndexPtr() const
+    { return m_matrix._outerIndexPtr() + m_outerStart; }
+    inline Index* _outerIndexPtr()
+    { return m_matrix.const_cast_derived()._outerIndexPtr() + m_outerStart; }
+
+    Index nonZeros() const
+    {
+      return  std::size_t(m_matrix._outerIndexPtr()[m_outerStart+m_outerSize.value()])
+            - std::size_t(m_matrix._outerIndexPtr()[m_outerStart]);
+    }
+
+    const Scalar& lastCoeff() const
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(SparseInnerVectorSet);
+      eigen_assert(nonZeros()>0);
+      return m_matrix._valuePtr()[m_matrix._outerIndexPtr()[m_outerStart+1]-1];
+    }
+
+//     template<typename Sparse>
+//     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+//     {
+//       return *this;
+//     }
+
+    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+
+  protected:
+
+    const typename MatrixType::Nested m_matrix;
+    Index m_outerStart;
+    const internal::variable_if_dynamic<Index, Size> m_outerSize;
+
+};
+
+//----------
+
+/** \returns the i-th row of the matrix \c *this. For row-major matrix only. */
+template<typename Derived>
+SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::row(Index i)
+{
+  EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
+  return innerVector(i);
+}
+
+/** \returns the i-th row of the matrix \c *this. For row-major matrix only.
+  * (read-only version) */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::row(Index i) const
+{
+  EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
+  return innerVector(i);
+}
+
+/** \returns the i-th column of the matrix \c *this. For column-major matrix only. */
+template<typename Derived>
+SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::col(Index i)
+{
+  EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  return innerVector(i);
+}
+
+/** \returns the i-th column of the matrix \c *this. For column-major matrix only.
+  * (read-only version) */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::col(Index i) const
+{
+  EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  return innerVector(i);
+}
+
+/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
+  * is col-major (resp. row-major).
+  */
+template<typename Derived>
+SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::innerVector(Index outer)
+{ return SparseInnerVectorSet<Derived,1>(derived(), outer); }
+
+/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
+  * is col-major (resp. row-major). Read-only.
+  */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::innerVector(Index outer) const
+{ return SparseInnerVectorSet<Derived,1>(derived(), outer); }
+
+//----------
+
+/** \returns the i-th row of the matrix \c *this. For row-major matrix only. */
+template<typename Derived>
+SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subrows(Index start, Index size)
+{
+  EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
+  return innerVectors(start, size);
+}
+
+/** \returns the i-th row of the matrix \c *this. For row-major matrix only.
+  * (read-only version) */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subrows(Index start, Index size) const
+{
+  EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
+  return innerVectors(start, size);
+}
+
+/** \returns the i-th column of the matrix \c *this. For column-major matrix only. */
+template<typename Derived>
+SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subcols(Index start, Index size)
+{
+  EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  return innerVectors(start, size);
+}
+
+/** \returns the i-th column of the matrix \c *this. For column-major matrix only.
+  * (read-only version) */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subcols(Index start, Index size) const
+{
+  EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  return innerVectors(start, size);
+}
+
+/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
+  * is col-major (resp. row-major).
+  */
+template<typename Derived>
+SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize)
+{ return SparseInnerVectorSet<Derived,Dynamic>(derived(), outerStart, outerSize); }
+
+/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
+  * is col-major (resp. row-major). Read-only.
+  */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize) const
+{ return SparseInnerVectorSet<Derived,Dynamic>(derived(), outerStart, outerSize); }
+
+#endif // EIGEN_SPARSE_BLOCK_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseCwiseBinaryOp.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseCwiseBinaryOp.h
new file mode 100755
index 0000000..cde5bbc
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseCwiseBinaryOp.h
@@ -0,0 +1,375 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_CWISE_BINARY_OP_H
+#define EIGEN_SPARSE_CWISE_BINARY_OP_H
+
+// Here we have to handle 3 cases:
+//  1 - sparse op dense
+//  2 - dense op sparse
+//  3 - sparse op sparse
+// We also need to implement a 4th iterator for:
+//  4 - dense op dense
+// Finally, we also need to distinguish between the product and other operations :
+//                configuration      returned mode
+//  1 - sparse op dense    product      sparse
+//                         generic      dense
+//  2 - dense op sparse    product      sparse
+//                         generic      dense
+//  3 - sparse op sparse   product      sparse
+//                         generic      sparse
+//  4 - dense op dense     product      dense
+//                         generic      dense
+
+namespace internal {
+
+template<> struct promote_storage_type<Dense,Sparse>
+{ typedef Sparse ret; };
+
+template<> struct promote_storage_type<Sparse,Dense>
+{ typedef Sparse ret; };
+
+template<typename BinaryOp, typename Lhs, typename Rhs, typename Derived,
+  typename _LhsStorageMode = typename traits<Lhs>::StorageKind,
+  typename _RhsStorageMode = typename traits<Rhs>::StorageKind>
+class sparse_cwise_binary_op_inner_iterator_selector;
+
+} // end namespace internal
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+class CwiseBinaryOpImpl<BinaryOp, Lhs, Rhs, Sparse>
+  : public SparseMatrixBase<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+  public:
+    class InnerIterator;
+    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> Derived;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
+};
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+class CwiseBinaryOpImpl<BinaryOp,Lhs,Rhs,Sparse>::InnerIterator
+  : public internal::sparse_cwise_binary_op_inner_iterator_selector<BinaryOp,Lhs,Rhs,typename CwiseBinaryOpImpl<BinaryOp,Lhs,Rhs,Sparse>::InnerIterator>
+{
+  public:
+    typedef typename Lhs::Index Index;
+    typedef internal::sparse_cwise_binary_op_inner_iterator_selector<
+      BinaryOp,Lhs,Rhs, InnerIterator> Base;
+
+    EIGEN_STRONG_INLINE InnerIterator(const CwiseBinaryOpImpl& binOp, Index outer)
+      : Base(binOp.derived(),outer)
+    {}
+};
+
+/***************************************************************************
+* Implementation of inner-iterators
+***************************************************************************/
+
+// template<typename T> struct internal::func_is_conjunction { enum { ret = false }; };
+// template<typename T> struct internal::func_is_conjunction<internal::scalar_product_op<T> > { enum { ret = true }; };
+
+// TODO generalize the internal::scalar_product_op specialization to all conjunctions if any !
+
+namespace internal {
+
+// sparse - sparse  (generic)
+template<typename BinaryOp, typename Lhs, typename Rhs, typename Derived>
+class sparse_cwise_binary_op_inner_iterator_selector<BinaryOp, Lhs, Rhs, Derived, Sparse, Sparse>
+{
+    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> CwiseBinaryXpr;
+    typedef typename traits<CwiseBinaryXpr>::Scalar Scalar;
+    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
+    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
+    typedef typename _LhsNested::InnerIterator LhsIterator;
+    typedef typename _RhsNested::InnerIterator RhsIterator;
+    typedef typename Lhs::Index Index;
+
+  public:
+
+    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
+      : m_lhsIter(xpr.lhs(),outer), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor())
+    {
+      this->operator++();
+    }
+
+    EIGEN_STRONG_INLINE Derived& operator++()
+    {
+      if (m_lhsIter && m_rhsIter && (m_lhsIter.index() == m_rhsIter.index()))
+      {
+        m_id = m_lhsIter.index();
+        m_value = m_functor(m_lhsIter.value(), m_rhsIter.value());
+        ++m_lhsIter;
+        ++m_rhsIter;
+      }
+      else if (m_lhsIter && (!m_rhsIter || (m_lhsIter.index() < m_rhsIter.index())))
+      {
+        m_id = m_lhsIter.index();
+        m_value = m_functor(m_lhsIter.value(), Scalar(0));
+        ++m_lhsIter;
+      }
+      else if (m_rhsIter && (!m_lhsIter || (m_lhsIter.index() > m_rhsIter.index())))
+      {
+        m_id = m_rhsIter.index();
+        m_value = m_functor(Scalar(0), m_rhsIter.value());
+        ++m_rhsIter;
+      }
+      else
+      {
+        m_value = 0; // this is to avoid a compilation warning
+        m_id = -1;
+      }
+      return *static_cast<Derived*>(this);
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const { return m_value; }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_id; }
+    EIGEN_STRONG_INLINE Index row() const { return Lhs::IsRowMajor ? m_lhsIter.row() : index(); }
+    EIGEN_STRONG_INLINE Index col() const { return Lhs::IsRowMajor ? index() : m_lhsIter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_id>=0; }
+
+  protected:
+    LhsIterator m_lhsIter;
+    RhsIterator m_rhsIter;
+    const BinaryOp& m_functor;
+    Scalar m_value;
+    Index m_id;
+};
+
+// sparse - sparse  (product)
+template<typename T, typename Lhs, typename Rhs, typename Derived>
+class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Sparse, Sparse>
+{
+    typedef scalar_product_op<T> BinaryFunc;
+    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
+    typedef typename CwiseBinaryXpr::Scalar Scalar;
+    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
+    typedef typename _LhsNested::InnerIterator LhsIterator;
+    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
+    typedef typename _RhsNested::InnerIterator RhsIterator;
+    typedef typename Lhs::Index Index;
+  public:
+
+    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
+      : m_lhsIter(xpr.lhs(),outer), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor())
+    {
+      while (m_lhsIter && m_rhsIter && (m_lhsIter.index() != m_rhsIter.index()))
+      {
+        if (m_lhsIter.index() < m_rhsIter.index())
+          ++m_lhsIter;
+        else
+          ++m_rhsIter;
+      }
+    }
+
+    EIGEN_STRONG_INLINE Derived& operator++()
+    {
+      ++m_lhsIter;
+      ++m_rhsIter;
+      while (m_lhsIter && m_rhsIter && (m_lhsIter.index() != m_rhsIter.index()))
+      {
+        if (m_lhsIter.index() < m_rhsIter.index())
+          ++m_lhsIter;
+        else
+          ++m_rhsIter;
+      }
+      return *static_cast<Derived*>(this);
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_lhsIter.value(), m_rhsIter.value()); }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_lhsIter.index(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return (m_lhsIter && m_rhsIter); }
+
+  protected:
+    LhsIterator m_lhsIter;
+    RhsIterator m_rhsIter;
+    const BinaryFunc& m_functor;
+};
+
+// sparse - dense  (product)
+template<typename T, typename Lhs, typename Rhs, typename Derived>
+class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Sparse, Dense>
+{
+    typedef scalar_product_op<T> BinaryFunc;
+    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
+    typedef typename CwiseBinaryXpr::Scalar Scalar;
+    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
+    typedef typename traits<CwiseBinaryXpr>::RhsNested RhsNested;
+    typedef typename _LhsNested::InnerIterator LhsIterator;
+    typedef typename Lhs::Index Index;
+    enum { IsRowMajor = (int(Lhs::Flags)&RowMajorBit)==RowMajorBit };
+  public:
+
+    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
+      : m_rhs(xpr.rhs()), m_lhsIter(xpr.lhs(),outer), m_functor(xpr.functor()), m_outer(outer)
+    {}
+
+    EIGEN_STRONG_INLINE Derived& operator++()
+    {
+      ++m_lhsIter;
+      return *static_cast<Derived*>(this);
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const
+    { return m_functor(m_lhsIter.value(),
+                       m_rhs.coeff(IsRowMajor?m_outer:m_lhsIter.index(),IsRowMajor?m_lhsIter.index():m_outer)); }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_lhsIter.index(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_lhsIter; }
+
+  protected:
+    const RhsNested m_rhs;
+    LhsIterator m_lhsIter;
+    const BinaryFunc m_functor;
+    const Index m_outer;
+};
+
+// sparse - dense  (product)
+template<typename T, typename Lhs, typename Rhs, typename Derived>
+class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Dense, Sparse>
+{
+    typedef scalar_product_op<T> BinaryFunc;
+    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
+    typedef typename CwiseBinaryXpr::Scalar Scalar;
+    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
+    typedef typename _RhsNested::InnerIterator RhsIterator;
+    typedef typename Lhs::Index Index;
+
+    enum { IsRowMajor = (int(Rhs::Flags)&RowMajorBit)==RowMajorBit };
+  public:
+
+    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
+      : m_xpr(xpr), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor()), m_outer(outer)
+    {}
+
+    EIGEN_STRONG_INLINE Derived& operator++()
+    {
+      ++m_rhsIter;
+      return *static_cast<Derived*>(this);
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const
+    { return m_functor(m_xpr.lhs().coeff(IsRowMajor?m_outer:m_rhsIter.index(),IsRowMajor?m_rhsIter.index():m_outer), m_rhsIter.value()); }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_rhsIter.index(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_rhsIter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_rhsIter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_rhsIter; }
+
+  protected:
+    const CwiseBinaryXpr& m_xpr;
+    RhsIterator m_rhsIter;
+    const BinaryFunc& m_functor;
+    const Index m_outer;
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Implementation of SparseMatrixBase and SparseCwise functions/operators
+***************************************************************************/
+
+// template<typename Derived>
+// template<typename OtherDerived>
+// EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_difference_op<typename internal::traits<Derived>::Scalar>,
+//                                  Derived, OtherDerived>
+// SparseMatrixBase<Derived>::operator-(const SparseMatrixBase<OtherDerived> &other) const
+// {
+//   return CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
+//                        Derived, OtherDerived>(derived(), other.derived());
+// }
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+SparseMatrixBase<Derived>::operator-=(const SparseMatrixBase<OtherDerived> &other)
+{
+  return *this = derived() - other.derived();
+}
+
+// template<typename Derived>
+// template<typename OtherDerived>
+// EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_sum_op<typename internal::traits<Derived>::Scalar>, Derived, OtherDerived>
+// SparseMatrixBase<Derived>::operator+(const SparseMatrixBase<OtherDerived> &other) const
+// {
+//   return CwiseBinaryOp<internal::scalar_sum_op<Scalar>, Derived, OtherDerived>(derived(), other.derived());
+// }
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+SparseMatrixBase<Derived>::operator+=(const SparseMatrixBase<OtherDerived>& other)
+{
+  return *this = derived() + other.derived();
+}
+
+// template<typename ExpressionType>
+// template<typename OtherDerived>
+// EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
+// SparseCwise<ExpressionType>::operator*(const SparseMatrixBase<OtherDerived> &other) const
+// {
+//   return EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE(_expression(), other.derived());
+// }
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
+SparseMatrixBase<Derived>::cwiseProduct(const MatrixBase<OtherDerived> &other) const
+{
+  return EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE(derived(), other.derived());
+}
+
+// template<typename ExpressionType>
+// template<typename OtherDerived>
+// EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
+// SparseCwise<ExpressionType>::operator/(const SparseMatrixBase<OtherDerived> &other) const
+// {
+//   return EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)(_expression(), other.derived());
+// }
+//
+// template<typename ExpressionType>
+// template<typename OtherDerived>
+// EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
+// SparseCwise<ExpressionType>::operator/(const MatrixBase<OtherDerived> &other) const
+// {
+//   return EIGEN_SPARSE_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)(_expression(), other.derived());
+// }
+
+// template<typename ExpressionType>
+// template<typename OtherDerived>
+// inline ExpressionType& SparseCwise<ExpressionType>::operator*=(const SparseMatrixBase<OtherDerived> &other)
+// {
+//   return m_matrix.const_cast_derived() = _expression() * other.derived();
+// }
+
+
+#endif // EIGEN_SPARSE_CWISE_BINARY_OP_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseCwiseUnaryOp.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseCwiseUnaryOp.h
new file mode 100755
index 0000000..aa06883
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseCwiseUnaryOp.h
@@ -0,0 +1,146 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_CWISE_UNARY_OP_H
+#define EIGEN_SPARSE_CWISE_UNARY_OP_H
+
+// template<typename UnaryOp, typename MatrixType>
+// struct internal::traits<SparseCwiseUnaryOp<UnaryOp, MatrixType> > : internal::traits<MatrixType>
+// {
+//   typedef typename internal::result_of<
+//                      UnaryOp(typename MatrixType::Scalar)
+//                    >::type Scalar;
+//   typedef typename MatrixType::Nested MatrixTypeNested;
+//   typedef typename internal::remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+//   enum {
+//     CoeffReadCost = _MatrixTypeNested::CoeffReadCost + internal::functor_traits<UnaryOp>::Cost
+//   };
+// };
+
+template<typename UnaryOp, typename MatrixType>
+class CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>
+  : public SparseMatrixBase<CwiseUnaryOp<UnaryOp, MatrixType> >
+{
+  public:
+
+    class InnerIterator;
+//     typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
+
+    typedef CwiseUnaryOp<UnaryOp, MatrixType> Derived;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
+};
+
+template<typename UnaryOp, typename MatrixType>
+class CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::InnerIterator
+{
+    typedef typename CwiseUnaryOpImpl::Scalar Scalar;
+    typedef typename internal::traits<Derived>::_XprTypeNested _MatrixTypeNested;
+    typedef typename _MatrixTypeNested::InnerIterator MatrixTypeIterator;
+    typedef typename MatrixType::Index Index;
+  public:
+
+    EIGEN_STRONG_INLINE InnerIterator(const CwiseUnaryOpImpl& unaryOp, Index outer)
+      : m_iter(unaryOp.derived().nestedExpression(),outer), m_functor(unaryOp.derived().functor())
+    {}
+
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
+    { ++m_iter; return *this; }
+
+    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_iter.value()); }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_iter.index(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_iter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_iter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_iter; }
+
+  protected:
+    MatrixTypeIterator m_iter;
+    const UnaryOp m_functor;
+};
+
+template<typename ViewOp, typename MatrixType>
+class CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>
+  : public SparseMatrixBase<CwiseUnaryView<ViewOp, MatrixType> >
+{
+  public:
+
+    class InnerIterator;
+//     typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
+
+    typedef CwiseUnaryView<ViewOp, MatrixType> Derived;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
+};
+
+template<typename ViewOp, typename MatrixType>
+class CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::InnerIterator
+{
+    typedef typename CwiseUnaryViewImpl::Scalar Scalar;
+    typedef typename internal::traits<Derived>::_MatrixTypeNested _MatrixTypeNested;
+    typedef typename _MatrixTypeNested::InnerIterator MatrixTypeIterator;
+    typedef typename MatrixType::Index Index;
+  public:
+
+    EIGEN_STRONG_INLINE InnerIterator(const CwiseUnaryViewImpl& unaryView, Index outer)
+      : m_iter(unaryView.derived().nestedExpression(),outer), m_functor(unaryView.derived().functor())
+    {}
+
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
+    { ++m_iter; return *this; }
+
+    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_iter.value()); }
+    EIGEN_STRONG_INLINE Scalar& valueRef() { return m_functor(m_iter.valueRef()); }
+
+    EIGEN_STRONG_INLINE Index index() const { return m_iter.index(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_iter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_iter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_iter; }
+
+  protected:
+    MatrixTypeIterator m_iter;
+    const ViewOp m_functor;
+};
+
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+SparseMatrixBase<Derived>::operator*=(const Scalar& other)
+{
+  for (Index j=0; j<outerSize(); ++j)
+    for (typename Derived::InnerIterator i(derived(),j); i; ++i)
+      i.valueRef() *= other;
+  return derived();
+}
+
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+SparseMatrixBase<Derived>::operator/=(const Scalar& other)
+{
+  for (Index j=0; j<outerSize(); ++j)
+    for (typename Derived::InnerIterator i(derived(),j); i; ++i)
+      i.valueRef() /= other;
+  return derived();
+}
+
+#endif // EIGEN_SPARSE_CWISE_UNARY_OP_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseDenseProduct.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseDenseProduct.h
new file mode 100755
index 0000000..0f77aa5
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseDenseProduct.h
@@ -0,0 +1,231 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEDENSEPRODUCT_H
+#define EIGEN_SPARSEDENSEPRODUCT_H
+
+template<typename Lhs, typename Rhs, int InnerSize> struct SparseDenseProductReturnType
+{
+  typedef SparseTimeDenseProduct<Lhs,Rhs> Type;
+};
+
+template<typename Lhs, typename Rhs> struct SparseDenseProductReturnType<Lhs,Rhs,1>
+{
+  typedef SparseDenseOuterProduct<Lhs,Rhs,false> Type;
+};
+
+template<typename Lhs, typename Rhs, int InnerSize> struct DenseSparseProductReturnType
+{
+  typedef DenseTimeSparseProduct<Lhs,Rhs> Type;
+};
+
+template<typename Lhs, typename Rhs> struct DenseSparseProductReturnType<Lhs,Rhs,1>
+{
+  typedef SparseDenseOuterProduct<Rhs,Lhs,true> Type;
+};
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, bool Tr>
+struct traits<SparseDenseOuterProduct<Lhs,Rhs,Tr> >
+{
+  typedef Sparse StorageKind;
+  typedef typename scalar_product_traits<typename traits<Lhs>::Scalar,
+                                            typename traits<Rhs>::Scalar>::ReturnType Scalar;
+  typedef typename Lhs::Index Index;
+  typedef typename Lhs::Nested LhsNested;
+  typedef typename Rhs::Nested RhsNested;
+  typedef typename remove_all<LhsNested>::type _LhsNested;
+  typedef typename remove_all<RhsNested>::type _RhsNested;
+
+  enum {
+    LhsCoeffReadCost = traits<_LhsNested>::CoeffReadCost,
+    RhsCoeffReadCost = traits<_RhsNested>::CoeffReadCost,
+
+    RowsAtCompileTime    = Tr ? int(traits<Rhs>::RowsAtCompileTime)     : int(traits<Lhs>::RowsAtCompileTime),
+    ColsAtCompileTime    = Tr ? int(traits<Lhs>::ColsAtCompileTime)     : int(traits<Rhs>::ColsAtCompileTime),
+    MaxRowsAtCompileTime = Tr ? int(traits<Rhs>::MaxRowsAtCompileTime)  : int(traits<Lhs>::MaxRowsAtCompileTime),
+    MaxColsAtCompileTime = Tr ? int(traits<Lhs>::MaxColsAtCompileTime)  : int(traits<Rhs>::MaxColsAtCompileTime),
+
+    Flags = Tr ? RowMajorBit : 0,
+
+    CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + NumTraits<Scalar>::MulCost
+  };
+};
+
+} // end namespace internal
+
+template<typename Lhs, typename Rhs, bool Tr>
+class SparseDenseOuterProduct
+ : public SparseMatrixBase<SparseDenseOuterProduct<Lhs,Rhs,Tr> >
+{
+  public:
+
+    typedef SparseMatrixBase<SparseDenseOuterProduct> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(SparseDenseOuterProduct)
+    typedef internal::traits<SparseDenseOuterProduct> Traits;
+
+  private:
+
+    typedef typename Traits::LhsNested LhsNested;
+    typedef typename Traits::RhsNested RhsNested;
+    typedef typename Traits::_LhsNested _LhsNested;
+    typedef typename Traits::_RhsNested _RhsNested;
+
+  public:
+
+    class InnerIterator;
+
+    EIGEN_STRONG_INLINE SparseDenseOuterProduct(const Lhs& lhs, const Rhs& rhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      EIGEN_STATIC_ASSERT(!Tr,YOU_MADE_A_PROGRAMMING_MISTAKE);
+    }
+
+    EIGEN_STRONG_INLINE SparseDenseOuterProduct(const Rhs& rhs, const Lhs& lhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      EIGEN_STATIC_ASSERT(Tr,YOU_MADE_A_PROGRAMMING_MISTAKE);
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const { return Tr ? m_rhs.rows() : m_lhs.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return Tr ? m_lhs.cols() : m_rhs.cols(); }
+
+    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
+    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
+
+  protected:
+    LhsNested m_lhs;
+    RhsNested m_rhs;
+};
+
+template<typename Lhs, typename Rhs, bool Transpose>
+class SparseDenseOuterProduct<Lhs,Rhs,Transpose>::InnerIterator : public _LhsNested::InnerIterator
+{
+    typedef typename _LhsNested::InnerIterator Base;
+  public:
+    EIGEN_STRONG_INLINE InnerIterator(const SparseDenseOuterProduct& prod, Index outer)
+      : Base(prod.lhs(), 0), m_outer(outer), m_factor(prod.rhs().coeff(outer))
+    {
+    }
+
+    inline Index outer() const { return m_outer; }
+    inline Index row() const { return Transpose ? Base::row() : m_outer; }
+    inline Index col() const { return Transpose ? m_outer : Base::row(); }
+
+    inline Scalar value() const { return Base::value() * m_factor; }
+
+  protected:
+    int m_outer;
+    Scalar m_factor;
+};
+
+namespace internal {
+template<typename Lhs, typename Rhs>
+struct traits<SparseTimeDenseProduct<Lhs,Rhs> >
+ : traits<ProductBase<SparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs> >
+{
+  typedef Dense StorageKind;
+  typedef MatrixXpr XprKind;
+};
+} // end namespace internal
+
+template<typename Lhs, typename Rhs>
+class SparseTimeDenseProduct
+  : public ProductBase<SparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(SparseTimeDenseProduct)
+
+    SparseTimeDenseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {}
+
+    template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+    {
+      typedef typename internal::remove_all<Lhs>::type _Lhs;
+      typedef typename internal::remove_all<Rhs>::type _Rhs;
+      typedef typename _Lhs::InnerIterator LhsInnerIterator;
+      enum { LhsIsRowMajor = (_Lhs::Flags&RowMajorBit)==RowMajorBit };
+      for(Index j=0; j<m_lhs.outerSize(); ++j)
+      {
+        typename Rhs::Scalar rhs_j = alpha * m_rhs.coeff(LhsIsRowMajor ? 0 : j,0);
+        typename Dest::RowXpr dest_j(dest.row(LhsIsRowMajor ? j : 0));
+        for(LhsInnerIterator it(m_lhs,j); it ;++it)
+        {
+          if(LhsIsRowMajor)                   dest_j += (alpha*it.value()) * m_rhs.row(it.index());
+          else if(Rhs::ColsAtCompileTime==1)  dest.coeffRef(it.index()) += it.value() * rhs_j;
+          else                                dest.row(it.index()) += (alpha*it.value()) * m_rhs.row(j);
+        }
+      }
+    }
+
+  private:
+    SparseTimeDenseProduct& operator=(const SparseTimeDenseProduct&);
+};
+
+
+// dense = dense * sparse
+namespace internal {
+template<typename Lhs, typename Rhs>
+struct traits<DenseTimeSparseProduct<Lhs,Rhs> >
+ : traits<ProductBase<DenseTimeSparseProduct<Lhs,Rhs>, Lhs, Rhs> >
+{
+  typedef Dense StorageKind;
+};
+} // end namespace internal
+
+template<typename Lhs, typename Rhs>
+class DenseTimeSparseProduct
+  : public ProductBase<DenseTimeSparseProduct<Lhs,Rhs>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(DenseTimeSparseProduct)
+
+    DenseTimeSparseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {}
+
+    template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+    {
+      typedef typename internal::remove_all<Rhs>::type _Rhs;
+      typedef typename _Rhs::InnerIterator RhsInnerIterator;
+      enum { RhsIsRowMajor = (_Rhs::Flags&RowMajorBit)==RowMajorBit };
+      for(Index j=0; j<m_rhs.outerSize(); ++j)
+        for(RhsInnerIterator i(m_rhs,j); i; ++i)
+          dest.col(RhsIsRowMajor ? i.index() : j) += (alpha*i.value()) * m_lhs.col(RhsIsRowMajor ? j : i.index());
+    }
+
+  private:
+    DenseTimeSparseProduct& operator=(const DenseTimeSparseProduct&);
+};
+
+// sparse * dense
+template<typename Derived>
+template<typename OtherDerived>
+inline const typename SparseDenseProductReturnType<Derived,OtherDerived>::Type
+SparseMatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
+{
+  return typename SparseDenseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+}
+
+#endif // EIGEN_SPARSEDENSEPRODUCT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseDiagonalProduct.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseDiagonalProduct.h
new file mode 100755
index 0000000..fb9a29c
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseDiagonalProduct.h
@@ -0,0 +1,195 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_DIAGONAL_PRODUCT_H
+#define EIGEN_SPARSE_DIAGONAL_PRODUCT_H
+
+// The product of a diagonal matrix with a sparse matrix can be easily
+// implemented using expression template.
+// We have two consider very different cases:
+// 1 - diag * row-major sparse
+//     => each inner vector <=> scalar * sparse vector product
+//     => so we can reuse CwiseUnaryOp::InnerIterator
+// 2 - diag * col-major sparse
+//     => each inner vector <=> densevector * sparse vector cwise product
+//     => again, we can reuse specialization of CwiseBinaryOp::InnerIterator
+//        for that particular case
+// The two other cases are symmetric.
+
+namespace internal {
+
+template<typename Lhs, typename Rhs>
+struct traits<SparseDiagonalProduct<Lhs, Rhs> >
+{
+  typedef typename remove_all<Lhs>::type _Lhs;
+  typedef typename remove_all<Rhs>::type _Rhs;
+  typedef typename _Lhs::Scalar Scalar;
+  typedef typename promote_index_type<typename traits<Lhs>::Index,
+                                         typename traits<Rhs>::Index>::type Index;
+  typedef Sparse StorageKind;
+  typedef MatrixXpr XprKind;
+  enum {
+    RowsAtCompileTime = _Lhs::RowsAtCompileTime,
+    ColsAtCompileTime = _Rhs::ColsAtCompileTime,
+
+    MaxRowsAtCompileTime = _Lhs::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = _Rhs::MaxColsAtCompileTime,
+
+    SparseFlags = is_diagonal<_Lhs>::ret ? int(_Rhs::Flags) : int(_Lhs::Flags),
+    Flags = (SparseFlags&RowMajorBit),
+    CoeffReadCost = Dynamic
+  };
+};
+
+enum {SDP_IsDiagonal, SDP_IsSparseRowMajor, SDP_IsSparseColMajor};
+template<typename Lhs, typename Rhs, typename SparseDiagonalProductType, int RhsMode, int LhsMode>
+class sparse_diagonal_product_inner_iterator_selector;
+
+} // end namespace internal
+
+template<typename Lhs, typename Rhs>
+class SparseDiagonalProduct
+  : public SparseMatrixBase<SparseDiagonalProduct<Lhs,Rhs> >,
+    internal::no_assignment_operator
+{
+    typedef typename Lhs::Nested LhsNested;
+    typedef typename Rhs::Nested RhsNested;
+
+    typedef typename internal::remove_all<LhsNested>::type _LhsNested;
+    typedef typename internal::remove_all<RhsNested>::type _RhsNested;
+
+    enum {
+      LhsMode = internal::is_diagonal<_LhsNested>::ret ? internal::SDP_IsDiagonal
+              : (_LhsNested::Flags&RowMajorBit) ? internal::SDP_IsSparseRowMajor : internal::SDP_IsSparseColMajor,
+      RhsMode = internal::is_diagonal<_RhsNested>::ret ? internal::SDP_IsDiagonal
+              : (_RhsNested::Flags&RowMajorBit) ? internal::SDP_IsSparseRowMajor : internal::SDP_IsSparseColMajor
+    };
+
+  public:
+
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseDiagonalProduct)
+
+    typedef internal::sparse_diagonal_product_inner_iterator_selector
+                <_LhsNested,_RhsNested,SparseDiagonalProduct,LhsMode,RhsMode> InnerIterator;
+
+    EIGEN_STRONG_INLINE SparseDiagonalProduct(const Lhs& lhs, const Rhs& rhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      eigen_assert(lhs.cols() == rhs.rows() && "invalid sparse matrix * diagonal matrix product");
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
+
+    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
+    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
+
+  protected:
+    LhsNested m_lhs;
+    RhsNested m_rhs;
+};
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
+class sparse_diagonal_product_inner_iterator_selector
+<Lhs,Rhs,SparseDiagonalProductType,SDP_IsDiagonal,SDP_IsSparseRowMajor>
+  : public CwiseUnaryOp<scalar_multiple_op<typename Lhs::Scalar>,const Rhs>::InnerIterator
+{
+    typedef typename CwiseUnaryOp<scalar_multiple_op<typename Lhs::Scalar>,const Rhs>::InnerIterator Base;
+    typedef typename Lhs::Index Index;
+  public:
+    inline sparse_diagonal_product_inner_iterator_selector(
+              const SparseDiagonalProductType& expr, Index outer)
+      : Base(expr.rhs()*(expr.lhs().diagonal().coeff(outer)), outer)
+    {}
+};
+
+template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
+class sparse_diagonal_product_inner_iterator_selector
+<Lhs,Rhs,SparseDiagonalProductType,SDP_IsDiagonal,SDP_IsSparseColMajor>
+  : public CwiseBinaryOp<
+      scalar_product_op<typename Lhs::Scalar>,
+      SparseInnerVectorSet<Rhs,1>,
+      typename Lhs::DiagonalVectorType>::InnerIterator
+{
+    typedef typename CwiseBinaryOp<
+      scalar_product_op<typename Lhs::Scalar>,
+      SparseInnerVectorSet<Rhs,1>,
+      typename Lhs::DiagonalVectorType>::InnerIterator Base;
+    typedef typename Lhs::Index Index;
+  public:
+    inline sparse_diagonal_product_inner_iterator_selector(
+              const SparseDiagonalProductType& expr, Index outer)
+      : Base(expr.rhs().innerVector(outer) .cwiseProduct(expr.lhs().diagonal()), 0)
+    {}
+};
+
+template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
+class sparse_diagonal_product_inner_iterator_selector
+<Lhs,Rhs,SparseDiagonalProductType,SDP_IsSparseColMajor,SDP_IsDiagonal>
+  : public CwiseUnaryOp<scalar_multiple_op<typename Rhs::Scalar>,const Lhs>::InnerIterator
+{
+    typedef typename CwiseUnaryOp<scalar_multiple_op<typename Rhs::Scalar>,const Lhs>::InnerIterator Base;
+    typedef typename Lhs::Index Index;
+  public:
+    inline sparse_diagonal_product_inner_iterator_selector(
+              const SparseDiagonalProductType& expr, Index outer)
+      : Base(expr.lhs()*expr.rhs().diagonal().coeff(outer), outer)
+    {}
+};
+
+template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
+class sparse_diagonal_product_inner_iterator_selector
+<Lhs,Rhs,SparseDiagonalProductType,SDP_IsSparseRowMajor,SDP_IsDiagonal>
+  : public CwiseBinaryOp<
+      scalar_product_op<typename Rhs::Scalar>,
+      SparseInnerVectorSet<Lhs,1>,
+      Transpose<const typename Rhs::DiagonalVectorType> >::InnerIterator
+{
+    typedef typename CwiseBinaryOp<
+      scalar_product_op<typename Rhs::Scalar>,
+      SparseInnerVectorSet<Lhs,1>,
+      Transpose<const typename Rhs::DiagonalVectorType> >::InnerIterator Base;
+    typedef typename Lhs::Index Index;
+  public:
+    inline sparse_diagonal_product_inner_iterator_selector(
+              const SparseDiagonalProductType& expr, Index outer)
+      : Base(expr.lhs().innerVector(outer) .cwiseProduct(expr.rhs().diagonal().transpose()), 0)
+    {}
+};
+
+} // end namespace internal
+
+// SparseMatrixBase functions
+
+template<typename Derived>
+template<typename OtherDerived>
+const SparseDiagonalProduct<Derived,OtherDerived>
+SparseMatrixBase<Derived>::operator*(const DiagonalBase<OtherDerived> &other) const
+{
+  return SparseDiagonalProduct<Derived,OtherDerived>(this->derived(), other.derived());
+}
+
+#endif // EIGEN_SPARSE_DIAGONAL_PRODUCT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseDot.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseDot.h
new file mode 100755
index 0000000..1f10f71
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseDot.h
@@ -0,0 +1,97 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_DOT_H
+#define EIGEN_SPARSE_DOT_H
+
+template<typename Derived>
+template<typename OtherDerived>
+typename internal::traits<Derived>::Scalar
+SparseMatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+  eigen_assert(size() == other.size());
+  eigen_assert(other.size()>0 && "you are using a non initialized vector");
+
+  typename Derived::InnerIterator i(derived(),0);
+  Scalar res = 0;
+  while (i)
+  {
+    res += internal::conj(i.value()) * other.coeff(i.index());
+    ++i;
+  }
+  return res;
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+typename internal::traits<Derived>::Scalar
+SparseMatrixBase<Derived>::dot(const SparseMatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+  eigen_assert(size() == other.size());
+
+  typename Derived::InnerIterator i(derived(),0);
+  typename OtherDerived::InnerIterator j(other.derived(),0);
+  Scalar res = 0;
+  while (i && j)
+  {
+    if (i.index()==j.index())
+    {
+      res += internal::conj(i.value()) * j.value();
+      ++i; ++j;
+    }
+    else if (i.index()<j.index())
+      ++i;
+    else
+      ++j;
+  }
+  return res;
+}
+
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+SparseMatrixBase<Derived>::squaredNorm() const
+{
+  return internal::real((*this).cwiseAbs2().sum());
+}
+
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+SparseMatrixBase<Derived>::norm() const
+{
+  return internal::sqrt(squaredNorm());
+}
+
+#endif // EIGEN_SPARSE_DOT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseFuzzy.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseFuzzy.h
new file mode 100755
index 0000000..ddcef88
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseFuzzy.h
@@ -0,0 +1,41 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_FUZZY_H
+#define EIGEN_SPARSE_FUZZY_H
+
+// template<typename Derived>
+// template<typename OtherDerived>
+// bool SparseMatrixBase<Derived>::isApprox(
+//   const OtherDerived& other,
+//   typename NumTraits<Scalar>::Real prec
+// ) const
+// {
+//   const typename internal::nested<Derived,2>::type nested(derived());
+//   const typename internal::nested<OtherDerived,2>::type otherNested(other.derived());
+//   return    (nested - otherNested).cwise().abs2().sum()
+//          <= prec * prec * std::min(nested.cwise().abs2().sum(), otherNested.cwise().abs2().sum());
+// }
+
+#endif // EIGEN_SPARSE_FUZZY_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseMatrix.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseMatrix.h
new file mode 100755
index 0000000..9e78027
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseMatrix.h
@@ -0,0 +1,651 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEMATRIX_H
+#define EIGEN_SPARSEMATRIX_H
+
+/** \ingroup Sparse_Module
+  *
+  * \class SparseMatrix
+  *
+  * \brief The main sparse matrix class
+  *
+  * This class implements a sparse matrix using the very common compressed row/column storage
+  * scheme.
+  *
+  * \tparam _Scalar the scalar type, i.e. the type of the coefficients
+  * \tparam _Options Union of bit flags controlling the storage scheme. Currently the only possibility
+  *                 is RowMajor. The default is 0 which means column-major.
+  * \tparam _Index the type of the indices. Default is \c int.
+  *
+  * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_SPARSEMATRIX_PLUGIN.
+  */
+
+namespace internal {
+template<typename _Scalar, int _Options, typename _Index>
+struct traits<SparseMatrix<_Scalar, _Options, _Index> >
+{
+  typedef _Scalar Scalar;
+  typedef _Index Index;
+  typedef Sparse StorageKind;
+  typedef MatrixXpr XprKind;
+  enum {
+    RowsAtCompileTime = Dynamic,
+    ColsAtCompileTime = Dynamic,
+    MaxRowsAtCompileTime = Dynamic,
+    MaxColsAtCompileTime = Dynamic,
+    Flags = _Options | NestByRefBit | LvalueBit,
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    SupportedAccessPatterns = InnerRandomAccessPattern
+  };
+};
+
+} // end namespace internal
+
+template<typename _Scalar, int _Options, typename _Index>
+class SparseMatrix
+  : public SparseMatrixBase<SparseMatrix<_Scalar, _Options, _Index> >
+{
+  public:
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseMatrix)
+//     using Base::operator=;
+    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseMatrix, +=)
+    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseMatrix, -=)
+    // FIXME: why are these operator already alvailable ???
+    // EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(SparseMatrix, *=)
+    // EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(SparseMatrix, /=)
+
+    typedef MappedSparseMatrix<Scalar,Flags> Map;
+    using Base::IsRowMajor;
+    typedef CompressedStorage<Scalar,Index> Storage;
+    enum {
+      Options = _Options
+    };
+
+  protected:
+
+    typedef SparseMatrix<Scalar,(Flags&~RowMajorBit)|(IsRowMajor?RowMajorBit:0)> TransposedSparseMatrix;
+
+    Index m_outerSize;
+    Index m_innerSize;
+    Index* m_outerIndex;
+    CompressedStorage<Scalar,Index> m_data;
+
+  public:
+
+    inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
+    inline Index cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
+
+    inline Index innerSize() const { return m_innerSize; }
+    inline Index outerSize() const { return m_outerSize; }
+    inline Index innerNonZeros(Index j) const { return m_outerIndex[j+1]-m_outerIndex[j]; }
+
+    inline const Scalar* _valuePtr() const { return &m_data.value(0); }
+    inline Scalar* _valuePtr() { return &m_data.value(0); }
+
+    inline const Index* _innerIndexPtr() const { return &m_data.index(0); }
+    inline Index* _innerIndexPtr() { return &m_data.index(0); }
+
+    inline const Index* _outerIndexPtr() const { return m_outerIndex; }
+    inline Index* _outerIndexPtr() { return m_outerIndex; }
+
+    inline Storage& data() { return m_data; }
+    inline const Storage& data() const { return m_data; }
+
+    inline Scalar coeff(Index row, Index col) const
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+      return m_data.atInRange(m_outerIndex[outer], m_outerIndex[outer+1], inner);
+    }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index start = m_outerIndex[outer];
+      Index end = m_outerIndex[outer+1];
+      eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
+      eigen_assert(end>start && "coeffRef cannot be called on a zero coefficient");
+      const Index p = m_data.searchLowerIndex(start,end-1,inner);
+      eigen_assert((p<end) && (m_data.index(p)==inner) && "coeffRef cannot be called on a zero coefficient");
+      return m_data.value(p);
+    }
+
+  public:
+
+    class InnerIterator;
+
+    /** Removes all non zeros */
+    inline void setZero()
+    {
+      m_data.clear();
+      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(Index));
+    }
+
+    /** \returns the number of non zero coefficients */
+    inline Index nonZeros() const  { return static_cast<Index>(m_data.size()); }
+
+    /** Preallocates \a reserveSize non zeros */
+    inline void reserve(Index reserveSize)
+    {
+      m_data.reserve(reserveSize);
+    }
+
+    //--- low level purely coherent filling ---
+
+    /** \returns a reference to the non zero coefficient at position \a row, \a col assuming that:
+      * - the nonzero does not already exist
+      * - the new coefficient is the last one according to the storage order
+      *
+      * Before filling a given inner vector you must call the statVec(Index) function.
+      *
+      * After an insertion session, you should call the finalize() function.
+      *
+      * \sa insert, insertBackByOuterInner, startVec */
+    inline Scalar& insertBack(Index row, Index col)
+    {
+      return insertBackByOuterInner(IsRowMajor?row:col, IsRowMajor?col:row);
+    }
+
+    /** \sa insertBack, startVec */
+    inline Scalar& insertBackByOuterInner(Index outer, Index inner)
+    {
+      eigen_assert(size_t(m_outerIndex[outer+1]) == m_data.size() && "Invalid ordered insertion (invalid outer index)");
+      eigen_assert( (m_outerIndex[outer+1]-m_outerIndex[outer]==0 || m_data.index(m_data.size()-1)<inner) && "Invalid ordered insertion (invalid inner index)");
+      Index p = m_outerIndex[outer+1];
+      ++m_outerIndex[outer+1];
+      m_data.append(0, inner);
+      return m_data.value(p);
+    }
+
+    /** \warning use it only if you know what you are doing */
+    inline Scalar& insertBackByOuterInnerUnordered(Index outer, Index inner)
+    {
+      Index p = m_outerIndex[outer+1];
+      ++m_outerIndex[outer+1];
+      m_data.append(0, inner);
+      return m_data.value(p);
+    }
+
+    /** \sa insertBack, insertBackByOuterInner */
+    inline void startVec(Index outer)
+    {
+      eigen_assert(m_outerIndex[outer]==int(m_data.size()) && "You must call startVec for each inner vector sequentially");
+      eigen_assert(m_outerIndex[outer+1]==0 && "You must call startVec for each inner vector sequentially");
+      m_outerIndex[outer+1] = m_outerIndex[outer];
+    }
+
+    //---
+
+    /** \returns a reference to a novel non zero coefficient with coordinates \a row x \a col.
+      * The non zero coefficient must \b not already exist.
+      *
+      * \warning This function can be extremely slow if the non zero coefficients
+      * are not inserted in a coherent order.
+      *
+      * After an insertion session, you should call the finalize() function.
+      */
+    EIGEN_DONT_INLINE Scalar& insert(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index previousOuter = outer;
+      if (m_outerIndex[outer+1]==0)
+      {
+        // we start a new inner vector
+        while (previousOuter>=0 && m_outerIndex[previousOuter]==0)
+        {
+          m_outerIndex[previousOuter] = static_cast<Index>(m_data.size());
+          --previousOuter;
+        }
+        m_outerIndex[outer+1] = m_outerIndex[outer];
+      }
+
+      // here we have to handle the tricky case where the outerIndex array
+      // starts with: [ 0 0 0 0 0 1 ...] and we are inserting in, e.g.,
+      // the 2nd inner vector...
+      bool isLastVec = (!(previousOuter==-1 && m_data.size()!=0))
+                    && (size_t(m_outerIndex[outer+1]) == m_data.size());
+
+      size_t startId = m_outerIndex[outer];
+      // FIXME let's make sure sizeof(long int) == sizeof(size_t)
+      size_t p = m_outerIndex[outer+1];
+      ++m_outerIndex[outer+1];
+
+      float reallocRatio = 1;
+      if (m_data.allocatedSize()<=m_data.size())
+      {
+        // if there is no preallocated memory, let's reserve a minimum of 32 elements
+        if (m_data.size()==0)
+        {
+          m_data.reserve(32);
+        }
+        else
+        {
+          // we need to reallocate the data, to reduce multiple reallocations
+          // we use a smart resize algorithm based on the current filling ratio
+          // in addition, we use float to avoid integers overflows
+          float nnzEstimate = float(m_outerIndex[outer])*float(m_outerSize)/float(outer+1);
+          reallocRatio = (nnzEstimate-float(m_data.size()))/float(m_data.size());
+          // furthermore we bound the realloc ratio to:
+          //   1) reduce multiple minor realloc when the matrix is almost filled
+          //   2) avoid to allocate too much memory when the matrix is almost empty
+          reallocRatio = std::min(std::max(reallocRatio,1.5f),8.f);
+        }
+      }
+      m_data.resize(m_data.size()+1,reallocRatio);
+
+      if (!isLastVec)
+      {
+        if (previousOuter==-1)
+        {
+          // oops wrong guess.
+          // let's correct the outer offsets
+          for (Index k=0; k<=(outer+1); ++k)
+            m_outerIndex[k] = 0;
+          Index k=outer+1;
+          while(m_outerIndex[k]==0)
+            m_outerIndex[k++] = 1;
+          while (k<=m_outerSize && m_outerIndex[k]!=0)
+            m_outerIndex[k++]++;
+          p = 0;
+          --k;
+          k = m_outerIndex[k]-1;
+          while (k>0)
+          {
+            m_data.index(k) = m_data.index(k-1);
+            m_data.value(k) = m_data.value(k-1);
+            k--;
+          }
+        }
+        else
+        {
+          // we are not inserting into the last inner vec
+          // update outer indices:
+          Index j = outer+2;
+          while (j<=m_outerSize && m_outerIndex[j]!=0)
+            m_outerIndex[j++]++;
+          --j;
+          // shift data of last vecs:
+          Index k = m_outerIndex[j]-1;
+          while (k>=Index(p))
+          {
+            m_data.index(k) = m_data.index(k-1);
+            m_data.value(k) = m_data.value(k-1);
+            k--;
+          }
+        }
+      }
+
+      while ( (p > startId) && (m_data.index(p-1) > inner) )
+      {
+        m_data.index(p) = m_data.index(p-1);
+        m_data.value(p) = m_data.value(p-1);
+        --p;
+      }
+
+      m_data.index(p) = inner;
+      return (m_data.value(p) = 0);
+    }
+
+
+
+
+    /** Must be called after inserting a set of non zero entries.
+      */
+    inline void finalize()
+    {
+      Index size = static_cast<Index>(m_data.size());
+      Index i = m_outerSize;
+      // find the last filled column
+      while (i>=0 && m_outerIndex[i]==0)
+        --i;
+      ++i;
+      while (i<=m_outerSize)
+      {
+        m_outerIndex[i] = size;
+        ++i;
+      }
+    }
+
+    /** Suppress all nonzeros which are smaller than \a reference under the tolerence \a epsilon */
+    void prune(Scalar reference, RealScalar epsilon = NumTraits<RealScalar>::dummy_precision())
+    {
+      prune(default_prunning_func(reference,epsilon));
+    }
+    
+    /** Suppress all nonzeros which do not satisfy the predicate \a keep.
+      * The functor type \a KeepFunc must implement the following function:
+      * \code
+      * bool operator() (const Index& row, const Index& col, const Scalar& value) const;
+      * \endcode
+      * \sa prune(Scalar,RealScalar)
+      */
+    template<typename KeepFunc>
+    void prune(const KeepFunc& keep = KeepFunc())
+    {
+      Index k = 0;
+      for(Index j=0; j<m_outerSize; ++j)
+      {
+        Index previousStart = m_outerIndex[j];
+        m_outerIndex[j] = k;
+        Index end = m_outerIndex[j+1];
+        for(Index i=previousStart; i<end; ++i)
+        {
+          if(keep(IsRowMajor?j:m_data.index(i), IsRowMajor?m_data.index(i):j, m_data.value(i)))
+          {
+            m_data.value(k) = m_data.value(i);
+            m_data.index(k) = m_data.index(i);
+            ++k;
+          }
+        }
+      }
+      m_outerIndex[m_outerSize] = k;
+      m_data.resize(k,0);
+    }
+
+    /** Resizes the matrix to a \a rows x \a cols matrix and initializes it to zero
+      * \sa resizeNonZeros(Index), reserve(), setZero()
+      */
+    void resize(Index rows, Index cols)
+    {
+      const Index outerSize = IsRowMajor ? rows : cols;
+      m_innerSize = IsRowMajor ? cols : rows;
+      m_data.clear();
+      if (m_outerSize != outerSize || m_outerSize==0)
+      {
+        delete[] m_outerIndex;
+        m_outerIndex = new Index [outerSize+1];
+        m_outerSize = outerSize;
+      }
+      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(Index));
+    }
+
+    /** Low level API
+      * Resize the nonzero vector to \a size */
+    void resizeNonZeros(Index size)
+    {
+      m_data.resize(size);
+    }
+
+    /** Default constructor yielding an empty \c 0 \c x \c 0 matrix */
+    inline SparseMatrix()
+      : m_outerSize(-1), m_innerSize(0), m_outerIndex(0)
+    {
+      resize(0, 0);
+    }
+
+    /** Constructs a \a rows \c x \a cols empty matrix */
+    inline SparseMatrix(Index rows, Index cols)
+      : m_outerSize(0), m_innerSize(0), m_outerIndex(0)
+    {
+      resize(rows, cols);
+    }
+
+    /** Constructs a sparse matrix from the sparse expression \a other */
+    template<typename OtherDerived>
+    inline SparseMatrix(const SparseMatrixBase<OtherDerived>& other)
+      : m_outerSize(0), m_innerSize(0), m_outerIndex(0)
+    {
+      *this = other.derived();
+    }
+
+    /** Copy constructor */
+    inline SparseMatrix(const SparseMatrix& other)
+      : Base(), m_outerSize(0), m_innerSize(0), m_outerIndex(0)
+    {
+      *this = other.derived();
+    }
+
+    /** Swap the content of two sparse matrices of same type (optimization) */
+    inline void swap(SparseMatrix& other)
+    {
+      //EIGEN_DBG_SPARSE(std::cout << "SparseMatrix:: swap\n");
+      std::swap(m_outerIndex, other.m_outerIndex);
+      std::swap(m_innerSize, other.m_innerSize);
+      std::swap(m_outerSize, other.m_outerSize);
+      m_data.swap(other.m_data);
+    }
+
+    inline SparseMatrix& operator=(const SparseMatrix& other)
+    {
+//       std::cout << "SparseMatrix& operator=(const SparseMatrix& other)\n";
+      if (other.isRValue())
+      {
+        swap(other.const_cast_derived());
+      }
+      else
+      {
+        resize(other.rows(), other.cols());
+        memcpy(m_outerIndex, other.m_outerIndex, (m_outerSize+1)*sizeof(Index));
+        m_data = other.m_data;
+      }
+      return *this;
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename Lhs, typename Rhs>
+    inline SparseMatrix& operator=(const SparseSparseProduct<Lhs,Rhs>& product)
+    { return Base::operator=(product); }
+    
+    template<typename OtherDerived>
+    inline SparseMatrix& operator=(const ReturnByValue<OtherDerived>& other)
+    { return Base::operator=(other); }
+    
+    template<typename OtherDerived>
+    inline SparseMatrix& operator=(const EigenBase<OtherDerived>& other)
+    { return Base::operator=(other); }
+    #endif
+
+    template<typename OtherDerived>
+    EIGEN_DONT_INLINE SparseMatrix& operator=(const SparseMatrixBase<OtherDerived>& other)
+    {
+      const bool needToTranspose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
+      if (needToTranspose)
+      {
+        // two passes algorithm:
+        //  1 - compute the number of coeffs per dest inner vector
+        //  2 - do the actual copy/eval
+        // Since each coeff of the rhs has to be evaluated twice, let's evaluate it if needed
+        typedef typename internal::nested<OtherDerived,2>::type OtherCopy;
+        typedef typename internal::remove_all<OtherCopy>::type _OtherCopy;
+        OtherCopy otherCopy(other.derived());
+
+        resize(other.rows(), other.cols());
+        Eigen::Map<Matrix<Index, Dynamic, 1> > (m_outerIndex,outerSize()).setZero();
+        // pass 1
+        // FIXME the above copy could be merged with that pass
+        for (Index j=0; j<otherCopy.outerSize(); ++j)
+          for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
+            ++m_outerIndex[it.index()];
+
+        // prefix sum
+        Index count = 0;
+        VectorXi positions(outerSize());
+        for (Index j=0; j<outerSize(); ++j)
+        {
+          Index tmp = m_outerIndex[j];
+          m_outerIndex[j] = count;
+          positions[j] = count;
+          count += tmp;
+        }
+        m_outerIndex[outerSize()] = count;
+        // alloc
+        m_data.resize(count);
+        // pass 2
+        for (Index j=0; j<otherCopy.outerSize(); ++j)
+        {
+          for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
+          {
+            Index pos = positions[it.index()]++;
+            m_data.index(pos) = j;
+            m_data.value(pos) = it.value();
+          }
+        }
+        return *this;
+      }
+      else
+      {
+        // there is no special optimization
+        return SparseMatrixBase<SparseMatrix>::operator=(other.derived());
+      }
+    }
+
+    friend std::ostream & operator << (std::ostream & s, const SparseMatrix& m)
+    {
+      EIGEN_DBG_SPARSE(
+        s << "Nonzero entries:\n";
+        for (Index i=0; i<m.nonZeros(); ++i)
+        {
+          s << "(" << m.m_data.value(i) << "," << m.m_data.index(i) << ") ";
+        }
+        s << std::endl;
+        s << std::endl;
+        s << "Column pointers:\n";
+        for (Index i=0; i<m.outerSize(); ++i)
+        {
+          s << m.m_outerIndex[i] << " ";
+        }
+        s << " $" << std::endl;
+        s << std::endl;
+      );
+      s << static_cast<const SparseMatrixBase<SparseMatrix>&>(m);
+      return s;
+    }
+
+    /** Destructor */
+    inline ~SparseMatrix()
+    {
+      delete[] m_outerIndex;
+    }
+
+    /** Overloaded for performance */
+    Scalar sum() const;
+
+  public:
+
+    /** \deprecated use setZero() and reserve()
+      * Initializes the filling process of \c *this.
+      * \param reserveSize approximate number of nonzeros
+      * Note that the matrix \c *this is zero-ed.
+      */
+    EIGEN_DEPRECATED void startFill(Index reserveSize = 1000)
+    {
+      setZero();
+      m_data.reserve(reserveSize);
+    }
+
+    /** \deprecated use insert()
+      * Like fill() but with random inner coordinates.
+      */
+    EIGEN_DEPRECATED Scalar& fillrand(Index row, Index col)
+    {
+      return insert(row,col);
+    }
+
+    /** \deprecated use insert()
+      */
+    EIGEN_DEPRECATED Scalar& fill(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      if (m_outerIndex[outer+1]==0)
+      {
+        // we start a new inner vector
+        Index i = outer;
+        while (i>=0 && m_outerIndex[i]==0)
+        {
+          m_outerIndex[i] = m_data.size();
+          --i;
+        }
+        m_outerIndex[outer+1] = m_outerIndex[outer];
+      }
+      else
+      {
+        eigen_assert(m_data.index(m_data.size()-1)<inner && "wrong sorted insertion");
+      }
+//       std::cerr << size_t(m_outerIndex[outer+1]) << " == " << m_data.size() << "\n";
+      assert(size_t(m_outerIndex[outer+1]) == m_data.size());
+      Index p = m_outerIndex[outer+1];
+      ++m_outerIndex[outer+1];
+
+      m_data.append(0, inner);
+      return m_data.value(p);
+    }
+
+    /** \deprecated use finalize */
+    EIGEN_DEPRECATED void endFill() { finalize(); }
+    
+#   ifdef EIGEN_SPARSEMATRIX_PLUGIN
+#     include EIGEN_SPARSEMATRIX_PLUGIN
+#   endif
+
+private:
+  struct default_prunning_func {
+    default_prunning_func(Scalar ref, RealScalar eps) : reference(ref), epsilon(eps) {}
+    inline bool operator() (const Index&, const Index&, const Scalar& value) const
+    {
+      return !internal::isMuchSmallerThan(value, reference, epsilon);
+    }
+    Scalar reference;
+    RealScalar epsilon;
+  };
+};
+
+template<typename Scalar, int _Options, typename _Index>
+class SparseMatrix<Scalar,_Options,_Index>::InnerIterator
+{
+  public:
+    InnerIterator(const SparseMatrix& mat, Index outer)
+      : m_values(mat._valuePtr()), m_indices(mat._innerIndexPtr()), m_outer(outer), m_id(mat.m_outerIndex[outer]), m_end(mat.m_outerIndex[outer+1])
+    {}
+
+    inline InnerIterator& operator++() { m_id++; return *this; }
+
+    inline const Scalar& value() const { return m_values[m_id]; }
+    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id]); }
+
+    inline Index index() const { return m_indices[m_id]; }
+    inline Index outer() const { return m_outer; }
+    inline Index row() const { return IsRowMajor ? m_outer : index(); }
+    inline Index col() const { return IsRowMajor ? index() : m_outer; }
+
+    inline operator bool() const { return (m_id < m_end); }
+
+  protected:
+    const Scalar* m_values;
+    const Index* m_indices;
+    const Index m_outer;
+    Index m_id;
+    const Index m_end;
+};
+
+#endif // EIGEN_SPARSEMATRIX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseMatrixBase.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseMatrixBase.h
new file mode 100755
index 0000000..8695f73
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseMatrixBase.h
@@ -0,0 +1,706 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEMATRIXBASE_H
+#define EIGEN_SPARSEMATRIXBASE_H
+
+/** \ingroup Sparse_Module
+  *
+  * \class SparseMatrixBase
+  *
+  * \brief Base class of any sparse matrices or sparse expressions
+  *
+  * \tparam Derived
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_SPARSEMATRIXBASE_PLUGIN.
+  */
+template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
+{
+  public:
+
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    typedef typename internal::traits<Derived>::StorageKind StorageKind;
+    typedef typename internal::traits<Derived>::Index Index;
+
+    typedef SparseMatrixBase StorageBaseType;
+    typedef EigenBase<Derived> Base;
+    
+    template<typename OtherDerived>
+    Derived& operator=(const EigenBase<OtherDerived> &other)
+    {
+      other.derived().evalTo(derived());
+      return derived();
+    }
+    
+//     using Base::operator=;
+
+    enum {
+
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+        /**< The number of rows at compile-time. This is just a copy of the value provided
+          * by the \a Derived type. If a value is not known at compile-time,
+          * it is set to the \a Dynamic constant.
+          * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
+
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+        /**< The number of columns at compile-time. This is just a copy of the value provided
+          * by the \a Derived type. If a value is not known at compile-time,
+          * it is set to the \a Dynamic constant.
+          * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
+
+
+      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+                                                   internal::traits<Derived>::ColsAtCompileTime>::ret),
+        /**< This is equal to the number of coefficients, i.e. the number of
+          * rows times the number of columns, or to \a Dynamic if this is not
+          * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
+
+      MaxRowsAtCompileTime = RowsAtCompileTime,
+      MaxColsAtCompileTime = ColsAtCompileTime,
+
+      MaxSizeAtCompileTime = (internal::size_at_compile_time<MaxRowsAtCompileTime,
+                                                      MaxColsAtCompileTime>::ret),
+
+      IsVectorAtCompileTime = RowsAtCompileTime == 1 || ColsAtCompileTime == 1,
+        /**< This is set to true if either the number of rows or the number of
+          * columns is known at compile-time to be equal to 1. Indeed, in that case,
+          * we are dealing with a column-vector (if there is only one column) or with
+          * a row-vector (if there is only one row). */
+
+      Flags = internal::traits<Derived>::Flags,
+        /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
+          * constructed from this one. See the \ref flags "list of flags".
+          */
+
+      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
+        /**< This is a rough measure of how expensive it is to read one coefficient from
+          * this expression.
+          */
+
+      IsRowMajor = Flags&RowMajorBit ? 1 : 0,
+
+      #ifndef EIGEN_PARSED_BY_DOXYGEN
+      _HasDirectAccess = (int(Flags)&DirectAccessBit) ? 1 : 0 // workaround sunCC
+      #endif
+    };
+
+    /* \internal the return type of MatrixBase::conjugate() */
+//     typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+//                         const SparseCwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, Derived>,
+//                         const Derived&
+//                      >::type ConjugateReturnType;
+    /* \internal the return type of MatrixBase::real() */
+//     typedef SparseCwiseUnaryOp<internal::scalar_real_op<Scalar>, Derived> RealReturnType;
+    /* \internal the return type of MatrixBase::imag() */
+//     typedef SparseCwiseUnaryOp<internal::scalar_imag_op<Scalar>, Derived> ImagReturnType;
+    /** \internal the return type of MatrixBase::adjoint() */
+    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                        CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, Eigen::Transpose<const Derived> >,
+                        Transpose<const Derived>
+                     >::type AdjointReturnType;
+
+
+    typedef SparseMatrix<Scalar, Flags&RowMajorBit ? RowMajor : ColMajor> PlainObject;
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::SparseMatrixBase
+#   include "../plugins/CommonCwiseUnaryOps.h"
+#   include "../plugins/CommonCwiseBinaryOps.h"
+#   include "../plugins/MatrixCwiseUnaryOps.h"
+#   include "../plugins/MatrixCwiseBinaryOps.h"
+#   ifdef EIGEN_SPARSEMATRIXBASE_PLUGIN
+#     include EIGEN_SPARSEMATRIXBASE_PLUGIN
+#   endif
+#   undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** This is the "real scalar" type; if the \a Scalar type is already real numbers
+      * (e.g. int, float or double) then \a RealScalar is just the same as \a Scalar. If
+      * \a Scalar is \a std::complex<T> then RealScalar is \a T.
+      *
+      * \sa class NumTraits
+      */
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    /** \internal the return type of coeff()
+      */
+    typedef typename internal::conditional<_HasDirectAccess, const Scalar&, Scalar>::type CoeffReturnType;
+
+    /** \internal Represents a matrix with all coefficients equal to one another*/
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Matrix<Scalar,Dynamic,Dynamic> > ConstantReturnType;
+
+    /** type of the equivalent square matrix */
+    typedef Matrix<Scalar,EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime),
+                          EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
+
+    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    inline Derived& derived() { return *static_cast<Derived*>(this); }
+    inline Derived& const_cast_derived() const
+    { return *static_cast<Derived*>(const_cast<SparseMatrixBase*>(this)); }
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
+    inline Index rows() const { return derived().rows(); }
+    /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
+    inline Index cols() const { return derived().cols(); }
+    /** \returns the number of coefficients, which is \a rows()*cols().
+      * \sa rows(), cols(), SizeAtCompileTime. */
+    inline Index size() const { return rows() * cols(); }
+    /** \returns the number of nonzero coefficients which is in practice the number
+      * of stored coefficients. */
+    inline Index nonZeros() const { return derived().nonZeros(); }
+    /** \returns true if either the number of rows or the number of columns is equal to 1.
+      * In other words, this function returns
+      * \code rows()==1 || cols()==1 \endcode
+      * \sa rows(), cols(), IsVectorAtCompileTime. */
+    inline bool isVector() const { return rows()==1 || cols()==1; }
+    /** \returns the size of the storage major dimension,
+      * i.e., the number of columns for a columns major matrix, and the number of rows otherwise */
+    Index outerSize() const { return (int(Flags)&RowMajorBit) ? this->rows() : this->cols(); }
+    /** \returns the size of the inner dimension according to the storage order,
+      * i.e., the number of rows for a columns major matrix, and the number of cols otherwise */
+    Index innerSize() const { return (int(Flags)&RowMajorBit) ? this->cols() : this->rows(); }
+
+    bool isRValue() const { return m_isRValue; }
+    Derived& markAsRValue() { m_isRValue = true; return derived(); }
+
+    SparseMatrixBase() : m_isRValue(false) { /* TODO check flags */ }
+    
+    inline Derived& operator=(const Derived& other)
+    {
+//       std::cout << "Derived& operator=(const Derived& other)\n";
+//       if (other.isRValue())
+//         derived().swap(other.const_cast_derived());
+//       else
+        this->operator=<Derived>(other);
+      return derived();
+    }
+    
+    template<typename OtherDerived>
+    Derived& operator=(const ReturnByValue<OtherDerived>& other)
+    {
+      other.evalTo(derived());
+      return derived();
+    }
+
+
+    template<typename OtherDerived>
+    inline void assignGeneric(const OtherDerived& other)
+    {
+//       std::cout << "Derived& operator=(const MatrixBase<OtherDerived>& other)\n";
+      //const bool transpose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
+      eigen_assert(( ((internal::traits<Derived>::SupportedAccessPatterns&OuterRandomAccessPattern)==OuterRandomAccessPattern) ||
+                  (!((Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit)))) &&
+                  "the transpose operation is supposed to be handled in SparseMatrix::operator=");
+
+      enum { Flip = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit) };
+
+      const Index outerSize = other.outerSize();
+      //typedef typename internal::conditional<transpose, LinkedVectorMatrix<Scalar,Flags&RowMajorBit>, Derived>::type TempType;
+      // thanks to shallow copies, we always eval to a tempary
+      Derived temp(other.rows(), other.cols());
+
+      temp.reserve(std::max(this->rows(),this->cols())*2);
+      for (Index j=0; j<outerSize; ++j)
+      {
+        temp.startVec(j);
+        for (typename OtherDerived::InnerIterator it(other.derived(), j); it; ++it)
+        {
+          Scalar v = it.value();
+          if (v!=Scalar(0))
+            temp.insertBackByOuterInner(Flip?it.index():j,Flip?j:it.index()) = v;
+        }
+      }
+      temp.finalize();
+
+      derived() = temp.markAsRValue();
+    }
+
+
+    template<typename OtherDerived>
+    inline Derived& operator=(const SparseMatrixBase<OtherDerived>& other)
+    {
+//       std::cout << typeid(OtherDerived).name() << "\n";
+//       std::cout << Flags << " " << OtherDerived::Flags << "\n";
+      const bool transpose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
+//       std::cout << "eval transpose = " << transpose << "\n";
+      const Index outerSize = (int(OtherDerived::Flags) & RowMajorBit) ? other.rows() : other.cols();
+      if ((!transpose) && other.isRValue())
+      {
+        // eval without temporary
+        derived().resize(other.rows(), other.cols());
+        derived().setZero();
+        derived().reserve(std::max(this->rows(),this->cols())*2);
+        for (Index j=0; j<outerSize; ++j)
+        {
+          derived().startVec(j);
+          for (typename OtherDerived::InnerIterator it(other.derived(), j); it; ++it)
+          {
+            Scalar v = it.value();
+            if (v!=Scalar(0))
+              derived().insertBackByOuterInner(j,it.index()) = v;
+          }
+        }
+        derived().finalize();
+      }
+      else
+      {
+        assignGeneric(other.derived());
+      }
+      return derived();
+    }
+
+    template<typename Lhs, typename Rhs>
+    inline Derived& operator=(const SparseSparseProduct<Lhs,Rhs>& product);
+
+    template<typename Lhs, typename Rhs>
+    inline void _experimentalNewProduct(const Lhs& lhs, const Rhs& rhs);
+
+    friend std::ostream & operator << (std::ostream & s, const SparseMatrixBase& m)
+    {
+      if (Flags&RowMajorBit)
+      {
+        for (Index row=0; row<m.outerSize(); ++row)
+        {
+          Index col = 0;
+          for (typename Derived::InnerIterator it(m.derived(), row); it; ++it)
+          {
+            for ( ; col<it.index(); ++col)
+              s << "0 ";
+            s << it.value() << " ";
+            ++col;
+          }
+          for ( ; col<m.cols(); ++col)
+            s << "0 ";
+          s << std::endl;
+        }
+      }
+      else
+      {
+        if (m.cols() == 1) {
+          Index row = 0;
+          for (typename Derived::InnerIterator it(m.derived(), 0); it; ++it)
+          {
+            for ( ; row<it.index(); ++row)
+              s << "0" << std::endl;
+            s << it.value() << std::endl;
+            ++row;
+          }
+          for ( ; row<m.rows(); ++row)
+            s << "0" << std::endl;
+        }
+        else
+        {
+          SparseMatrix<Scalar, RowMajorBit> trans = m.derived();
+          s << trans;
+        }
+      }
+      return s;
+    }
+
+//     const SparseCwiseUnaryOp<internal::scalar_opposite_op<typename internal::traits<Derived>::Scalar>,Derived> operator-() const;
+
+//     template<typename OtherDerived>
+//     const CwiseBinaryOp<internal::scalar_sum_op<typename internal::traits<Derived>::Scalar>, Derived, OtherDerived>
+//     operator+(const SparseMatrixBase<OtherDerived> &other) const;
+
+//     template<typename OtherDerived>
+//     const CwiseBinaryOp<internal::scalar_difference_op<typename internal::traits<Derived>::Scalar>, Derived, OtherDerived>
+//     operator-(const SparseMatrixBase<OtherDerived> &other) const;
+
+    template<typename OtherDerived>
+    Derived& operator+=(const SparseMatrixBase<OtherDerived>& other);
+    template<typename OtherDerived>
+    Derived& operator-=(const SparseMatrixBase<OtherDerived>& other);
+
+//     template<typename Lhs,typename Rhs>
+//     Derived& operator+=(const Flagged<Product<Lhs,Rhs,CacheFriendlyProduct>, 0, EvalBeforeNestingBit | EvalBeforeAssigningBit>& other);
+
+    Derived& operator*=(const Scalar& other);
+    Derived& operator/=(const Scalar& other);
+
+    #define EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE \
+      CwiseBinaryOp< \
+        internal::scalar_product_op< \
+          typename internal::scalar_product_traits< \
+            typename internal::traits<Derived>::Scalar, \
+            typename internal::traits<OtherDerived>::Scalar \
+          >::ReturnType \
+        >, \
+        Derived, \
+        OtherDerived \
+      >
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
+    cwiseProduct(const MatrixBase<OtherDerived> &other) const;
+
+//     const SparseCwiseUnaryOp<internal::scalar_multiple_op<typename internal::traits<Derived>::Scalar>, Derived>
+//     operator*(const Scalar& scalar) const;
+//     const SparseCwiseUnaryOp<internal::scalar_quotient1_op<typename internal::traits<Derived>::Scalar>, Derived>
+//     operator/(const Scalar& scalar) const;
+
+//     inline friend const SparseCwiseUnaryOp<internal::scalar_multiple_op<typename internal::traits<Derived>::Scalar>, Derived>
+//     operator*(const Scalar& scalar, const SparseMatrixBase& matrix)
+//     { return matrix*scalar; }
+
+
+    // sparse * sparse
+    template<typename OtherDerived>
+    const typename SparseSparseProductReturnType<Derived,OtherDerived>::Type
+    operator*(const SparseMatrixBase<OtherDerived> &other) const;
+
+    // sparse * diagonal
+    template<typename OtherDerived>
+    const SparseDiagonalProduct<Derived,OtherDerived>
+    operator*(const DiagonalBase<OtherDerived> &other) const;
+
+    // diagonal * sparse
+    template<typename OtherDerived> friend
+    const SparseDiagonalProduct<OtherDerived,Derived>
+    operator*(const DiagonalBase<OtherDerived> &lhs, const SparseMatrixBase& rhs)
+    { return SparseDiagonalProduct<OtherDerived,Derived>(lhs.derived(), rhs.derived()); }
+
+    /** dense * sparse (return a dense object unless it is an outer product) */
+    template<typename OtherDerived> friend
+    const typename DenseSparseProductReturnType<OtherDerived,Derived>::Type
+    operator*(const MatrixBase<OtherDerived>& lhs, const Derived& rhs)
+    { return typename DenseSparseProductReturnType<OtherDerived,Derived>::Type(lhs.derived(),rhs); }
+
+    /** sparse * dense (returns a dense object unless it is an outer product) */
+    template<typename OtherDerived>
+    const typename SparseDenseProductReturnType<Derived,OtherDerived>::Type
+    operator*(const MatrixBase<OtherDerived> &other) const;
+
+    template<typename OtherDerived>
+    Derived& operator*=(const SparseMatrixBase<OtherDerived>& other);
+
+    #ifdef EIGEN2_SUPPORT
+    // deprecated
+    template<typename OtherDerived>
+    typename internal::plain_matrix_type_column_major<OtherDerived>::type
+    solveTriangular(const MatrixBase<OtherDerived>& other) const;
+
+    // deprecated
+    template<typename OtherDerived>
+    void solveTriangularInPlace(MatrixBase<OtherDerived>& other) const;
+//     template<typename OtherDerived>
+//     void solveTriangularInPlace(SparseMatrixBase<OtherDerived>& other) const;
+    #endif // EIGEN2_SUPPORT
+
+    template<int Mode>
+    inline const SparseTriangularView<Derived, Mode> triangularView() const;
+
+    template<unsigned int UpLo> inline const SparseSelfAdjointView<Derived, UpLo> selfadjointView() const;
+    template<unsigned int UpLo> inline SparseSelfAdjointView<Derived, UpLo> selfadjointView();
+
+    template<typename OtherDerived> Scalar dot(const MatrixBase<OtherDerived>& other) const;
+    template<typename OtherDerived> Scalar dot(const SparseMatrixBase<OtherDerived>& other) const;
+    RealScalar squaredNorm() const;
+    RealScalar norm()  const;
+//     const PlainObject normalized() const;
+//     void normalize();
+
+    Transpose<Derived> transpose() { return derived(); }
+    const Transpose<const Derived> transpose() const { return derived(); }
+    // void transposeInPlace();
+    const AdjointReturnType adjoint() const { return transpose(); }
+
+    // sub-vector
+    SparseInnerVectorSet<Derived,1> row(Index i);
+    const SparseInnerVectorSet<Derived,1> row(Index i) const;
+    SparseInnerVectorSet<Derived,1> col(Index j);
+    const SparseInnerVectorSet<Derived,1> col(Index j) const;
+    SparseInnerVectorSet<Derived,1> innerVector(Index outer);
+    const SparseInnerVectorSet<Derived,1> innerVector(Index outer) const;
+
+    // set of sub-vectors
+    SparseInnerVectorSet<Derived,Dynamic> subrows(Index start, Index size);
+    const SparseInnerVectorSet<Derived,Dynamic> subrows(Index start, Index size) const;
+    SparseInnerVectorSet<Derived,Dynamic> subcols(Index start, Index size);
+    const SparseInnerVectorSet<Derived,Dynamic> subcols(Index start, Index size) const;
+    SparseInnerVectorSet<Derived,Dynamic> innerVectors(Index outerStart, Index outerSize);
+    const SparseInnerVectorSet<Derived,Dynamic> innerVectors(Index outerStart, Index outerSize) const;
+
+//     typename BlockReturnType<Derived>::Type block(int startRow, int startCol, int blockRows, int blockCols);
+//     const typename BlockReturnType<Derived>::Type
+//     block(int startRow, int startCol, int blockRows, int blockCols) const;
+//
+//     typename BlockReturnType<Derived>::SubVectorType segment(int start, int size);
+//     const typename BlockReturnType<Derived>::SubVectorType segment(int start, int size) const;
+//
+//     typename BlockReturnType<Derived,Dynamic>::SubVectorType start(int size);
+//     const typename BlockReturnType<Derived,Dynamic>::SubVectorType start(int size) const;
+//
+//     typename BlockReturnType<Derived,Dynamic>::SubVectorType end(int size);
+//     const typename BlockReturnType<Derived,Dynamic>::SubVectorType end(int size) const;
+//
+//     template<int BlockRows, int BlockCols>
+//     typename BlockReturnType<Derived, BlockRows, BlockCols>::Type block(int startRow, int startCol);
+//     template<int BlockRows, int BlockCols>
+//     const typename BlockReturnType<Derived, BlockRows, BlockCols>::Type block(int startRow, int startCol) const;
+
+//     template<int Size> typename BlockReturnType<Derived,Size>::SubVectorType start(void);
+//     template<int Size> const typename BlockReturnType<Derived,Size>::SubVectorType start() const;
+
+//     template<int Size> typename BlockReturnType<Derived,Size>::SubVectorType end();
+//     template<int Size> const typename BlockReturnType<Derived,Size>::SubVectorType end() const;
+
+//     template<int Size> typename BlockReturnType<Derived,Size>::SubVectorType segment(int start);
+//     template<int Size> const typename BlockReturnType<Derived,Size>::SubVectorType segment(int start) const;
+
+//     Diagonal<Derived> diagonal();
+//     const Diagonal<Derived> diagonal() const;
+
+//     template<unsigned int Mode> Part<Derived, Mode> part();
+//     template<unsigned int Mode> const Part<Derived, Mode> part() const;
+
+
+//     static const ConstantReturnType Constant(int rows, int cols, const Scalar& value);
+//     static const ConstantReturnType Constant(int size, const Scalar& value);
+//     static const ConstantReturnType Constant(const Scalar& value);
+
+//     template<typename CustomNullaryOp>
+//     static const CwiseNullaryOp<CustomNullaryOp, Derived> NullaryExpr(int rows, int cols, const CustomNullaryOp& func);
+//     template<typename CustomNullaryOp>
+//     static const CwiseNullaryOp<CustomNullaryOp, Derived> NullaryExpr(int size, const CustomNullaryOp& func);
+//     template<typename CustomNullaryOp>
+//     static const CwiseNullaryOp<CustomNullaryOp, Derived> NullaryExpr(const CustomNullaryOp& func);
+
+//     static const ConstantReturnType Zero(int rows, int cols);
+//     static const ConstantReturnType Zero(int size);
+//     static const ConstantReturnType Zero();
+//     static const ConstantReturnType Ones(int rows, int cols);
+//     static const ConstantReturnType Ones(int size);
+//     static const ConstantReturnType Ones();
+//     static const IdentityReturnType Identity();
+//     static const IdentityReturnType Identity(int rows, int cols);
+//     static const BasisReturnType Unit(int size, int i);
+//     static const BasisReturnType Unit(int i);
+//     static const BasisReturnType UnitX();
+//     static const BasisReturnType UnitY();
+//     static const BasisReturnType UnitZ();
+//     static const BasisReturnType UnitW();
+
+//     const DiagonalMatrix<Derived> asDiagonal() const;
+
+//     Derived& setConstant(const Scalar& value);
+//     Derived& setZero();
+//     Derived& setOnes();
+//     Derived& setRandom();
+//     Derived& setIdentity();
+
+      /** \internal use operator= */
+      template<typename DenseDerived>
+      void evalTo(MatrixBase<DenseDerived>& dst) const
+      {
+        dst.setZero();
+        for (Index j=0; j<outerSize(); ++j)
+          for (typename Derived::InnerIterator i(derived(),j); i; ++i)
+            dst.coeffRef(i.row(),i.col()) = i.value();
+      }
+
+      Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> toDense() const
+      {
+        return derived();
+      }
+
+    template<typename OtherDerived>
+    bool isApprox(const SparseMatrixBase<OtherDerived>& other,
+                  RealScalar prec = NumTraits<Scalar>::dummy_precision()) const
+    { return toDense().isApprox(other.toDense(),prec); }
+
+    template<typename OtherDerived>
+    bool isApprox(const MatrixBase<OtherDerived>& other,
+                  RealScalar prec = NumTraits<Scalar>::dummy_precision()) const
+    { return toDense().isApprox(other,prec); }
+//     bool isMuchSmallerThan(const RealScalar& other,
+//                            RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     template<typename OtherDerived>
+//     bool isMuchSmallerThan(const MatrixBase<OtherDerived>& other,
+//                            RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+//     bool isApproxToConstant(const Scalar& value, RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isZero(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isOnes(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isIdentity(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isDiagonal(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+//     bool isUpper(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isLower(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+//     template<typename OtherDerived>
+//     bool isOrthogonal(const MatrixBase<OtherDerived>& other,
+//                       RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+//     bool isUnitary(RealScalar prec = NumTraits<Scalar>::dummy_precision()) const;
+
+//     template<typename OtherDerived>
+//     inline bool operator==(const MatrixBase<OtherDerived>& other) const
+//     { return (cwise() == other).all(); }
+
+//     template<typename OtherDerived>
+//     inline bool operator!=(const MatrixBase<OtherDerived>& other) const
+//     { return (cwise() != other).any(); }
+
+
+//     template<typename NewType>
+//     const SparseCwiseUnaryOp<internal::scalar_cast_op<typename internal::traits<Derived>::Scalar, NewType>, Derived> cast() const;
+
+    /** \returns the matrix or vector obtained by evaluating this expression.
+      *
+      * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
+      * a const reference, in order to avoid a useless copy.
+      */
+    inline const typename internal::eval<Derived>::type eval() const
+    { return typename internal::eval<Derived>::type(derived()); }
+
+//     template<typename OtherDerived>
+//     void swap(MatrixBase<OtherDerived> const & other);
+
+//     template<unsigned int Added>
+//     const SparseFlagged<Derived, Added, 0> marked() const;
+//     const Flagged<Derived, 0, EvalBeforeNestingBit | EvalBeforeAssigningBit> lazy() const;
+
+    /** \returns number of elements to skip to pass from one row (resp. column) to another
+      * for a row-major (resp. column-major) matrix.
+      * Combined with coeffRef() and the \ref flags flags, it allows a direct access to the data
+      * of the underlying matrix.
+      */
+//     inline int stride(void) const { return derived().stride(); }
+
+// FIXME
+//     ConjugateReturnType conjugate() const;
+//     const RealReturnType real() const;
+//     const ImagReturnType imag() const;
+
+//     template<typename CustomUnaryOp>
+//     const SparseCwiseUnaryOp<CustomUnaryOp, Derived> unaryExpr(const CustomUnaryOp& func = CustomUnaryOp()) const;
+
+//     template<typename CustomBinaryOp, typename OtherDerived>
+//     const CwiseBinaryOp<CustomBinaryOp, Derived, OtherDerived>
+//     binaryExpr(const MatrixBase<OtherDerived> &other, const CustomBinaryOp& func = CustomBinaryOp()) const;
+
+
+    Scalar sum() const;
+//     Scalar trace() const;
+
+//     typename internal::traits<Derived>::Scalar minCoeff() const;
+//     typename internal::traits<Derived>::Scalar maxCoeff() const;
+
+//     typename internal::traits<Derived>::Scalar minCoeff(int* row, int* col = 0) const;
+//     typename internal::traits<Derived>::Scalar maxCoeff(int* row, int* col = 0) const;
+
+//     template<typename BinaryOp>
+//     typename internal::result_of<BinaryOp(typename internal::traits<Derived>::Scalar)>::type
+//     redux(const BinaryOp& func) const;
+
+//     template<typename Visitor>
+//     void visit(Visitor& func) const;
+
+
+//     const SparseCwise<Derived> cwise() const;
+//     SparseCwise<Derived> cwise();
+
+//     inline const WithFormat<Derived> format(const IOFormat& fmt) const;
+
+/////////// Array module ///////////
+    /*
+    bool all(void) const;
+    bool any(void) const;
+
+    const VectorwiseOp<Derived,Horizontal> rowwise() const;
+    const VectorwiseOp<Derived,Vertical> colwise() const;
+
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(int rows, int cols);
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(int size);
+    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random();
+
+    template<typename ThenDerived,typename ElseDerived>
+    const Select<Derived,ThenDerived,ElseDerived>
+    select(const MatrixBase<ThenDerived>& thenMatrix,
+           const MatrixBase<ElseDerived>& elseMatrix) const;
+
+    template<typename ThenDerived>
+    inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
+    select(const MatrixBase<ThenDerived>& thenMatrix, typename ThenDerived::Scalar elseScalar) const;
+
+    template<typename ElseDerived>
+    inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
+    select(typename ElseDerived::Scalar thenScalar, const MatrixBase<ElseDerived>& elseMatrix) const;
+
+    template<int p> RealScalar lpNorm() const;
+    */
+
+
+//     template<typename OtherDerived>
+//     Scalar dot(const MatrixBase<OtherDerived>& other) const
+//     {
+//       EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+//       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+//       EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+//         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+//
+//       eigen_assert(derived().size() == other.size());
+//       // short version, but the assembly looks more complicated because
+//       // of the CwiseBinaryOp iterator complexity
+//       // return res = (derived().cwise() * other.derived().conjugate()).sum();
+//
+//       // optimized, generic version
+//       typename Derived::InnerIterator i(derived(),0);
+//       typename OtherDerived::InnerIterator j(other.derived(),0);
+//       Scalar res = 0;
+//       while (i && j)
+//       {
+//         if (i.index()==j.index())
+//         {
+// //           std::cerr << i.value() << " * " << j.value() << "\n";
+//           res += i.value() * internal::conj(j.value());
+//           ++i; ++j;
+//         }
+//         else if (i.index()<j.index())
+//           ++i;
+//         else
+//           ++j;
+//       }
+//       return res;
+//     }
+//
+//     Scalar sum() const
+//     {
+//       Scalar res = 0;
+//       for (typename Derived::InnerIterator iter(*this,0); iter; ++iter)
+//       {
+//         res += iter.value();
+//       }
+//       return res;
+//     }
+
+  protected:
+
+    bool m_isRValue;
+};
+
+#endif // EIGEN_SPARSEMATRIXBASE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseProduct.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseProduct.h
new file mode 100755
index 0000000..1c1f547
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseProduct.h
@@ -0,0 +1,141 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEPRODUCT_H
+#define EIGEN_SPARSEPRODUCT_H
+
+template<typename Lhs, typename Rhs>
+struct SparseSparseProductReturnType
+{
+  typedef typename internal::traits<Lhs>::Scalar Scalar;
+  enum {
+    LhsRowMajor = internal::traits<Lhs>::Flags & RowMajorBit,
+    RhsRowMajor = internal::traits<Rhs>::Flags & RowMajorBit,
+    TransposeRhs = (!LhsRowMajor) && RhsRowMajor,
+    TransposeLhs = LhsRowMajor && (!RhsRowMajor)
+  };
+
+  typedef typename internal::conditional<TransposeLhs,
+    SparseMatrix<Scalar,0>,
+    const typename internal::nested<Lhs,Rhs::RowsAtCompileTime>::type>::type LhsNested;
+
+  typedef typename internal::conditional<TransposeRhs,
+    SparseMatrix<Scalar,0>,
+    const typename internal::nested<Rhs,Lhs::RowsAtCompileTime>::type>::type RhsNested;
+
+  typedef SparseSparseProduct<LhsNested, RhsNested> Type;
+};
+
+namespace internal {
+template<typename LhsNested, typename RhsNested>
+struct traits<SparseSparseProduct<LhsNested, RhsNested> >
+{
+  typedef MatrixXpr XprKind;
+  // clean the nested types:
+  typedef typename remove_all<LhsNested>::type _LhsNested;
+  typedef typename remove_all<RhsNested>::type _RhsNested;
+  typedef typename _LhsNested::Scalar Scalar;
+  typedef typename promote_index_type<typename traits<_LhsNested>::Index,
+                                         typename traits<_RhsNested>::Index>::type Index;
+
+  enum {
+    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
+    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
+    LhsFlags = _LhsNested::Flags,
+    RhsFlags = _RhsNested::Flags,
+
+    RowsAtCompileTime    = _LhsNested::RowsAtCompileTime,
+    ColsAtCompileTime    = _RhsNested::ColsAtCompileTime,
+    MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
+
+    InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
+
+    EvalToRowMajor = (RhsFlags & LhsFlags & RowMajorBit),
+
+    RemovedBits = ~(EvalToRowMajor ? 0 : RowMajorBit),
+
+    Flags = (int(LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
+          | EvalBeforeAssigningBit
+          | EvalBeforeNestingBit,
+
+    CoeffReadCost = Dynamic
+  };
+
+  typedef Sparse StorageKind;
+};
+
+} // end namespace internal
+
+template<typename LhsNested, typename RhsNested>
+class SparseSparseProduct : internal::no_assignment_operator,
+  public SparseMatrixBase<SparseSparseProduct<LhsNested, RhsNested> >
+{
+  public:
+
+    typedef SparseMatrixBase<SparseSparseProduct> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(SparseSparseProduct)
+
+  private:
+
+    typedef typename internal::traits<SparseSparseProduct>::_LhsNested _LhsNested;
+    typedef typename internal::traits<SparseSparseProduct>::_RhsNested _RhsNested;
+
+  public:
+
+    template<typename Lhs, typename Rhs>
+    EIGEN_STRONG_INLINE SparseSparseProduct(const Lhs& lhs, const Rhs& rhs)
+      : m_lhs(lhs), m_rhs(rhs)
+    {
+      eigen_assert(lhs.cols() == rhs.rows());
+
+      enum {
+        ProductIsValid = _LhsNested::ColsAtCompileTime==Dynamic
+                      || _RhsNested::RowsAtCompileTime==Dynamic
+                      || int(_LhsNested::ColsAtCompileTime)==int(_RhsNested::RowsAtCompileTime),
+        AreVectors = _LhsNested::IsVectorAtCompileTime && _RhsNested::IsVectorAtCompileTime,
+        SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(_LhsNested,_RhsNested)
+      };
+      // note to the lost user:
+      //    * for a dot product use: v1.dot(v2)
+      //    * for a coeff-wise product use: v1.cwise()*v2
+      EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
+        INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
+      EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
+        INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
+      EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
+    }
+
+    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
+    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
+
+    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
+    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
+
+  protected:
+    LhsNested m_lhs;
+    RhsNested m_rhs;
+};
+
+#endif // EIGEN_SPARSEPRODUCT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseRedux.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseRedux.h
new file mode 100755
index 0000000..afc49de
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseRedux.h
@@ -0,0 +1,56 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEREDUX_H
+#define EIGEN_SPARSEREDUX_H
+
+template<typename Derived>
+typename internal::traits<Derived>::Scalar
+SparseMatrixBase<Derived>::sum() const
+{
+  eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
+  Scalar res = 0;
+  for (Index j=0; j<outerSize(); ++j)
+    for (typename Derived::InnerIterator iter(derived(),j); iter; ++iter)
+      res += iter.value();
+  return res;
+}
+
+template<typename _Scalar, int _Options, typename _Index>
+typename internal::traits<SparseMatrix<_Scalar,_Options,_Index> >::Scalar
+SparseMatrix<_Scalar,_Options,_Index>::sum() const
+{
+  eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
+  return Matrix<Scalar,1,Dynamic>::Map(&m_data.value(0), m_data.size()).sum();
+}
+
+template<typename _Scalar, int _Options, typename _Index>
+typename internal::traits<SparseVector<_Scalar,_Options, _Index> >::Scalar
+SparseVector<_Scalar,_Options,_Index>::sum() const
+{
+  eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
+  return Matrix<Scalar,1,Dynamic>::Map(&m_data.value(0), m_data.size()).sum();
+}
+
+#endif // EIGEN_SPARSEREDUX_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseSelfAdjointView.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseSelfAdjointView.h
new file mode 100755
index 0000000..8be358d
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseSelfAdjointView.h
@@ -0,0 +1,454 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_SELFADJOINTVIEW_H
+#define EIGEN_SPARSE_SELFADJOINTVIEW_H
+
+/** \class SparseSelfAdjointView
+  *
+  *
+  * \brief Pseudo expression to manipulate a triangular sparse matrix as a selfadjoint matrix.
+  *
+  * \param MatrixType the type of the dense matrix storing the coefficients
+  * \param UpLo can be either \c Lower or \c Upper
+  *
+  * This class is an expression of a sefladjoint matrix from a triangular part of a matrix
+  * with given dense storage of the coefficients. It is the return type of MatrixBase::selfadjointView()
+  * and most of the time this is the only way that it is used.
+  *
+  * \sa SparseMatrixBase::selfAdjointView()
+  */
+template<typename Lhs, typename Rhs, int UpLo>
+class SparseSelfAdjointTimeDenseProduct;
+
+template<typename Lhs, typename Rhs, int UpLo>
+class DenseTimeSparseSelfAdjointProduct;
+
+template<typename MatrixType,int UpLo>
+class SparseSymmetricPermutationProduct;
+
+namespace internal {
+  
+template<typename MatrixType, unsigned int UpLo>
+struct traits<SparseSelfAdjointView<MatrixType,UpLo> > : traits<MatrixType> {
+};
+
+template<int SrcUpLo,int DstUpLo,typename MatrixType,int DestOrder>
+void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm = 0);
+
+template<int UpLo,typename MatrixType,int DestOrder>
+void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm = 0);
+
+}
+
+template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
+  : public EigenBase<SparseSelfAdjointView<MatrixType,UpLo> >
+{
+  public:
+
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Index,Dynamic,1> VectorI;
+    typedef typename MatrixType::Nested MatrixTypeNested;
+    typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+
+    inline SparseSelfAdjointView(const MatrixType& matrix) : m_matrix(matrix)
+    {
+      eigen_assert(rows()==cols() && "SelfAdjointView is only for squared matrices");
+    }
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+    /** \internal \returns a reference to the nested matrix */
+    const _MatrixTypeNested& matrix() const { return m_matrix; }
+    _MatrixTypeNested& matrix() { return m_matrix.const_cast_derived(); }
+
+    /** Efficient sparse self-adjoint matrix times dense vector/matrix product */
+    template<typename OtherDerived>
+    SparseSelfAdjointTimeDenseProduct<MatrixType,OtherDerived,UpLo>
+    operator*(const MatrixBase<OtherDerived>& rhs) const
+    {
+      return SparseSelfAdjointTimeDenseProduct<MatrixType,OtherDerived,UpLo>(m_matrix, rhs.derived());
+    }
+
+    /** Efficient dense vector/matrix times sparse self-adjoint matrix product */
+    template<typename OtherDerived> friend
+    DenseTimeSparseSelfAdjointProduct<OtherDerived,MatrixType,UpLo>
+    operator*(const MatrixBase<OtherDerived>& lhs, const SparseSelfAdjointView& rhs)
+    {
+      return DenseTimeSparseSelfAdjointProduct<OtherDerived,_MatrixTypeNested,UpLo>(lhs.derived(), rhs.m_matrix);
+    }
+
+    /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
+      * \f$ this = this + \alpha ( u u^* ) \f$ where \a u is a vector or matrix.
+      *
+      * \returns a reference to \c *this
+      *
+      * Note that it is faster to set alpha=0 than initializing the matrix to zero
+      * and then keep the default value alpha=1.
+      *
+      * To perform \f$ this = this + \alpha ( u^* u ) \f$ you can simply
+      * call this function with u.adjoint().
+      */
+    template<typename DerivedU>
+    SparseSelfAdjointView& rankUpdate(const SparseMatrixBase<DerivedU>& u, Scalar alpha = Scalar(1));
+    
+    /** \internal triggered by sparse_matrix = SparseSelfadjointView; */
+    template<typename DestScalar> void evalTo(SparseMatrix<DestScalar>& _dest) const
+    {
+      internal::permute_symm_to_fullsymm<UpLo>(m_matrix, _dest);
+    }
+    
+    template<typename DestScalar> void evalTo(DynamicSparseMatrix<DestScalar>& _dest) const
+    {
+      // TODO directly evaluate into _dest;
+      SparseMatrix<DestScalar> tmp(_dest.rows(),_dest.cols());
+      internal::permute_symm_to_fullsymm<UpLo>(m_matrix, tmp);
+      _dest = tmp;
+    }
+    
+    /** \returns an expression of P^-1 H P */
+    SparseSymmetricPermutationProduct<_MatrixTypeNested,UpLo> twistedBy(const PermutationMatrix<Dynamic>& perm) const
+    {
+      return SparseSymmetricPermutationProduct<_MatrixTypeNested,UpLo>(m_matrix, perm);
+    }
+    
+    template<typename SrcMatrixType,int SrcUpLo>
+    SparseSelfAdjointView& operator=(const SparseSymmetricPermutationProduct<SrcMatrixType,SrcUpLo>& permutedMatrix)
+    {
+      permutedMatrix.evalTo(*this);
+      return *this;
+    }
+    
+
+    // const SparseLLT<PlainObject, UpLo> llt() const;
+    // const SparseLDLT<PlainObject, UpLo> ldlt() const;
+
+  protected:
+
+    const typename MatrixType::Nested m_matrix;
+    mutable VectorI m_countPerRow;
+    mutable VectorI m_countPerCol;
+};
+
+/***************************************************************************
+* Implementation of SparseMatrixBase methods
+***************************************************************************/
+
+template<typename Derived>
+template<unsigned int UpLo>
+const SparseSelfAdjointView<Derived, UpLo> SparseMatrixBase<Derived>::selfadjointView() const
+{
+  return derived();
+}
+
+template<typename Derived>
+template<unsigned int UpLo>
+SparseSelfAdjointView<Derived, UpLo> SparseMatrixBase<Derived>::selfadjointView()
+{
+  return derived();
+}
+
+/***************************************************************************
+* Implementation of SparseSelfAdjointView methods
+***************************************************************************/
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename DerivedU>
+SparseSelfAdjointView<MatrixType,UpLo>&
+SparseSelfAdjointView<MatrixType,UpLo>::rankUpdate(const SparseMatrixBase<DerivedU>& u, Scalar alpha)
+{
+  SparseMatrix<Scalar,MatrixType::Flags&RowMajorBit?RowMajor:ColMajor> tmp = u * u.adjoint();
+  if(alpha==Scalar(0))
+    m_matrix.const_cast_derived() = tmp.template triangularView<UpLo>();
+  else
+    m_matrix.const_cast_derived() += alpha * tmp.template triangularView<UpLo>();
+
+  return *this;
+}
+
+/***************************************************************************
+* Implementation of sparse self-adjoint time dense matrix
+***************************************************************************/
+
+namespace internal {
+template<typename Lhs, typename Rhs, int UpLo>
+struct traits<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo> >
+ : traits<ProductBase<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo>, Lhs, Rhs> >
+{
+  typedef Dense StorageKind;
+};
+}
+
+template<typename Lhs, typename Rhs, int UpLo>
+class SparseSelfAdjointTimeDenseProduct
+  : public ProductBase<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(SparseSelfAdjointTimeDenseProduct)
+
+    SparseSelfAdjointTimeDenseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {}
+
+    template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
+    {
+      // TODO use alpha
+      eigen_assert(alpha==Scalar(1) && "alpha != 1 is not implemented yet, sorry");
+      typedef typename internal::remove_all<Lhs>::type _Lhs;
+      typedef typename internal::remove_all<Rhs>::type _Rhs;
+      typedef typename _Lhs::InnerIterator LhsInnerIterator;
+      enum {
+        LhsIsRowMajor = (_Lhs::Flags&RowMajorBit)==RowMajorBit,
+        ProcessFirstHalf =
+                 ((UpLo&(Upper|Lower))==(Upper|Lower))
+              || ( (UpLo&Upper) && !LhsIsRowMajor)
+              || ( (UpLo&Lower) && LhsIsRowMajor),
+        ProcessSecondHalf = !ProcessFirstHalf
+      };
+      for (Index j=0; j<m_lhs.outerSize(); ++j)
+      {
+        LhsInnerIterator i(m_lhs,j);
+        if (ProcessSecondHalf && i && (i.index()==j))
+        {
+          dest.row(j) += i.value() * m_rhs.row(j);
+          ++i;
+        }
+        Block<Dest,1,Dest::ColsAtCompileTime> dest_j(dest.row(LhsIsRowMajor ? j : 0));
+        for(; (ProcessFirstHalf ? i && i.index() < j : i) ; ++i)
+        {
+          Index a = LhsIsRowMajor ? j : i.index();
+          Index b = LhsIsRowMajor ? i.index() : j;
+          typename Lhs::Scalar v = i.value();
+          dest.row(a) += (v) * m_rhs.row(b);
+          dest.row(b) += internal::conj(v) * m_rhs.row(a);
+        }
+        if (ProcessFirstHalf && i && (i.index()==j))
+          dest.row(j) += i.value() * m_rhs.row(j);
+      }
+    }
+
+  private:
+    SparseSelfAdjointTimeDenseProduct& operator=(const SparseSelfAdjointTimeDenseProduct&);
+};
+
+namespace internal {
+template<typename Lhs, typename Rhs, int UpLo>
+struct traits<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo> >
+ : traits<ProductBase<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo>, Lhs, Rhs> >
+{};
+}
+
+template<typename Lhs, typename Rhs, int UpLo>
+class DenseTimeSparseSelfAdjointProduct
+  : public ProductBase<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo>, Lhs, Rhs>
+{
+  public:
+    EIGEN_PRODUCT_PUBLIC_INTERFACE(DenseTimeSparseSelfAdjointProduct)
+
+    DenseTimeSparseSelfAdjointProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    {}
+
+    template<typename Dest> void scaleAndAddTo(Dest& /*dest*/, Scalar /*alpha*/) const
+    {
+      // TODO
+    }
+
+  private:
+    DenseTimeSparseSelfAdjointProduct& operator=(const DenseTimeSparseSelfAdjointProduct&);
+};
+
+/***************************************************************************
+* Implementation of symmetric copies and permutations
+***************************************************************************/
+namespace internal {
+  
+template<typename MatrixType, int UpLo>
+struct traits<SparseSymmetricPermutationProduct<MatrixType,UpLo> > : traits<MatrixType> {
+};
+
+template<int UpLo,typename MatrixType,int DestOrder>
+void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm)
+{
+  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef SparseMatrix<Scalar,DestOrder,Index> Dest;
+  typedef Matrix<Index,Dynamic,1> VectorI;
+  
+  Dest& dest(_dest.derived());
+  enum {
+    StorageOrderMatch = int(Dest::IsRowMajor) == int(MatrixType::IsRowMajor)
+  };
+  eigen_assert(perm==0);
+  Index size = mat.rows();
+  VectorI count;
+  count.resize(size);
+  count.setZero();
+  dest.resize(size,size);
+  for(Index j = 0; j<size; ++j)
+  {
+    Index jp = perm ? perm[j] : j;
+    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    {
+      Index i = it.index();
+      Index ip = perm ? perm[i] : i;
+      if(i==j)
+        count[ip]++;
+      else if((UpLo==Lower && i>j) || (UpLo==Upper && i<j))
+      {
+        count[ip]++;
+        count[jp]++;
+      }
+    }
+  }
+  Index nnz = count.sum();
+  
+  // reserve space
+  dest.reserve(nnz);
+  dest._outerIndexPtr()[0] = 0;
+  for(Index j=0; j<size; ++j)
+    dest._outerIndexPtr()[j+1] = dest._outerIndexPtr()[j] + count[j];
+  for(Index j=0; j<size; ++j)
+    count[j] = dest._outerIndexPtr()[j];
+  
+  // copy data
+  for(Index j = 0; j<size; ++j)
+  {
+    Index jp = perm ? perm[j] : j;
+    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    {
+      Index i = it.index();
+      Index ip = perm ? perm[i] : i;
+      if(i==j)
+      {
+        int k = count[ip]++;
+        dest._innerIndexPtr()[k] = ip;
+        dest._valuePtr()[k] = it.value();
+      }
+      else if((UpLo==Lower && i>j) || (UpLo==Upper && i<j))
+      {
+        int k = count[jp]++;
+        dest._innerIndexPtr()[k] = ip;
+        dest._valuePtr()[k] = it.value();
+        k = count[ip]++;
+        dest._innerIndexPtr()[k] = jp;
+        dest._valuePtr()[k] = internal::conj(it.value());
+      }
+    }
+  }
+}
+
+template<int SrcUpLo,int DstUpLo,typename MatrixType,int DestOrder>
+void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm)
+{
+  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef SparseMatrix<Scalar,DestOrder,Index> Dest;
+  Dest& dest(_dest.derived());
+  typedef Matrix<Index,Dynamic,1> VectorI;
+  //internal::conj_if<SrcUpLo!=DstUpLo> cj;
+  
+  Index size = mat.rows();
+  VectorI count(size);
+  count.setZero();
+  dest.resize(size,size);
+  for(Index j = 0; j<size; ++j)
+  {
+    Index jp = perm ? perm[j] : j;
+    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    {
+      Index i = it.index();
+      if((SrcUpLo==Lower && i<j) || (SrcUpLo==Upper && i>j))
+        continue;
+                  
+      Index ip = perm ? perm[i] : i;
+      count[DstUpLo==Lower ? std::min(ip,jp) : std::max(ip,jp)]++;
+    }
+  }
+  dest._outerIndexPtr()[0] = 0;
+  for(Index j=0; j<size; ++j)
+    dest._outerIndexPtr()[j+1] = dest._outerIndexPtr()[j] + count[j];
+  dest.resizeNonZeros(dest._outerIndexPtr()[size]);
+  for(Index j=0; j<size; ++j)
+    count[j] = dest._outerIndexPtr()[j];
+  
+  for(Index j = 0; j<size; ++j)
+  {
+    Index jp = perm ? perm[j] : j;
+    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    {
+      Index i = it.index();
+      if((SrcUpLo==Lower && i<j) || (SrcUpLo==Upper && i>j))
+        continue;
+                  
+      Index ip = perm? perm[i] : i;
+      Index k = count[DstUpLo==Lower ? std::min(ip,jp) : std::max(ip,jp)]++;
+      dest._innerIndexPtr()[k] = DstUpLo==Lower ? std::max(ip,jp) : std::min(ip,jp);
+      
+      if((DstUpLo==Lower && ip<jp) || (DstUpLo==Upper && ip>jp))
+        dest._valuePtr()[k] = conj(it.value());
+      else
+        dest._valuePtr()[k] = it.value();
+    }
+  }
+}
+
+}
+
+template<typename MatrixType,int UpLo>
+class SparseSymmetricPermutationProduct
+  : public EigenBase<SparseSymmetricPermutationProduct<MatrixType,UpLo> >
+{
+    typedef PermutationMatrix<Dynamic> Perm;
+  public:
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::Index Index;
+    typedef Matrix<Index,Dynamic,1> VectorI;
+    typedef typename MatrixType::Nested MatrixTypeNested;
+    typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+    
+    SparseSymmetricPermutationProduct(const MatrixType& mat, const Perm& perm)
+      : m_matrix(mat), m_perm(perm)
+    {}
+    
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+    
+    template<typename DestScalar> void evalTo(SparseMatrix<DestScalar>& _dest) const
+    {
+      internal::permute_symm_to_fullsymm<UpLo>(m_matrix,_dest,m_perm.indices().data());
+    }
+    
+    template<typename DestType,unsigned int DestUpLo> void evalTo(SparseSelfAdjointView<DestType,DestUpLo>& dest) const
+    {
+      internal::permute_symm_to_symm<UpLo,DestUpLo>(m_matrix,dest.matrix(),m_perm.indices().data());
+    }
+    
+  protected:
+    const MatrixTypeNested m_matrix;
+    const Perm& m_perm;
+
+};
+
+#endif // EIGEN_SPARSE_SELFADJOINTVIEW_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseSparseProduct.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseSparseProduct.h
new file mode 100755
index 0000000..cade6fd
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseSparseProduct.h
@@ -0,0 +1,401 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSESPARSEPRODUCT_H
+#define EIGEN_SPARSESPARSEPRODUCT_H
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, typename ResultType>
+static void sparse_product_impl2(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+{
+  typedef typename remove_all<Lhs>::type::Scalar Scalar;
+  typedef typename remove_all<Lhs>::type::Index Index;
+
+  // make sure to call innerSize/outerSize since we fake the storage order.
+  Index rows = lhs.innerSize();
+  Index cols = rhs.outerSize();
+  eigen_assert(lhs.outerSize() == rhs.innerSize());
+
+  std::vector<bool> mask(rows,false);
+  Matrix<Scalar,Dynamic,1> values(rows);
+  Matrix<Index,Dynamic,1>    indices(rows);
+
+  // estimate the number of non zero entries
+  float ratioLhs = float(lhs.nonZeros())/(float(lhs.rows())*float(lhs.cols()));
+  float avgNnzPerRhsColumn = float(rhs.nonZeros())/float(cols);
+  float ratioRes = std::min(ratioLhs * avgNnzPerRhsColumn, 1.f);
+
+//  int t200 = rows/(log2(200)*1.39);
+//  int t = (rows*100)/139;
+
+  res.resize(rows, cols);
+  res.reserve(Index(ratioRes*rows*cols));
+  // we compute each column of the result, one after the other
+  for (Index j=0; j<cols; ++j)
+  {
+
+    res.startVec(j);
+    Index nnz = 0;
+    for (typename Rhs::InnerIterator rhsIt(rhs, j); rhsIt; ++rhsIt)
+    {
+      Scalar y = rhsIt.value();
+      Index k = rhsIt.index();
+      for (typename Lhs::InnerIterator lhsIt(lhs, k); lhsIt; ++lhsIt)
+      {
+        Index i = lhsIt.index();
+        Scalar x = lhsIt.value();
+        if(!mask[i])
+        {
+          mask[i] = true;
+//           values[i] = x * y;
+//           indices[nnz] = i;
+          ++nnz;
+        }
+        else
+          values[i] += x * y;
+      }
+    }
+    // FIXME reserve nnz non zeros
+    // FIXME implement fast sort algorithms for very small nnz
+    // if the result is sparse enough => use a quick sort
+    // otherwise => loop through the entire vector
+    // In order to avoid to perform an expensive log2 when the
+    // result is clearly very sparse we use a linear bound up to 200.
+//     if((nnz<200 && nnz<t200) || nnz * log2(nnz) < t)
+//     {
+//       if(nnz>1) std::sort(indices.data(),indices.data()+nnz);
+//       for(int k=0; k<nnz; ++k)
+//       {
+//         int i = indices[k];
+//         res.insertBackNoCheck(j,i) = values[i];
+//         mask[i] = false;
+//       }
+//     }
+//     else
+//     {
+//       // dense path
+//       for(int i=0; i<rows; ++i)
+//       {
+//         if(mask[i])
+//         {
+//           mask[i] = false;
+//           res.insertBackNoCheck(j,i) = values[i];
+//         }
+//       }
+//     }
+
+  }
+  res.finalize();
+}
+
+// perform a pseudo in-place sparse * sparse product assuming all matrices are col major
+template<typename Lhs, typename Rhs, typename ResultType>
+static void sparse_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+{
+//   return sparse_product_impl2(lhs,rhs,res);
+
+  typedef typename remove_all<Lhs>::type::Scalar Scalar;
+  typedef typename remove_all<Lhs>::type::Index Index;
+
+  // make sure to call innerSize/outerSize since we fake the storage order.
+  Index rows = lhs.innerSize();
+  Index cols = rhs.outerSize();
+  //int size = lhs.outerSize();
+  eigen_assert(lhs.outerSize() == rhs.innerSize());
+
+  // allocate a temporary buffer
+  AmbiVector<Scalar,Index> tempVector(rows);
+
+  // estimate the number of non zero entries
+  float ratioLhs = float(lhs.nonZeros())/(float(lhs.rows())*float(lhs.cols()));
+  float avgNnzPerRhsColumn = float(rhs.nonZeros())/float(cols);
+  float ratioRes = std::min(ratioLhs * avgNnzPerRhsColumn, 1.f);
+
+  // mimics a resizeByInnerOuter:
+  if(ResultType::IsRowMajor)
+    res.resize(cols, rows);
+  else
+    res.resize(rows, cols);
+
+  res.reserve(Index(ratioRes*rows*cols));
+  for (Index j=0; j<cols; ++j)
+  {
+    // let's do a more accurate determination of the nnz ratio for the current column j of res
+    //float ratioColRes = std::min(ratioLhs * rhs.innerNonZeros(j), 1.f);
+    // FIXME find a nice way to get the number of nonzeros of a sub matrix (here an inner vector)
+    float ratioColRes = ratioRes;
+    tempVector.init(ratioColRes);
+    tempVector.setZero();
+    for (typename Rhs::InnerIterator rhsIt(rhs, j); rhsIt; ++rhsIt)
+    {
+      // FIXME should be written like this: tmp += rhsIt.value() * lhs.col(rhsIt.index())
+      tempVector.restart();
+      Scalar x = rhsIt.value();
+      for (typename Lhs::InnerIterator lhsIt(lhs, rhsIt.index()); lhsIt; ++lhsIt)
+      {
+        tempVector.coeffRef(lhsIt.index()) += lhsIt.value() * x;
+      }
+    }
+    res.startVec(j);
+    for (typename AmbiVector<Scalar,Index>::Iterator it(tempVector); it; ++it)
+      res.insertBackByOuterInner(j,it.index()) = it.value();
+  }
+  res.finalize();
+}
+
+template<typename Lhs, typename Rhs, typename ResultType,
+  int LhsStorageOrder = traits<Lhs>::Flags&RowMajorBit,
+  int RhsStorageOrder = traits<Rhs>::Flags&RowMajorBit,
+  int ResStorageOrder = traits<ResultType>::Flags&RowMajorBit>
+struct sparse_product_selector;
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor,ColMajor>
+{
+  typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
+
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+//     std::cerr << __LINE__ << "\n";
+    typename remove_all<ResultType>::type _res(res.rows(), res.cols());
+    sparse_product_impl<Lhs,Rhs,ResultType>(lhs, rhs, _res);
+    res.swap(_res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+//     std::cerr << __LINE__ << "\n";
+    // we need a col-major matrix to hold the result
+    typedef SparseMatrix<typename ResultType::Scalar> SparseTemporaryType;
+    SparseTemporaryType _res(res.rows(), res.cols());
+    sparse_product_impl<Lhs,Rhs,SparseTemporaryType>(lhs, rhs, _res);
+    res = _res;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+//     std::cerr << __LINE__ << "\n";
+    // let's transpose the product to get a column x column product
+    typename remove_all<ResultType>::type _res(res.rows(), res.cols());
+    sparse_product_impl<Rhs,Lhs,ResultType>(rhs, lhs, _res);
+    res.swap(_res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+//     std::cerr << "here...\n";
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+    ColMajorMatrix colLhs(lhs);
+    ColMajorMatrix colRhs(rhs);
+//     std::cerr << "more...\n";
+    sparse_product_impl<ColMajorMatrix,ColMajorMatrix,ResultType>(colLhs, colRhs, res);
+//     std::cerr << "OK.\n";
+
+    // let's transpose the product to get a column x column product
+
+//     typedef SparseMatrix<typename ResultType::Scalar> SparseTemporaryType;
+//     SparseTemporaryType _res(res.cols(), res.rows());
+//     sparse_product_impl<Rhs,Lhs,SparseTemporaryType>(rhs, lhs, _res);
+//     res = _res.transpose();
+  }
+};
+
+// NOTE the 2 others cases (col row *) must never occur since they are caught
+// by ProductReturnType which transforms it to (col col *) by evaluating rhs.
+
+} // end namespace internal
+
+// sparse = sparse * sparse
+template<typename Derived>
+template<typename Lhs, typename Rhs>
+inline Derived& SparseMatrixBase<Derived>::operator=(const SparseSparseProduct<Lhs,Rhs>& product)
+{
+//   std::cerr << "there..." << typeid(Lhs).name() << "  " << typeid(Lhs).name() << " " << (Derived::Flags&&RowMajorBit) << "\n";
+  internal::sparse_product_selector<
+    typename internal::remove_all<Lhs>::type,
+    typename internal::remove_all<Rhs>::type,
+    Derived>::run(product.lhs(),product.rhs(),derived());
+  return derived();
+}
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, typename ResultType,
+  int LhsStorageOrder = traits<Lhs>::Flags&RowMajorBit,
+  int RhsStorageOrder = traits<Rhs>::Flags&RowMajorBit,
+  int ResStorageOrder = traits<ResultType>::Flags&RowMajorBit>
+struct sparse_product_selector2;
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,ColMajor,ColMajor,ColMajor>
+{
+  typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
+
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    sparse_product_impl2<Lhs,Rhs,ResultType>(lhs, rhs, res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,RowMajor,ColMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+      // prevent warnings until the code is fixed
+      EIGEN_UNUSED_VARIABLE(lhs);
+      EIGEN_UNUSED_VARIABLE(rhs);
+      EIGEN_UNUSED_VARIABLE(res);
+
+//     typedef SparseMatrix<typename ResultType::Scalar,RowMajor> RowMajorMatrix;
+//     RowMajorMatrix rhsRow = rhs;
+//     RowMajorMatrix resRow(res.rows(), res.cols());
+//     sparse_product_impl2<RowMajorMatrix,Lhs,RowMajorMatrix>(rhsRow, lhs, resRow);
+//     res = resRow;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,ColMajor,RowMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor> RowMajorMatrix;
+    RowMajorMatrix lhsRow = lhs;
+    RowMajorMatrix resRow(res.rows(), res.cols());
+    sparse_product_impl2<Rhs,RowMajorMatrix,RowMajorMatrix>(rhs, lhsRow, resRow);
+    res = resRow;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,RowMajor,RowMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor> RowMajorMatrix;
+    RowMajorMatrix resRow(res.rows(), res.cols());
+    sparse_product_impl2<Rhs,Lhs,RowMajorMatrix>(rhs, lhs, resRow);
+    res = resRow;
+  }
+};
+
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,ColMajor,ColMajor,RowMajor>
+{
+  typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
+
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+    ColMajorMatrix resCol(res.rows(), res.cols());
+    sparse_product_impl2<Lhs,Rhs,ColMajorMatrix>(lhs, rhs, resCol);
+    res = resCol;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,RowMajor,ColMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+    ColMajorMatrix lhsCol = lhs;
+    ColMajorMatrix resCol(res.rows(), res.cols());
+    sparse_product_impl2<ColMajorMatrix,Rhs,ColMajorMatrix>(lhsCol, rhs, resCol);
+    res = resCol;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,ColMajor,RowMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+    ColMajorMatrix rhsCol = rhs;
+    ColMajorMatrix resCol(res.rows(), res.cols());
+    sparse_product_impl2<Lhs,ColMajorMatrix,ColMajorMatrix>(lhs, rhsCol, resCol);
+    res = resCol;
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_product_selector2<Lhs,Rhs,ResultType,RowMajor,RowMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+//     ColMajorMatrix lhsTr(lhs);
+//     ColMajorMatrix rhsTr(rhs);
+//     ColMajorMatrix aux(res.rows(), res.cols());
+//     sparse_product_impl2<Rhs,Lhs,ColMajorMatrix>(rhs, lhs, aux);
+// //     ColMajorMatrix aux2 = aux.transpose();
+//     res = aux;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor> ColMajorMatrix;
+    ColMajorMatrix lhsCol(lhs);
+    ColMajorMatrix rhsCol(rhs);
+    ColMajorMatrix resCol(res.rows(), res.cols());
+    sparse_product_impl2<ColMajorMatrix,ColMajorMatrix,ColMajorMatrix>(lhsCol, rhsCol, resCol);
+    res = resCol;
+  }
+};
+
+} // end namespace internal
+
+template<typename Derived>
+template<typename Lhs, typename Rhs>
+inline void SparseMatrixBase<Derived>::_experimentalNewProduct(const Lhs& lhs, const Rhs& rhs)
+{
+  //derived().resize(lhs.rows(), rhs.cols());
+  internal::sparse_product_selector2<
+    typename internal::remove_all<Lhs>::type,
+    typename internal::remove_all<Rhs>::type,
+    Derived>::run(lhs,rhs,derived());
+}
+
+// sparse * sparse
+template<typename Derived>
+template<typename OtherDerived>
+inline const typename SparseSparseProductReturnType<Derived,OtherDerived>::Type
+SparseMatrixBase<Derived>::operator*(const SparseMatrixBase<OtherDerived> &other) const
+{
+  return typename SparseSparseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+}
+
+#endif // EIGEN_SPARSESPARSEPRODUCT_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseTranspose.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseTranspose.h
new file mode 100755
index 0000000..2aea2fa
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseTranspose.h
@@ -0,0 +1,68 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSETRANSPOSE_H
+#define EIGEN_SPARSETRANSPOSE_H
+
+template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>
+  : public SparseMatrixBase<Transpose<MatrixType> >
+{
+    typedef typename internal::remove_all<typename MatrixType::Nested>::type _MatrixTypeNested;
+  public:
+
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Transpose<MatrixType>)
+
+    class InnerIterator;
+    class ReverseInnerIterator;
+
+    inline Index nonZeros() const { return derived().nestedExpression().nonZeros(); }
+};
+
+template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>::InnerIterator
+  : public _MatrixTypeNested::InnerIterator
+{
+    typedef typename _MatrixTypeNested::InnerIterator Base;
+  public:
+
+    EIGEN_STRONG_INLINE InnerIterator(const TransposeImpl& trans, Index outer)
+      : Base(trans.derived().nestedExpression(), outer)
+    {}
+    inline Index row() const { return Base::col(); }
+    inline Index col() const { return Base::row(); }
+};
+
+template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>::ReverseInnerIterator
+  : public _MatrixTypeNested::ReverseInnerIterator
+{
+    typedef typename _MatrixTypeNested::ReverseInnerIterator Base;
+  public:
+
+    EIGEN_STRONG_INLINE ReverseInnerIterator(const TransposeImpl& xpr, Index outer)
+      : Base(xpr.derived().nestedExpression(), outer)
+    {}
+    inline Index row() const { return Base::col(); }
+    inline Index col() const { return Base::row(); }
+};
+
+#endif // EIGEN_SPARSETRANSPOSE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseTriangularView.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseTriangularView.h
new file mode 100755
index 0000000..319eaf0
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseTriangularView.h
@@ -0,0 +1,100 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_TRIANGULARVIEW_H
+#define EIGEN_SPARSE_TRIANGULARVIEW_H
+
+namespace internal {
+  
+template<typename MatrixType, int Mode>
+struct traits<SparseTriangularView<MatrixType,Mode> >
+: public traits<MatrixType>
+{};
+
+} // namespace internal
+
+template<typename MatrixType, int Mode> class SparseTriangularView
+  : public SparseMatrixBase<SparseTriangularView<MatrixType,Mode> >
+{
+    enum { SkipFirst = (Mode==Lower && !(MatrixType::Flags&RowMajorBit))
+                    || (Mode==Upper &&  (MatrixType::Flags&RowMajorBit)) };
+  public:
+    
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseTriangularView)
+
+    class InnerIterator;
+
+    inline Index rows() const { return m_matrix.rows(); }
+    inline Index cols() const { return m_matrix.cols(); }
+
+    typedef typename internal::conditional<internal::must_nest_by_value<MatrixType>::ret,
+        MatrixType, const MatrixType&>::type MatrixTypeNested;
+
+    inline SparseTriangularView(const MatrixType& matrix) : m_matrix(matrix) {}
+
+    /** \internal */
+    inline const MatrixType& nestedExpression() const { return m_matrix; }
+
+    template<typename OtherDerived>
+    typename internal::plain_matrix_type_column_major<OtherDerived>::type
+    solve(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename OtherDerived> void solveInPlace(MatrixBase<OtherDerived>& other) const;
+    template<typename OtherDerived> void solveInPlace(SparseMatrixBase<OtherDerived>& other) const;
+
+  protected:
+    MatrixTypeNested m_matrix;
+};
+
+template<typename MatrixType, int Mode>
+class SparseTriangularView<MatrixType,Mode>::InnerIterator : public MatrixType::InnerIterator
+{
+    typedef typename MatrixType::InnerIterator Base;
+  public:
+
+    EIGEN_STRONG_INLINE InnerIterator(const SparseTriangularView& view, Index outer)
+      : Base(view.nestedExpression(), outer)
+    {
+      if(SkipFirst)
+        while((*this) && this->index()<outer)
+          ++(*this);
+    }
+    inline Index row() const { return Base::row(); }
+    inline Index col() const { return Base::col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const
+    {
+      return SkipFirst ? Base::operator bool() : (Base::operator bool() && this->index() <= this->outer());
+    }
+};
+
+template<typename Derived>
+template<int Mode>
+inline const SparseTriangularView<Derived, Mode>
+SparseMatrixBase<Derived>::triangularView() const
+{
+  return derived();
+}
+
+#endif // EIGEN_SPARSE_TRIANGULARVIEW_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseUtil.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseUtil.h
new file mode 100755
index 0000000..db9ae98
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseUtil.h
@@ -0,0 +1,130 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEUTIL_H
+#define EIGEN_SPARSEUTIL_H
+
+#ifdef NDEBUG
+#define EIGEN_DBG_SPARSE(X)
+#else
+#define EIGEN_DBG_SPARSE(X) X
+#endif
+
+#define EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, Op) \
+template<typename OtherDerived> \
+EIGEN_STRONG_INLINE Derived& operator Op(const Eigen::SparseMatrixBase<OtherDerived>& other) \
+{ \
+  return Base::operator Op(other.derived()); \
+} \
+EIGEN_STRONG_INLINE Derived& operator Op(const Derived& other) \
+{ \
+  return Base::operator Op(other); \
+}
+
+#define EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
+template<typename Other> \
+EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
+{ \
+  return Base::operator Op(scalar); \
+}
+
+#define EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
+EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, =) \
+EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, +=) \
+EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, -=) \
+EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, *=) \
+EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, /=)
+
+#define _EIGEN_SPARSE_PUBLIC_INTERFACE(Derived, BaseClass) \
+  typedef BaseClass Base; \
+  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; \
+  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; \
+  typedef typename Eigen::internal::nested<Derived>::type Nested; \
+  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
+  typedef typename Eigen::internal::traits<Derived>::Index Index; \
+  enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
+        ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
+        Flags = Eigen::internal::traits<Derived>::Flags, \
+        CoeffReadCost = Eigen::internal::traits<Derived>::CoeffReadCost, \
+        SizeAtCompileTime = Base::SizeAtCompileTime, \
+        IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
+  using Base::derived; \
+  using Base::const_cast_derived;
+
+#define EIGEN_SPARSE_PUBLIC_INTERFACE(Derived) \
+  _EIGEN_SPARSE_PUBLIC_INTERFACE(Derived, Eigen::SparseMatrixBase<Derived>)
+
+const int CoherentAccessPattern     = 0x1;
+const int InnerRandomAccessPattern  = 0x2 | CoherentAccessPattern;
+const int OuterRandomAccessPattern  = 0x4 | CoherentAccessPattern;
+const int RandomAccessPattern       = 0x8 | OuterRandomAccessPattern | InnerRandomAccessPattern;
+
+template<typename Derived> class SparseMatrixBase;
+template<typename _Scalar, int _Flags = 0, typename _Index = int>  class SparseMatrix;
+template<typename _Scalar, int _Flags = 0, typename _Index = int>  class DynamicSparseMatrix;
+template<typename _Scalar, int _Flags = 0, typename _Index = int>  class SparseVector;
+template<typename _Scalar, int _Flags = 0, typename _Index = int>  class MappedSparseMatrix;
+
+template<typename MatrixType, int Size>           class SparseInnerVectorSet;
+template<typename MatrixType, int Mode>           class SparseTriangularView;
+template<typename MatrixType, unsigned int UpLo>  class SparseSelfAdjointView;
+template<typename Lhs, typename Rhs>              class SparseDiagonalProduct;
+template<typename MatrixType> class SparseView;
+
+template<typename Lhs, typename Rhs>        class SparseSparseProduct;
+template<typename Lhs, typename Rhs>        class SparseTimeDenseProduct;
+template<typename Lhs, typename Rhs>        class DenseTimeSparseProduct;
+template<typename Lhs, typename Rhs, bool Transpose> class SparseDenseOuterProduct;
+
+template<typename Lhs, typename Rhs> struct SparseSparseProductReturnType;
+template<typename Lhs, typename Rhs, int InnerSize = internal::traits<Lhs>::ColsAtCompileTime> struct DenseSparseProductReturnType;
+template<typename Lhs, typename Rhs, int InnerSize = internal::traits<Lhs>::ColsAtCompileTime> struct SparseDenseProductReturnType;
+
+namespace internal {
+
+template<typename T> struct eval<T,Sparse>
+{
+    typedef typename traits<T>::Scalar _Scalar;
+    enum {
+          _Flags = traits<T>::Flags
+    };
+
+  public:
+    typedef SparseMatrix<_Scalar, _Flags> type;
+};
+
+template<typename T> struct plain_matrix_type<T,Sparse>
+{
+  typedef typename traits<T>::Scalar _Scalar;
+    enum {
+          _Flags = traits<T>::Flags
+    };
+
+  public:
+    typedef SparseMatrix<_Scalar, _Flags> type;
+};
+
+} // end namespace internal
+
+#endif // EIGEN_SPARSEUTIL_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseVector.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseVector.h
new file mode 100755
index 0000000..ce4bb51
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseVector.h
@@ -0,0 +1,431 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEVECTOR_H
+#define EIGEN_SPARSEVECTOR_H
+
+/** \class SparseVector
+  *
+  * \brief a sparse vector class
+  *
+  * \tparam _Scalar the scalar type, i.e. the type of the coefficients
+  *
+  * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
+  *
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_SPARSEVECTOR_PLUGIN.
+  */
+
+namespace internal {
+template<typename _Scalar, int _Options, typename _Index>
+struct traits<SparseVector<_Scalar, _Options, _Index> >
+{
+  typedef _Scalar Scalar;
+  typedef _Index Index;
+  typedef Sparse StorageKind;
+  typedef MatrixXpr XprKind;
+  enum {
+    IsColVector = _Options & RowMajorBit ? 0 : 1,
+
+    RowsAtCompileTime = IsColVector ? Dynamic : 1,
+    ColsAtCompileTime = IsColVector ? 1 : Dynamic,
+    MaxRowsAtCompileTime = RowsAtCompileTime,
+    MaxColsAtCompileTime = ColsAtCompileTime,
+    Flags = _Options | NestByRefBit | LvalueBit,
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    SupportedAccessPatterns = InnerRandomAccessPattern
+  };
+};
+}
+
+template<typename _Scalar, int _Options, typename _Index>
+class SparseVector
+  : public SparseMatrixBase<SparseVector<_Scalar, _Options, _Index> >
+{
+  public:
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseVector)
+    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, +=)
+    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, -=)
+//     EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, =)
+
+  protected:
+  public:
+
+    typedef SparseMatrixBase<SparseVector> SparseBase;
+    enum { IsColVector = internal::traits<SparseVector>::IsColVector };
+    
+    enum {
+      Options = _Options
+    };
+
+    CompressedStorage<Scalar,Index> m_data;
+    Index m_size;
+
+    CompressedStorage<Scalar,Index>& _data() { return m_data; }
+    CompressedStorage<Scalar,Index>& _data() const { return m_data; }
+
+  public:
+
+    EIGEN_STRONG_INLINE Index rows() const { return IsColVector ? m_size : 1; }
+    EIGEN_STRONG_INLINE Index cols() const { return IsColVector ? 1 : m_size; }
+    EIGEN_STRONG_INLINE Index innerSize() const { return m_size; }
+    EIGEN_STRONG_INLINE Index outerSize() const { return 1; }
+    EIGEN_STRONG_INLINE Index innerNonZeros(Index j) const { eigen_assert(j==0); return m_size; }
+
+    EIGEN_STRONG_INLINE const Scalar* _valuePtr() const { return &m_data.value(0); }
+    EIGEN_STRONG_INLINE Scalar* _valuePtr() { return &m_data.value(0); }
+
+    EIGEN_STRONG_INLINE const Index* _innerIndexPtr() const { return &m_data.index(0); }
+    EIGEN_STRONG_INLINE Index* _innerIndexPtr() { return &m_data.index(0); }
+
+    inline Scalar coeff(Index row, Index col) const
+    {
+      eigen_assert((IsColVector ? col : row)==0);
+      return coeff(IsColVector ? row : col);
+    }
+    inline Scalar coeff(Index i) const { return m_data.at(i); }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      eigen_assert((IsColVector ? col : row)==0);
+      return coeff(IsColVector ? row : col);
+    }
+
+    /** \returns a reference to the coefficient value at given index \a i
+      * This operation involes a log(rho*size) binary search. If the coefficient does not
+      * exist yet, then a sorted insertion into a sequential buffer is performed.
+      *
+      * This insertion might be very costly if the number of nonzeros above \a i is large.
+      */
+    inline Scalar& coeffRef(Index i)
+    {
+      return m_data.atWithInsertion(i);
+    }
+
+  public:
+
+    class InnerIterator;
+
+    inline void setZero() { m_data.clear(); }
+
+    /** \returns the number of non zero coefficients */
+    inline Index nonZeros() const  { return static_cast<Index>(m_data.size()); }
+
+    inline void startVec(Index outer)
+    {
+      eigen_assert(outer==0);
+    }
+
+    inline Scalar& insertBackByOuterInner(Index outer, Index inner)
+    {
+      eigen_assert(outer==0);
+      return insertBack(inner);
+    }
+    inline Scalar& insertBack(Index i)
+    {
+      m_data.append(0, i);
+      return m_data.value(m_data.size()-1);
+    }
+
+    inline Scalar& insert(Index row, Index col)
+    {
+      Index inner = IsColVector ? row : col;
+      Index outer = IsColVector ? col : row;
+      eigen_assert(outer==0);
+      return insert(inner);
+    }
+    Scalar& insert(Index i)
+    {
+      Index startId = 0;
+      Index p = m_data.size() - 1;
+      // TODO smart realloc
+      m_data.resize(p+2,1);
+
+      while ( (p >= startId) && (m_data.index(p) > i) )
+      {
+        m_data.index(p+1) = m_data.index(p);
+        m_data.value(p+1) = m_data.value(p);
+        --p;
+      }
+      m_data.index(p+1) = i;
+      m_data.value(p+1) = 0;
+      return m_data.value(p+1);
+    }
+
+    /**
+      */
+    inline void reserve(Index reserveSize) { m_data.reserve(reserveSize); }
+
+
+    inline void finalize() {}
+
+    void prune(Scalar reference, RealScalar epsilon = NumTraits<RealScalar>::dummy_precision())
+    {
+      m_data.prune(reference,epsilon);
+    }
+
+    void resize(Index rows, Index cols)
+    {
+      eigen_assert(rows==1 || cols==1);
+      resize(IsColVector ? rows : cols);
+    }
+
+    void resize(Index newSize)
+    {
+      m_size = newSize;
+      m_data.clear();
+    }
+
+    void resizeNonZeros(Index size) { m_data.resize(size); }
+
+    inline SparseVector() : m_size(0) { resize(0); }
+
+    inline SparseVector(Index size) : m_size(0) { resize(size); }
+
+    inline SparseVector(Index rows, Index cols) : m_size(0) { resize(rows,cols); }
+
+    template<typename OtherDerived>
+    inline SparseVector(const MatrixBase<OtherDerived>& other)
+      : m_size(0)
+    {
+      *this = other.derived();
+    }
+
+    template<typename OtherDerived>
+    inline SparseVector(const SparseMatrixBase<OtherDerived>& other)
+      : m_size(0)
+    {
+      *this = other.derived();
+    }
+
+    inline SparseVector(const SparseVector& other)
+      : m_size(0)
+    {
+      *this = other.derived();
+    }
+
+    inline void swap(SparseVector& other)
+    {
+      std::swap(m_size, other.m_size);
+      m_data.swap(other.m_data);
+    }
+
+    inline SparseVector& operator=(const SparseVector& other)
+    {
+      if (other.isRValue())
+      {
+        swap(other.const_cast_derived());
+      }
+      else
+      {
+        resize(other.size());
+        m_data = other.m_data;
+      }
+      return *this;
+    }
+
+    template<typename OtherDerived>
+    inline SparseVector& operator=(const SparseMatrixBase<OtherDerived>& other)
+    {
+      if (int(RowsAtCompileTime)!=int(OtherDerived::RowsAtCompileTime))
+        return Base::operator=(other.transpose());
+      else
+        return Base::operator=(other);
+    }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename Lhs, typename Rhs>
+    inline SparseVector& operator=(const SparseSparseProduct<Lhs,Rhs>& product)
+    {
+      return Base::operator=(product);
+    }
+    #endif
+
+//       const bool needToTranspose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
+//       if (needToTranspose)
+//       {
+//         // two passes algorithm:
+//         //  1 - compute the number of coeffs per dest inner vector
+//         //  2 - do the actual copy/eval
+//         // Since each coeff of the rhs has to be evaluated twice, let's evauluate it if needed
+//         typedef typename internal::nested<OtherDerived,2>::type OtherCopy;
+//         OtherCopy otherCopy(other.derived());
+//         typedef typename internal::remove_all<OtherCopy>::type _OtherCopy;
+//
+//         resize(other.rows(), other.cols());
+//         Eigen::Map<VectorXi>(m_outerIndex,outerSize()).setZero();
+//         // pass 1
+//         // FIXME the above copy could be merged with that pass
+//         for (int j=0; j<otherCopy.outerSize(); ++j)
+//           for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
+//             ++m_outerIndex[it.index()];
+//
+//         // prefix sum
+//         int count = 0;
+//         VectorXi positions(outerSize());
+//         for (int j=0; j<outerSize(); ++j)
+//         {
+//           int tmp = m_outerIndex[j];
+//           m_outerIndex[j] = count;
+//           positions[j] = count;
+//           count += tmp;
+//         }
+//         m_outerIndex[outerSize()] = count;
+//         // alloc
+//         m_data.resize(count);
+//         // pass 2
+//         for (int j=0; j<otherCopy.outerSize(); ++j)
+//           for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
+//           {
+//             int pos = positions[it.index()]++;
+//             m_data.index(pos) = j;
+//             m_data.value(pos) = it.value();
+//           }
+//
+//         return *this;
+//       }
+//       else
+//       {
+//         // there is no special optimization
+//         return SparseMatrixBase<SparseMatrix>::operator=(other.derived());
+//       }
+//     }
+
+    friend std::ostream & operator << (std::ostream & s, const SparseVector& m)
+    {
+      for (Index i=0; i<m.nonZeros(); ++i)
+        s << "(" << m.m_data.value(i) << "," << m.m_data.index(i) << ") ";
+      s << std::endl;
+      return s;
+    }
+
+    // this specialized version does not seems to be faster
+//     Scalar dot(const SparseVector& other) const
+//     {
+//       int i=0, j=0;
+//       Scalar res = 0;
+//       asm("#begindot");
+//       while (i<nonZeros() && j<other.nonZeros())
+//       {
+//         if (m_data.index(i)==other.m_data.index(j))
+//         {
+//           res += m_data.value(i) * internal::conj(other.m_data.value(j));
+//           ++i; ++j;
+//         }
+//         else if (m_data.index(i)<other.m_data.index(j))
+//           ++i;
+//         else
+//           ++j;
+//       }
+//       asm("#enddot");
+//       return res;
+//     }
+
+    /** Destructor */
+    inline ~SparseVector() {}
+
+    /** Overloaded for performance */
+    Scalar sum() const;
+
+  public:
+
+    /** \deprecated use setZero() and reserve() */
+    EIGEN_DEPRECATED void startFill(Index reserve)
+    {
+      setZero();
+      m_data.reserve(reserve);
+    }
+
+    /** \deprecated use insertBack(Index,Index) */
+    EIGEN_DEPRECATED Scalar& fill(Index r, Index c)
+    {
+      eigen_assert(r==0 || c==0);
+      return fill(IsColVector ? r : c);
+    }
+
+    /** \deprecated use insertBack(Index) */
+    EIGEN_DEPRECATED Scalar& fill(Index i)
+    {
+      m_data.append(0, i);
+      return m_data.value(m_data.size()-1);
+    }
+
+    /** \deprecated use insert(Index,Index) */
+    EIGEN_DEPRECATED Scalar& fillrand(Index r, Index c)
+    {
+      eigen_assert(r==0 || c==0);
+      return fillrand(IsColVector ? r : c);
+    }
+
+    /** \deprecated use insert(Index) */
+    EIGEN_DEPRECATED Scalar& fillrand(Index i)
+    {
+      return insert(i);
+    }
+
+    /** \deprecated use finalize() */
+    EIGEN_DEPRECATED void endFill() {}
+    
+#   ifdef EIGEN_SPARSEVECTOR_PLUGIN
+#     include EIGEN_SPARSEVECTOR_PLUGIN
+#   endif
+};
+
+template<typename Scalar, int _Options, typename _Index>
+class SparseVector<Scalar,_Options,_Index>::InnerIterator
+{
+  public:
+    InnerIterator(const SparseVector& vec, Index outer=0)
+      : m_data(vec.m_data), m_id(0), m_end(static_cast<Index>(m_data.size()))
+    {
+      eigen_assert(outer==0);
+    }
+
+    InnerIterator(const CompressedStorage<Scalar,Index>& data)
+      : m_data(data), m_id(0), m_end(static_cast<Index>(m_data.size()))
+    {}
+
+    template<unsigned int Added, unsigned int Removed>
+    InnerIterator(const Flagged<SparseVector,Added,Removed>& vec, Index )
+      : m_data(vec._expression().m_data), m_id(0), m_end(m_data.size())
+    {}
+
+    inline InnerIterator& operator++() { m_id++; return *this; }
+
+    inline Scalar value() const { return m_data.value(m_id); }
+    inline Scalar& valueRef() { return const_cast<Scalar&>(m_data.value(m_id)); }
+
+    inline Index index() const { return m_data.index(m_id); }
+    inline Index row() const { return IsColVector ? index() : 0; }
+    inline Index col() const { return IsColVector ? 0 : index(); }
+
+    inline operator bool() const { return (m_id < m_end); }
+
+  protected:
+    const CompressedStorage<Scalar,Index>& m_data;
+    Index m_id;
+    const Index m_end;
+};
+
+#endif // EIGEN_SPARSEVECTOR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseView.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseView.h
new file mode 100755
index 0000000..2430656
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/SparseView.h
@@ -0,0 +1,109 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Daniel Lowengrub <lowdanie@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSEVIEW_H
+#define EIGEN_SPARSEVIEW_H
+
+namespace internal {
+
+template<typename MatrixType>
+struct traits<SparseView<MatrixType> > : traits<MatrixType>
+{
+  typedef int Index;
+  typedef Sparse StorageKind;
+  enum {
+    Flags = int(traits<MatrixType>::Flags) & (RowMajorBit)
+  };
+};
+
+} // end namespace internal
+
+template<typename MatrixType>
+class SparseView : public SparseMatrixBase<SparseView<MatrixType> >
+{
+  typedef typename MatrixType::Nested MatrixTypeNested;
+  typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+public:
+  EIGEN_SPARSE_PUBLIC_INTERFACE(SparseView)
+
+  SparseView(const MatrixType& mat, const Scalar& m_reference = Scalar(0),
+             typename NumTraits<Scalar>::Real m_epsilon = NumTraits<Scalar>::dummy_precision()) : 
+    m_matrix(mat), m_reference(m_reference), m_epsilon(m_epsilon) {}
+
+  class InnerIterator;
+
+  inline Index rows() const { return m_matrix.rows(); }
+  inline Index cols() const { return m_matrix.cols(); }
+
+  inline Index innerSize() const { return m_matrix.innerSize(); }
+  inline Index outerSize() const { return m_matrix.outerSize(); }
+
+protected:
+  const MatrixTypeNested m_matrix;
+  Scalar m_reference;
+  typename NumTraits<Scalar>::Real m_epsilon;
+};
+
+template<typename MatrixType>
+class SparseView<MatrixType>::InnerIterator : public _MatrixTypeNested::InnerIterator
+{
+public:
+  typedef typename _MatrixTypeNested::InnerIterator IterBase;
+  InnerIterator(const SparseView& view, Index outer) :
+  IterBase(view.m_matrix, outer), m_view(view)
+  {
+    incrementToNonZero();
+  }
+
+  EIGEN_STRONG_INLINE InnerIterator& operator++()
+  {
+    IterBase::operator++();
+    incrementToNonZero();
+    return *this;
+  }
+
+  using IterBase::value;
+
+protected:
+  const SparseView& m_view;
+
+private:
+  void incrementToNonZero()
+  {
+    while(internal::isMuchSmallerThan(value(), m_view.m_reference, m_view.m_epsilon) && (bool(*this)))
+      {
+        IterBase::operator++();
+      }
+  }
+};
+
+template<typename Derived>
+const SparseView<Derived> MatrixBase<Derived>::sparseView(const Scalar& m_reference,
+                                                          typename NumTraits<Scalar>::Real m_epsilon) const
+{
+  return SparseView<Derived>(derived(), m_reference, m_epsilon);
+}
+
+#endif
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/TriangularSolver.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/TriangularSolver.h
new file mode 100755
index 0000000..73468e0
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/Sparse/TriangularSolver.h
@@ -0,0 +1,339 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSETRIANGULARSOLVER_H
+#define EIGEN_SPARSETRIANGULARSOLVER_H
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, int Mode,
+  int UpLo = (Mode & Lower)
+           ? Lower
+           : (Mode & Upper)
+           ? Upper
+           : -1,
+  int StorageOrder = int(traits<Lhs>::Flags) & RowMajorBit>
+struct sparse_solve_triangular_selector;
+
+// forward substitution, row-major
+template<typename Lhs, typename Rhs, int Mode>
+struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Lower,RowMajor>
+{
+  typedef typename Rhs::Scalar Scalar;
+  static void run(const Lhs& lhs, Rhs& other)
+  {
+    for(int col=0 ; col<other.cols() ; ++col)
+    {
+      for(int i=0; i<lhs.rows(); ++i)
+      {
+        Scalar tmp = other.coeff(i,col);
+        Scalar lastVal = 0;
+        int lastIndex = 0;
+        for(typename Lhs::InnerIterator it(lhs, i); it; ++it)
+        {
+          lastVal = it.value();
+          lastIndex = it.index();
+          if(lastIndex==i)
+            break;
+          tmp -= lastVal * other.coeff(lastIndex,col);
+        }
+        if (Mode & UnitDiag)
+          other.coeffRef(i,col) = tmp;
+        else
+        {
+          eigen_assert(lastIndex==i);
+          other.coeffRef(i,col) = tmp/lastVal;
+        }
+      }
+    }
+  }
+};
+
+// backward substitution, row-major
+template<typename Lhs, typename Rhs, int Mode>
+struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,RowMajor>
+{
+  typedef typename Rhs::Scalar Scalar;
+  static void run(const Lhs& lhs, Rhs& other)
+  {
+    for(int col=0 ; col<other.cols() ; ++col)
+    {
+      for(int i=lhs.rows()-1 ; i>=0 ; --i)
+      {
+        Scalar tmp = other.coeff(i,col);
+        typename Lhs::InnerIterator it(lhs, i);
+        if (it && it.index() == i)
+          ++it;
+        for(; it; ++it)
+        {
+          tmp -= it.value() * other.coeff(it.index(),col);
+        }
+
+        if (Mode & UnitDiag)
+          other.coeffRef(i,col) = tmp;
+        else
+        {
+          typename Lhs::InnerIterator it(lhs, i);
+          eigen_assert(it && it.index() == i);
+          other.coeffRef(i,col) = tmp/it.value();
+        }
+      }
+    }
+  }
+};
+
+// forward substitution, col-major
+template<typename Lhs, typename Rhs, int Mode>
+struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Lower,ColMajor>
+{
+  typedef typename Rhs::Scalar Scalar;
+  static void run(const Lhs& lhs, Rhs& other)
+  {
+    for(int col=0 ; col<other.cols() ; ++col)
+    {
+      for(int i=0; i<lhs.cols(); ++i)
+      {
+        Scalar& tmp = other.coeffRef(i,col);
+        if (tmp!=Scalar(0)) // optimization when other is actually sparse
+        {
+          typename Lhs::InnerIterator it(lhs, i);
+          if(!(Mode & UnitDiag))
+          {
+            eigen_assert(it.index()==i);
+            tmp /= it.value();
+          }
+          if (it && it.index()==i)
+            ++it;
+          for(; it; ++it)
+            other.coeffRef(it.index(), col) -= tmp * it.value();
+        }
+      }
+    }
+  }
+};
+
+// backward substitution, col-major
+template<typename Lhs, typename Rhs, int Mode>
+struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,ColMajor>
+{
+  typedef typename Rhs::Scalar Scalar;
+  static void run(const Lhs& lhs, Rhs& other)
+  {
+    for(int col=0 ; col<other.cols() ; ++col)
+    {
+      for(int i=lhs.cols()-1; i>=0; --i)
+      {
+        Scalar& tmp = other.coeffRef(i,col);
+        if (tmp!=Scalar(0)) // optimization when other is actually sparse
+        {
+          if(!(Mode & UnitDiag))
+          {
+            // FIXME lhs.coeff(i,i) might not be always efficient while it must simply be the
+            // last element of the column !
+            other.coeffRef(i,col) /= lhs.innerVector(i).lastCoeff();
+          }
+          typename Lhs::InnerIterator it(lhs, i);
+          for(; it && it.index()<i; ++it)
+            other.coeffRef(it.index(), col) -= tmp * it.value();
+        }
+      }
+    }
+  }
+};
+
+} // end namespace internal
+
+template<typename ExpressionType,int Mode>
+template<typename OtherDerived>
+void SparseTriangularView<ExpressionType,Mode>::solveInPlace(MatrixBase<OtherDerived>& other) const
+{
+  eigen_assert(m_matrix.cols() == m_matrix.rows());
+  eigen_assert(m_matrix.cols() == other.rows());
+  eigen_assert(!(Mode & ZeroDiag));
+  eigen_assert(Mode & (Upper|Lower));
+
+  enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
+
+  typedef typename internal::conditional<copy,
+    typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
+  OtherCopy otherCopy(other.derived());
+
+  internal::sparse_solve_triangular_selector<ExpressionType, typename internal::remove_reference<OtherCopy>::type, Mode>::run(m_matrix, otherCopy);
+
+  if (copy)
+    other = otherCopy;
+}
+
+template<typename ExpressionType,int Mode>
+template<typename OtherDerived>
+typename internal::plain_matrix_type_column_major<OtherDerived>::type
+SparseTriangularView<ExpressionType,Mode>::solve(const MatrixBase<OtherDerived>& other) const
+{
+  typename internal::plain_matrix_type_column_major<OtherDerived>::type res(other);
+  solveInPlace(res);
+  return res;
+}
+
+// pure sparse path
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, int Mode,
+  int UpLo = (Mode & Lower)
+           ? Lower
+           : (Mode & Upper)
+           ? Upper
+           : -1,
+  int StorageOrder = int(Lhs::Flags) & (RowMajorBit)>
+struct sparse_solve_triangular_sparse_selector;
+
+// forward substitution, col-major
+template<typename Lhs, typename Rhs, int Mode, int UpLo>
+struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
+{
+  typedef typename Rhs::Scalar Scalar;
+  typedef typename promote_index_type<typename traits<Lhs>::Index,
+                                         typename traits<Rhs>::Index>::type Index;
+  static void run(const Lhs& lhs, Rhs& other)
+  {
+    const bool IsLower = (UpLo==Lower);
+    AmbiVector<Scalar,Index> tempVector(other.rows()*2);
+    tempVector.setBounds(0,other.rows());
+
+    Rhs res(other.rows(), other.cols());
+    res.reserve(other.nonZeros());
+
+    for(int col=0 ; col<other.cols() ; ++col)
+    {
+      // FIXME estimate number of non zeros
+      tempVector.init(.99/*float(other.col(col).nonZeros())/float(other.rows())*/);
+      tempVector.setZero();
+      tempVector.restart();
+      for (typename Rhs::InnerIterator rhsIt(other, col); rhsIt; ++rhsIt)
+      {
+        tempVector.coeffRef(rhsIt.index()) = rhsIt.value();
+      }
+
+      for(int i=IsLower?0:lhs.cols()-1;
+          IsLower?i<lhs.cols():i>=0;
+          i+=IsLower?1:-1)
+      {
+        tempVector.restart();
+        Scalar& ci = tempVector.coeffRef(i);
+        if (ci!=Scalar(0))
+        {
+          // find
+          typename Lhs::InnerIterator it(lhs, i);
+          if(!(Mode & UnitDiag))
+          {
+            if (IsLower)
+            {
+              eigen_assert(it.index()==i);
+              ci /= it.value();
+            }
+            else
+              ci /= lhs.coeff(i,i);
+          }
+          tempVector.restart();
+          if (IsLower)
+          {
+            if (it.index()==i)
+              ++it;
+            for(; it; ++it)
+              tempVector.coeffRef(it.index()) -= ci * it.value();
+          }
+          else
+          {
+            for(; it && it.index()<i; ++it)
+              tempVector.coeffRef(it.index()) -= ci * it.value();
+          }
+        }
+      }
+
+
+      int count = 0;
+      // FIXME compute a reference value to filter zeros
+      for (typename AmbiVector<Scalar,Index>::Iterator it(tempVector/*,1e-12*/); it; ++it)
+      {
+        ++ count;
+//         std::cerr << "fill " << it.index() << ", " << col << "\n";
+//         std::cout << it.value() << "  ";
+        // FIXME use insertBack
+        res.insert(it.index(), col) = it.value();
+      }
+//       std::cout << "tempVector.nonZeros() == " << int(count) << " / " << (other.rows()) << "\n";
+    }
+    res.finalize();
+    other = res.markAsRValue();
+  }
+};
+
+} // end namespace internal
+
+template<typename ExpressionType,int Mode>
+template<typename OtherDerived>
+void SparseTriangularView<ExpressionType,Mode>::solveInPlace(SparseMatrixBase<OtherDerived>& other) const
+{
+  eigen_assert(m_matrix.cols() == m_matrix.rows());
+  eigen_assert(m_matrix.cols() == other.rows());
+  eigen_assert(!(Mode & ZeroDiag));
+  eigen_assert(Mode & (Upper|Lower));
+
+//   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
+
+//   typedef typename internal::conditional<copy,
+//     typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
+//   OtherCopy otherCopy(other.derived());
+
+  internal::sparse_solve_triangular_sparse_selector<ExpressionType, OtherDerived, Mode>::run(m_matrix, other.derived());
+
+//   if (copy)
+//     other = otherCopy;
+}
+
+#ifdef EIGEN2_SUPPORT
+
+// deprecated stuff:
+
+/** \deprecated */
+template<typename Derived>
+template<typename OtherDerived>
+void SparseMatrixBase<Derived>::solveTriangularInPlace(MatrixBase<OtherDerived>& other) const
+{
+  this->template triangular<Flags&(Upper|Lower)>().solveInPlace(other);
+}
+
+/** \deprecated */
+template<typename Derived>
+template<typename OtherDerived>
+typename internal::plain_matrix_type_column_major<OtherDerived>::type
+SparseMatrixBase<Derived>::solveTriangular(const MatrixBase<OtherDerived>& other) const
+{
+  typename internal::plain_matrix_type_column_major<OtherDerived>::type res(other);
+  derived().solveTriangularInPlace(res);
+  return res;
+}
+#endif // EIGEN2_SUPPORT
+
+#endif // EIGEN_SPARSETRIANGULARSOLVER_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/CMakeLists.txt
new file mode 100755
index 0000000..0f094f6
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_StlSupport_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_StlSupport_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/StlSupport COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/StdDeque.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/StdDeque.h
new file mode 100755
index 0000000..6f12c10
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/StdDeque.h
@@ -0,0 +1,149 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STDDEQUE_H
+#define EIGEN_STDDEQUE_H
+
+#include "Eigen/src/StlSupport/details.h"
+
+// Define the explicit instantiation (e.g. necessary for the Intel compiler)
+#if defined(__INTEL_COMPILER) || defined(__GNUC__)
+  #define EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(...) template class std::deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> >;
+#else
+  #define EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(...)
+#endif
+
+/**
+ * This section contains a convenience MACRO which allows an easy specialization of
+ * std::deque such that for data types with alignment issues the correct allocator
+ * is used automatically.
+ */
+#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) \
+EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(__VA_ARGS__) \
+namespace std \
+{ \
+  template<typename _Ay> \
+  class deque<__VA_ARGS__, _Ay>  \
+    : public deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
+  { \
+    typedef deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > deque_base; \
+  public: \
+    typedef __VA_ARGS__ value_type; \
+    typedef typename deque_base::allocator_type allocator_type; \
+    typedef typename deque_base::size_type size_type;  \
+    typedef typename deque_base::iterator iterator;  \
+    explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {}  \
+    template<typename InputIterator> \
+    deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : deque_base(first, last, a) {} \
+    deque(const deque& c) : deque_base(c) {}  \
+    explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
+    deque(iterator start, iterator end) : deque_base(start, end) {}  \
+    deque& operator=(const deque& x) {  \
+      deque_base::operator=(x);  \
+      return *this;  \
+    } \
+  }; \
+}
+
+// check whether we really need the std::deque specialization
+#if !(defined(_GLIBCXX_DEQUE) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::deque::resize(size_type,const T&). */
+
+namespace std {
+
+#define EIGEN_STD_DEQUE_SPECIALIZATION_BODY \
+  public:  \
+    typedef T value_type; \
+    typedef typename deque_base::allocator_type allocator_type; \
+    typedef typename deque_base::size_type size_type;  \
+    typedef typename deque_base::iterator iterator;  \
+    typedef typename deque_base::const_iterator const_iterator;  \
+    explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {}  \
+    template<typename InputIterator> \
+    deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
+    : deque_base(first, last, a) {} \
+    deque(const deque& c) : deque_base(c) {}  \
+    explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
+    deque(iterator start, iterator end) : deque_base(start, end) {}  \
+    deque& operator=(const deque& x) {  \
+      deque_base::operator=(x);  \
+      return *this;  \
+    }
+
+  template<typename T>
+  class deque<T,EIGEN_ALIGNED_ALLOCATOR<T> >
+    : public deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                   Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
+{
+  typedef deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > deque_base;
+  EIGEN_STD_DEQUE_SPECIALIZATION_BODY
+
+  void resize(size_type new_size)
+  { resize(new_size, T()); }
+
+#if defined(_DEQUE_)
+  // workaround MSVC std::deque implementation
+  void resize(size_type new_size, const value_type& x)
+  {
+    if (deque_base::size() < new_size)
+      deque_base::_Insert_n(deque_base::end(), new_size - deque_base::size(), x);
+    else if (new_size < deque_base::size())
+      deque_base::erase(deque_base::begin() + new_size, deque_base::end());
+  }
+  void push_back(const value_type& x)
+  { deque_base::push_back(x); } 
+  void push_front(const value_type& x)
+  { deque_base::push_front(x); }
+  using deque_base::insert;  
+  iterator insert(const_iterator position, const value_type& x)
+  { return deque_base::insert(position,x); }
+  void insert(const_iterator position, size_type new_size, const value_type& x)
+  { deque_base::insert(position, new_size, x); }
+#elif defined(_GLIBCXX_DEQUE) && EIGEN_GNUC_AT_LEAST(4,2)
+  // workaround GCC std::deque implementation
+  void resize(size_type new_size, const value_type& x)
+  {
+    if (new_size < deque_base::size())
+      deque_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
+    else
+      deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
+  }
+#else
+  // either GCC 4.1 or non-GCC
+  // default implementation which should always work.
+  void resize(size_type new_size, const value_type& x)
+  {
+    if (new_size < deque_base::size())
+      deque_base::erase(deque_base::begin() + new_size, deque_base::end());
+    else if (new_size > deque_base::size())
+      deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
+  }
+#endif
+  };
+}
+
+#endif // check whether specialization is actually required
+
+#endif // EIGEN_STDDEQUE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/StdList.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/StdList.h
new file mode 100755
index 0000000..d329a0b
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/StdList.h
@@ -0,0 +1,129 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STDLIST_H
+#define EIGEN_STDLIST_H
+
+#include "Eigen/src/StlSupport/details.h"
+
+// Define the explicit instantiation (e.g. necessary for the Intel compiler)
+#if defined(__INTEL_COMPILER) || defined(__GNUC__)
+  #define EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(...) template class std::list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> >;
+#else
+  #define EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(...)
+#endif
+
+/**
+ * This section contains a convenience MACRO which allows an easy specialization of
+ * std::list such that for data types with alignment issues the correct allocator
+ * is used automatically.
+ */
+#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) \
+EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(__VA_ARGS__) \
+namespace std \
+{ \
+  template<typename _Ay> \
+  class list<__VA_ARGS__, _Ay>  \
+    : public list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
+  { \
+    typedef list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > list_base; \
+  public: \
+    typedef __VA_ARGS__ value_type; \
+    typedef typename list_base::allocator_type allocator_type; \
+    typedef typename list_base::size_type size_type;  \
+    typedef typename list_base::iterator iterator;  \
+    explicit list(const allocator_type& a = allocator_type()) : list_base(a) {}  \
+    template<typename InputIterator> \
+    list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : list_base(first, last, a) {} \
+    list(const list& c) : list_base(c) {}  \
+    explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
+    list(iterator start, iterator end) : list_base(start, end) {}  \
+    list& operator=(const list& x) {  \
+      list_base::operator=(x);  \
+      return *this;  \
+    } \
+  }; \
+}
+
+// check whether we really need the std::vector specialization
+#if !(defined(_GLIBCXX_VECTOR) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::list::resize(size_type,const T&). */
+
+namespace std
+{
+
+#define EIGEN_STD_LIST_SPECIALIZATION_BODY \
+  public:  \
+    typedef T value_type; \
+    typedef typename list_base::allocator_type allocator_type; \
+    typedef typename list_base::size_type size_type;  \
+    typedef typename list_base::iterator iterator;  \
+    typedef typename list_base::const_iterator const_iterator;  \
+    explicit list(const allocator_type& a = allocator_type()) : list_base(a) {}  \
+    template<typename InputIterator> \
+    list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
+    : list_base(first, last, a) {} \
+    list(const list& c) : list_base(c) {}  \
+    explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
+    list(iterator start, iterator end) : list_base(start, end) {}  \
+    list& operator=(const list& x) {  \
+    list_base::operator=(x);  \
+    return *this; \
+  }
+
+  template<typename T>
+  class list<T,EIGEN_ALIGNED_ALLOCATOR<T> >
+    : public list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                  Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
+  {
+    typedef list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                 Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > list_base;
+    EIGEN_STD_LIST_SPECIALIZATION_BODY
+
+    void resize(size_type new_size)
+    { resize(new_size, T()); }
+
+    void resize(size_type new_size, const value_type& x)
+    {
+      if (list_base::size() < new_size)
+        list_base::insert(list_base::end(), new_size - list_base::size(), x);
+      else
+        while (new_size < list_base::size()) list_base::pop_back();
+    }
+
+#if defined(_LIST_)
+    // workaround MSVC std::list implementation
+    void push_back(const value_type& x)
+    { list_base::push_back(x); } 
+    using list_base::insert;  
+    iterator insert(const_iterator position, const value_type& x)
+    { return list_base::insert(position,x); }
+    void insert(const_iterator position, size_type new_size, const value_type& x)
+    { list_base::insert(position, new_size, x); }
+#endif
+  };
+}
+
+#endif // check whether specialization is actually required
+
+#endif // EIGEN_STDLIST_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/StdVector.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/StdVector.h
new file mode 100755
index 0000000..81a2d77
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/StdVector.h
@@ -0,0 +1,149 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STDVECTOR_H
+#define EIGEN_STDVECTOR_H
+
+#include "Eigen/src/StlSupport/details.h"
+
+// Define the explicit instantiation (e.g. necessary for the Intel compiler)
+#if defined(__INTEL_COMPILER) || defined(__GNUC__)
+  #define EIGEN_EXPLICIT_STL_VECTOR_INSTANTIATION(...) template class std::vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> >;
+#else
+  #define EIGEN_EXPLICIT_STL_VECTOR_INSTANTIATION(...)
+#endif
+
+/**
+ * This section contains a convenience MACRO which allows an easy specialization of
+ * std::vector such that for data types with alignment issues the correct allocator
+ * is used automatically.
+ */
+#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) \
+EIGEN_EXPLICIT_STL_VECTOR_INSTANTIATION(__VA_ARGS__) \
+namespace std \
+{ \
+  template<typename _Ay> \
+  class vector<__VA_ARGS__, _Ay>  \
+    : public vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
+  { \
+    typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > vector_base; \
+  public: \
+    typedef __VA_ARGS__ value_type; \
+    typedef typename vector_base::allocator_type allocator_type; \
+    typedef typename vector_base::size_type size_type;  \
+    typedef typename vector_base::iterator iterator;  \
+    explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {}  \
+    template<typename InputIterator> \
+    vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : vector_base(first, last, a) {} \
+    vector(const vector& c) : vector_base(c) {}  \
+    explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
+    vector(iterator start, iterator end) : vector_base(start, end) {}  \
+    vector& operator=(const vector& x) {  \
+      vector_base::operator=(x);  \
+      return *this;  \
+    } \
+  }; \
+}
+
+namespace std {
+
+#define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
+  public:  \
+    typedef T value_type; \
+    typedef typename vector_base::allocator_type allocator_type; \
+    typedef typename vector_base::size_type size_type;  \
+    typedef typename vector_base::iterator iterator;  \
+    typedef typename vector_base::const_iterator const_iterator;  \
+    explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {}  \
+    template<typename InputIterator> \
+    vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
+    : vector_base(first, last, a) {} \
+    vector(const vector& c) : vector_base(c) {}  \
+    explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
+    vector(iterator start, iterator end) : vector_base(start, end) {}  \
+    vector& operator=(const vector& x) {  \
+      vector_base::operator=(x);  \
+      return *this;  \
+    }
+
+  template<typename T>
+  class vector<T,EIGEN_ALIGNED_ALLOCATOR<T> >
+    : public vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                    Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
+{
+  typedef vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+                 Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > vector_base;
+  EIGEN_STD_VECTOR_SPECIALIZATION_BODY
+
+  void resize(size_type new_size)
+  { resize(new_size, T()); }
+
+#if defined(_VECTOR_)
+  // workaround MSVC std::vector implementation
+  void resize(size_type new_size, const value_type& x)
+  {
+    if (vector_base::size() < new_size)
+      vector_base::_Insert_n(vector_base::end(), new_size - vector_base::size(), x);
+    else if (new_size < vector_base::size())
+      vector_base::erase(vector_base::begin() + new_size, vector_base::end());
+  }
+  void push_back(const value_type& x)
+  { vector_base::push_back(x); } 
+  using vector_base::insert;  
+  iterator insert(const_iterator position, const value_type& x)
+  { return vector_base::insert(position,x); }
+  void insert(const_iterator position, size_type new_size, const value_type& x)
+  { vector_base::insert(position, new_size, x); }
+#elif defined(_GLIBCXX_VECTOR) && (!(EIGEN_GNUC_AT_LEAST(4,1)))
+  /* Note that before gcc-4.1 we already have: std::vector::resize(size_type,const T&).
+   * However, this specialization is still needed to make the above EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION trick to work. */
+  void resize(size_type new_size, const value_type& x)
+  {
+    vector_base::resize(new_size,x);
+  }
+#elif defined(_GLIBCXX_VECTOR) && EIGEN_GNUC_AT_LEAST(4,2)
+  // workaround GCC std::vector implementation
+  void resize(size_type new_size, const value_type& x)
+  {
+    if (new_size < vector_base::size())
+      vector_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
+    else
+      vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
+  }
+#else
+  // either GCC 4.1 or non-GCC
+  // default implementation which should always work.
+  void resize(size_type new_size, const value_type& x)
+  {
+    if (new_size < vector_base::size())
+      vector_base::erase(vector_base::begin() + new_size, vector_base::end());
+    else if (new_size > vector_base::size())
+      vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
+  }
+#endif
+  };
+}
+
+#endif // EIGEN_STDVECTOR_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/details.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/details.h
new file mode 100755
index 0000000..397c8ef
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/StlSupport/details.h
@@ -0,0 +1,99 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_STL_DETAILS_H
+#define EIGEN_STL_DETAILS_H
+
+#ifndef EIGEN_ALIGNED_ALLOCATOR
+  #define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator
+#endif
+
+namespace Eigen {
+
+  // This one is needed to prevent reimplementing the whole std::vector.
+  template <class T>
+  class aligned_allocator_indirection : public EIGEN_ALIGNED_ALLOCATOR<T>
+  {
+  public:
+    typedef size_t    size_type;
+    typedef ptrdiff_t difference_type;
+    typedef T*        pointer;
+    typedef const T*  const_pointer;
+    typedef T&        reference;
+    typedef const T&  const_reference;
+    typedef T         value_type;
+
+    template<class U>
+    struct rebind
+    {
+      typedef aligned_allocator_indirection<U> other;
+    };
+
+    aligned_allocator_indirection() {}
+    aligned_allocator_indirection(const aligned_allocator_indirection& ) : EIGEN_ALIGNED_ALLOCATOR<T>() {}
+    aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<T>& ) {}
+    template<class U>
+    aligned_allocator_indirection(const aligned_allocator_indirection<U>& ) {}
+    template<class U>
+    aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<U>& ) {}
+    ~aligned_allocator_indirection() {}
+  };
+
+#ifdef _MSC_VER
+
+  // sometimes, MSVC detects, at compile time, that the argument x
+  // in std::vector::resize(size_t s,T x) won't be aligned and generate an error
+  // even if this function is never called. Whence this little wrapper.
+#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) \
+  typename Eigen::internal::conditional< \
+    Eigen::internal::is_arithmetic<T>::value, \
+    T, \
+    Eigen::internal::workaround_msvc_stl_support<T> \
+  >::type
+
+  namespace internal {
+  template<typename T> struct workaround_msvc_stl_support : public T
+  {
+    inline workaround_msvc_stl_support() : T() {}
+    inline workaround_msvc_stl_support(const T& other) : T(other) {}
+    inline operator T& () { return *static_cast<T*>(this); }
+    inline operator const T& () const { return *static_cast<const T*>(this); }
+    template<typename OtherT>
+    inline T& operator=(const OtherT& other)
+    { T::operator=(other); return *this; }
+    inline workaround_msvc_stl_support& operator=(const workaround_msvc_stl_support& other)
+    { T::operator=(other); return *this; }
+  };
+  }
+
+#else
+
+#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) T
+
+#endif
+
+}
+
+#endif // EIGEN_STL_DETAILS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/CMakeLists.txt
new file mode 100755
index 0000000..a58ffb7
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_misc_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_misc_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/misc COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/Image.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/Image.h
new file mode 100755
index 0000000..19b3e08
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/Image.h
@@ -0,0 +1,95 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MISC_IMAGE_H
+#define EIGEN_MISC_IMAGE_H
+
+namespace internal {
+
+/** \class image_retval_base
+  *
+  */
+template<typename DecompositionType>
+struct traits<image_retval_base<DecompositionType> >
+{
+  typedef typename DecompositionType::MatrixType MatrixType;
+  typedef Matrix<
+    typename MatrixType::Scalar,
+    MatrixType::RowsAtCompileTime, // the image is a subspace of the destination space, whose
+                                   // dimension is the number of rows of the original matrix
+    Dynamic,                       // we don't know at compile time the dimension of the image (the rank)
+    MatrixType::Options,
+    MatrixType::MaxRowsAtCompileTime, // the image matrix will consist of columns from the original matrix,
+    MatrixType::MaxColsAtCompileTime  // so it has the same number of rows and at most as many columns.
+  > ReturnType;
+};
+
+template<typename _DecompositionType> struct image_retval_base
+ : public ReturnByValue<image_retval_base<_DecompositionType> >
+{
+  typedef _DecompositionType DecompositionType;
+  typedef typename DecompositionType::MatrixType MatrixType;
+  typedef ReturnByValue<image_retval_base> Base;
+  typedef typename Base::Index Index;
+
+  image_retval_base(const DecompositionType& dec, const MatrixType& originalMatrix)
+    : m_dec(dec), m_rank(dec.rank()),
+      m_cols(m_rank == 0 ? 1 : m_rank),
+      m_originalMatrix(originalMatrix)
+  {}
+
+  inline Index rows() const { return m_dec.rows(); }
+  inline Index cols() const { return m_cols; }
+  inline Index rank() const { return m_rank; }
+  inline const DecompositionType& dec() const { return m_dec; }
+  inline const MatrixType& originalMatrix() const { return m_originalMatrix; }
+
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  {
+    static_cast<const image_retval<DecompositionType>*>(this)->evalTo(dst);
+  }
+
+  protected:
+    const DecompositionType& m_dec;
+    Index m_rank, m_cols;
+    const MatrixType& m_originalMatrix;
+};
+
+} // end namespace internal
+
+#define EIGEN_MAKE_IMAGE_HELPERS(DecompositionType) \
+  typedef typename DecompositionType::MatrixType MatrixType; \
+  typedef typename MatrixType::Scalar Scalar; \
+  typedef typename MatrixType::RealScalar RealScalar; \
+  typedef typename MatrixType::Index Index; \
+  typedef Eigen::internal::image_retval_base<DecompositionType> Base; \
+  using Base::dec; \
+  using Base::originalMatrix; \
+  using Base::rank; \
+  using Base::rows; \
+  using Base::cols; \
+  image_retval(const DecompositionType& dec, const MatrixType& originalMatrix) \
+    : Base(dec, originalMatrix) {}
+
+#endif // EIGEN_MISC_IMAGE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/Kernel.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/Kernel.h
new file mode 100755
index 0000000..0115970
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/Kernel.h
@@ -0,0 +1,92 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MISC_KERNEL_H
+#define EIGEN_MISC_KERNEL_H
+
+namespace internal {
+
+/** \class kernel_retval_base
+  *
+  */
+template<typename DecompositionType>
+struct traits<kernel_retval_base<DecompositionType> >
+{
+  typedef typename DecompositionType::MatrixType MatrixType;
+  typedef Matrix<
+    typename MatrixType::Scalar,
+    MatrixType::ColsAtCompileTime, // the number of rows in the "kernel matrix"
+                                   // is the number of cols of the original matrix
+                                   // so that the product "matrix * kernel = zero" makes sense
+    Dynamic,                       // we don't know at compile-time the dimension of the kernel
+    MatrixType::Options,
+    MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter
+    MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space,
+                                     // whose dimension is the number of columns of the original matrix
+  > ReturnType;
+};
+
+template<typename _DecompositionType> struct kernel_retval_base
+ : public ReturnByValue<kernel_retval_base<_DecompositionType> >
+{
+  typedef _DecompositionType DecompositionType;
+  typedef ReturnByValue<kernel_retval_base> Base;
+  typedef typename Base::Index Index;
+
+  kernel_retval_base(const DecompositionType& dec)
+    : m_dec(dec),
+      m_rank(dec.rank()),
+      m_cols(m_rank==dec.cols() ? 1 : dec.cols() - m_rank)
+  {}
+
+  inline Index rows() const { return m_dec.cols(); }
+  inline Index cols() const { return m_cols; }
+  inline Index rank() const { return m_rank; }
+  inline const DecompositionType& dec() const { return m_dec; }
+
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  {
+    static_cast<const kernel_retval<DecompositionType>*>(this)->evalTo(dst);
+  }
+
+  protected:
+    const DecompositionType& m_dec;
+    Index m_rank, m_cols;
+};
+
+} // end namespace internal
+
+#define EIGEN_MAKE_KERNEL_HELPERS(DecompositionType) \
+  typedef typename DecompositionType::MatrixType MatrixType; \
+  typedef typename MatrixType::Scalar Scalar; \
+  typedef typename MatrixType::RealScalar RealScalar; \
+  typedef typename MatrixType::Index Index; \
+  typedef Eigen::internal::kernel_retval_base<DecompositionType> Base; \
+  using Base::dec; \
+  using Base::rank; \
+  using Base::rows; \
+  using Base::cols; \
+  kernel_retval(const DecompositionType& dec) : Base(dec) {}
+
+#endif // EIGEN_MISC_KERNEL_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/Solve.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/Solve.h
new file mode 100755
index 0000000..b7cbcad
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/misc/Solve.h
@@ -0,0 +1,87 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_MISC_SOLVE_H
+#define EIGEN_MISC_SOLVE_H
+
+namespace internal {
+
+/** \class solve_retval_base
+  *
+  */
+template<typename DecompositionType, typename Rhs>
+struct traits<solve_retval_base<DecompositionType, Rhs> >
+{
+  typedef typename DecompositionType::MatrixType MatrixType;
+  typedef Matrix<typename Rhs::Scalar,
+                 MatrixType::ColsAtCompileTime,
+                 Rhs::ColsAtCompileTime,
+                 Rhs::PlainObject::Options,
+                 MatrixType::MaxColsAtCompileTime,
+                 Rhs::MaxColsAtCompileTime> ReturnType;
+};
+
+template<typename _DecompositionType, typename Rhs> struct solve_retval_base
+ : public ReturnByValue<solve_retval_base<_DecompositionType, Rhs> >
+{
+  typedef typename remove_all<typename Rhs::Nested>::type RhsNestedCleaned;
+  typedef _DecompositionType DecompositionType;
+  typedef ReturnByValue<solve_retval_base> Base;
+  typedef typename Base::Index Index;
+
+  solve_retval_base(const DecompositionType& dec, const Rhs& rhs)
+    : m_dec(dec), m_rhs(rhs)
+  {}
+
+  inline Index rows() const { return m_dec.cols(); }
+  inline Index cols() const { return m_rhs.cols(); }
+  inline const DecompositionType& dec() const { return m_dec; }
+  inline const RhsNestedCleaned& rhs() const { return m_rhs; }
+
+  template<typename Dest> inline void evalTo(Dest& dst) const
+  {
+    static_cast<const solve_retval<DecompositionType,Rhs>*>(this)->evalTo(dst);
+  }
+
+  protected:
+    const DecompositionType& m_dec;
+    const typename Rhs::Nested m_rhs;
+};
+
+} // end namespace internal
+
+#define EIGEN_MAKE_SOLVE_HELPERS(DecompositionType,Rhs) \
+  typedef typename DecompositionType::MatrixType MatrixType; \
+  typedef typename MatrixType::Scalar Scalar; \
+  typedef typename MatrixType::RealScalar RealScalar; \
+  typedef typename MatrixType::Index Index; \
+  typedef Eigen::internal::solve_retval_base<DecompositionType,Rhs> Base; \
+  using Base::dec; \
+  using Base::rhs; \
+  using Base::rows; \
+  using Base::cols; \
+  solve_retval(const DecompositionType& dec, const Rhs& rhs) \
+    : Base(dec, rhs) {}
+
+#endif // EIGEN_MISC_SOLVE_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/ArrayCwiseBinaryOps.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/ArrayCwiseBinaryOps.h
new file mode 100755
index 0000000..7d509e7
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/ArrayCwiseBinaryOps.h
@@ -0,0 +1,143 @@
+/** \returns an expression of the coefficient wise product of \c *this and \a other
+  *
+  * \sa MatrixBase::cwiseProduct
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)
+operator*(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient wise quotient of \c *this and \a other
+  *
+  * \sa MatrixBase::cwiseQuotient
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
+operator/(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise min of \c *this and \a other
+  *
+  * Example: \include Cwise_min.cpp
+  * Output: \verbinclude Cwise_min.out
+  *
+  * \sa max()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(min,internal::scalar_min_op)
+
+/** \returns an expression of the coefficient-wise max of \c *this and \a other
+  *
+  * Example: \include Cwise_max.cpp
+  * Output: \verbinclude Cwise_max.out
+  *
+  * \sa min()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(max,internal::scalar_max_op)
+
+/** \returns an expression of the coefficient-wise \< operator of *this and \a other
+  *
+  * Example: \include Cwise_less.cpp
+  * Output: \verbinclude Cwise_less.out
+  *
+  * \sa all(), any(), operator>(), operator<=()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator<,std::less)
+
+/** \returns an expression of the coefficient-wise \<= operator of *this and \a other
+  *
+  * Example: \include Cwise_less_equal.cpp
+  * Output: \verbinclude Cwise_less_equal.out
+  *
+  * \sa all(), any(), operator>=(), operator<()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator<=,std::less_equal)
+
+/** \returns an expression of the coefficient-wise \> operator of *this and \a other
+  *
+  * Example: \include Cwise_greater.cpp
+  * Output: \verbinclude Cwise_greater.out
+  *
+  * \sa all(), any(), operator>=(), operator<()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator>,std::greater)
+
+/** \returns an expression of the coefficient-wise \>= operator of *this and \a other
+  *
+  * Example: \include Cwise_greater_equal.cpp
+  * Output: \verbinclude Cwise_greater_equal.out
+  *
+  * \sa all(), any(), operator>(), operator<=()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator>=,std::greater_equal)
+
+/** \returns an expression of the coefficient-wise == operator of *this and \a other
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * Example: \include Cwise_equal_equal.cpp
+  * Output: \verbinclude Cwise_equal_equal.out
+  *
+  * \sa all(), any(), isApprox(), isMuchSmallerThan()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator==,std::equal_to)
+
+/** \returns an expression of the coefficient-wise != operator of *this and \a other
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * Example: \include Cwise_not_equal.cpp
+  * Output: \verbinclude Cwise_not_equal.out
+  *
+  * \sa all(), any(), isApprox(), isMuchSmallerThan()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator!=,std::not_equal_to)
+
+// scalar addition
+
+/** \returns an expression of \c *this with each coeff incremented by the constant \a scalar
+  *
+  * Example: \include Cwise_plus.cpp
+  * Output: \verbinclude Cwise_plus.out
+  *
+  * \sa operator+=(), operator-()
+  */
+inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
+operator+(const Scalar& scalar) const
+{
+  return CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>(derived(), internal::scalar_add_op<Scalar>(scalar));
+}
+
+friend inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
+operator+(const Scalar& scalar,const EIGEN_CURRENT_STORAGE_BASE_CLASS<Derived>& other)
+{
+  return other + scalar;
+}
+
+/** \returns an expression of \c *this with each coeff decremented by the constant \a scalar
+  *
+  * Example: \include Cwise_minus.cpp
+  * Output: \verbinclude Cwise_minus.out
+  *
+  * \sa operator+(), operator-=()
+  */
+inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
+operator-(const Scalar& scalar) const
+{
+  return *this + (-scalar);
+}
+
+friend inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const Derived> >
+operator-(const Scalar& scalar,const EIGEN_CURRENT_STORAGE_BASE_CLASS<Derived>& other)
+{
+  return (-other) + scalar;
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/ArrayCwiseUnaryOps.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/ArrayCwiseUnaryOps.h
new file mode 100755
index 0000000..0dffaf4
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/ArrayCwiseUnaryOps.h
@@ -0,0 +1,202 @@
+
+
+/** \returns an expression of the coefficient-wise absolute value of \c *this
+  *
+  * Example: \include Cwise_abs.cpp
+  * Output: \verbinclude Cwise_abs.out
+  *
+  * \sa abs2()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
+abs() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise squared absolute value of \c *this
+  *
+  * Example: \include Cwise_abs2.cpp
+  * Output: \verbinclude Cwise_abs2.out
+  *
+  * \sa abs(), square()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
+abs2() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise exponential of *this.
+  *
+  * Example: \include Cwise_exp.cpp
+  * Output: \verbinclude Cwise_exp.out
+  *
+  * \sa pow(), log(), sin(), cos()
+  */
+inline const CwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived>
+exp() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise logarithm of *this.
+  *
+  * Example: \include Cwise_log.cpp
+  * Output: \verbinclude Cwise_log.out
+  *
+  * \sa exp()
+  */
+inline const CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived>
+log() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise square root of *this.
+  *
+  * Example: \include Cwise_sqrt.cpp
+  * Output: \verbinclude Cwise_sqrt.out
+  *
+  * \sa pow(), square()
+  */
+inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
+sqrt() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise cosine of *this.
+  *
+  * Example: \include Cwise_cos.cpp
+  * Output: \verbinclude Cwise_cos.out
+  *
+  * \sa sin(), acos()
+  */
+inline const CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived>
+cos() const
+{
+  return derived();
+}
+
+
+/** \returns an expression of the coefficient-wise sine of *this.
+  *
+  * Example: \include Cwise_sin.cpp
+  * Output: \verbinclude Cwise_sin.out
+  *
+  * \sa cos(), asin()
+  */
+inline const CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived>
+sin() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise arc cosine of *this.
+  *
+  * Example: \include Cwise_acos.cpp
+  * Output: \verbinclude Cwise_acos.out
+  *
+  * \sa cos(), asin()
+  */
+inline const CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived>
+acos() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise arc sine of *this.
+  *
+  * Example: \include Cwise_asin.cpp
+  * Output: \verbinclude Cwise_asin.out
+  *
+  * \sa sin(), acos()
+  */
+inline const CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived>
+asin() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise tan of *this.
+  *
+  * Example: \include Cwise_tan.cpp
+  * Output: \verbinclude Cwise_tan.out
+  *
+  * \sa cos(), sin()
+  */
+inline const CwiseUnaryOp<internal::scalar_tan_op<Scalar>, Derived>
+tan() const
+{
+  return derived();
+}
+
+
+/** \returns an expression of the coefficient-wise power of *this to the given exponent.
+  *
+  * Example: \include Cwise_pow.cpp
+  * Output: \verbinclude Cwise_pow.out
+  *
+  * \sa exp(), log()
+  */
+inline const CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
+pow(const Scalar& exponent) const
+{
+  return CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
+          (derived(), internal::scalar_pow_op<Scalar>(exponent));
+}
+
+
+/** \returns an expression of the coefficient-wise inverse of *this.
+  *
+  * Example: \include Cwise_inverse.cpp
+  * Output: \verbinclude Cwise_inverse.out
+  *
+  * \sa operator/(), operator*()
+  */
+inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
+inverse() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise square of *this.
+  *
+  * Example: \include Cwise_square.cpp
+  * Output: \verbinclude Cwise_square.out
+  *
+  * \sa operator/(), operator*(), abs2()
+  */
+inline const CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived>
+square() const
+{
+  return derived();
+}
+
+/** \returns an expression of the coefficient-wise cube of *this.
+  *
+  * Example: \include Cwise_cube.cpp
+  * Output: \verbinclude Cwise_cube.out
+  *
+  * \sa square(), pow()
+  */
+inline const CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived>
+cube() const
+{
+  return derived();
+}
+
+#define EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(METHOD_NAME,FUNCTOR) \
+  inline const CwiseUnaryOp<std::binder2nd<FUNCTOR<Scalar> >, const Derived> \
+  METHOD_NAME(const Scalar& s) const { \
+    return CwiseUnaryOp<std::binder2nd<FUNCTOR<Scalar> >, const Derived> \
+            (derived(), std::bind2nd(FUNCTOR<Scalar>(), s)); \
+  }
+
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator==,  std::equal_to)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator!=,  std::not_equal_to)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<,   std::less)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<=,  std::less_equal)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>,   std::greater)
+EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>=,  std::greater_equal)
+
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/BlockMethods.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/BlockMethods.h
new file mode 100755
index 0000000..4eba933
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/BlockMethods.h
@@ -0,0 +1,595 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_BLOCKMETHODS_H
+#define EIGEN_BLOCKMETHODS_H
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+/** \internal expression type of a column */
+typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ColXpr;
+typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ConstColXpr;
+/** \internal expression type of a row */
+typedef Block<Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowXpr;
+typedef const Block<const Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowXpr;
+/** \internal expression type of a block of whole columns */
+typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ColsBlockXpr;
+typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ConstColsBlockXpr;
+/** \internal expression type of a block of whole rows */
+typedef Block<Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowsBlockXpr;
+typedef const Block<const Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowsBlockXpr;
+/** \internal expression type of a block of whole columns */
+template<int N> struct NColsBlockXpr { typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
+template<int N> struct ConstNColsBlockXpr { typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
+/** \internal expression type of a block of whole rows */
+template<int N> struct NRowsBlockXpr { typedef Block<Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
+template<int N> struct ConstNRowsBlockXpr { typedef const Block<const Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
+
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+/** \returns a dynamic-size expression of a block in *this.
+  *
+  * \param startRow the first row in the block
+  * \param startCol the first column in the block
+  * \param blockRows the number of rows in the block
+  * \param blockCols the number of columns in the block
+  *
+  * Example: \include MatrixBase_block_int_int_int_int.cpp
+  * Output: \verbinclude MatrixBase_block_int_int_int_int.out
+  *
+  * \note Even though the returned expression has dynamic size, in the case
+  * when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
+  * which means that evaluating it does not cause a dynamic memory allocation.
+  *
+  * \sa class Block, block(Index,Index)
+  */
+inline Block<Derived> block(Index startRow, Index startCol, Index blockRows, Index blockCols)
+{
+  return Block<Derived>(derived(), startRow, startCol, blockRows, blockCols);
+}
+
+/** This is the const version of block(Index,Index,Index,Index). */
+inline const Block<const Derived> block(Index startRow, Index startCol, Index blockRows, Index blockCols) const
+{
+  return Block<const Derived>(derived(), startRow, startCol, blockRows, blockCols);
+}
+
+
+
+
+/** \returns a dynamic-size expression of a top-right corner of *this.
+  *
+  * \param cRows the number of rows in the corner
+  * \param cCols the number of columns in the corner
+  *
+  * Example: \include MatrixBase_topRightCorner_int_int.cpp
+  * Output: \verbinclude MatrixBase_topRightCorner_int_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline Block<Derived> topRightCorner(Index cRows, Index cCols)
+{
+  return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
+}
+
+/** This is the const version of topRightCorner(Index, Index).*/
+inline const Block<const Derived> topRightCorner(Index cRows, Index cCols) const
+{
+  return Block<const Derived>(derived(), 0, cols() - cCols, cRows, cCols);
+}
+
+/** \returns an expression of a fixed-size top-right corner of *this.
+  *
+  * The template parameters CRows and CCols are the number of rows and columns in the corner.
+  *
+  * Example: \include MatrixBase_template_int_int_topRightCorner.cpp
+  * Output: \verbinclude MatrixBase_template_int_int_topRightCorner.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int CRows, int CCols>
+inline Block<Derived, CRows, CCols> topRightCorner()
+{
+  return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+}
+
+/** This is the const version of topRightCorner<int, int>().*/
+template<int CRows, int CCols>
+inline const Block<const Derived, CRows, CCols> topRightCorner() const
+{
+  return Block<const Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+}
+
+
+
+
+/** \returns a dynamic-size expression of a top-left corner of *this.
+  *
+  * \param cRows the number of rows in the corner
+  * \param cCols the number of columns in the corner
+  *
+  * Example: \include MatrixBase_topLeftCorner_int_int.cpp
+  * Output: \verbinclude MatrixBase_topLeftCorner_int_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline Block<Derived> topLeftCorner(Index cRows, Index cCols)
+{
+  return Block<Derived>(derived(), 0, 0, cRows, cCols);
+}
+
+/** This is the const version of topLeftCorner(Index, Index).*/
+inline const Block<const Derived> topLeftCorner(Index cRows, Index cCols) const
+{
+  return Block<const Derived>(derived(), 0, 0, cRows, cCols);
+}
+
+/** \returns an expression of a fixed-size top-left corner of *this.
+  *
+  * The template parameters CRows and CCols are the number of rows and columns in the corner.
+  *
+  * Example: \include MatrixBase_template_int_int_topLeftCorner.cpp
+  * Output: \verbinclude MatrixBase_template_int_int_topLeftCorner.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int CRows, int CCols>
+inline Block<Derived, CRows, CCols> topLeftCorner()
+{
+  return Block<Derived, CRows, CCols>(derived(), 0, 0);
+}
+
+/** This is the const version of topLeftCorner<int, int>().*/
+template<int CRows, int CCols>
+inline const Block<const Derived, CRows, CCols> topLeftCorner() const
+{
+  return Block<const Derived, CRows, CCols>(derived(), 0, 0);
+}
+
+
+
+/** \returns a dynamic-size expression of a bottom-right corner of *this.
+  *
+  * \param cRows the number of rows in the corner
+  * \param cCols the number of columns in the corner
+  *
+  * Example: \include MatrixBase_bottomRightCorner_int_int.cpp
+  * Output: \verbinclude MatrixBase_bottomRightCorner_int_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline Block<Derived> bottomRightCorner(Index cRows, Index cCols)
+{
+  return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+}
+
+/** This is the const version of bottomRightCorner(Index, Index).*/
+inline const Block<const Derived> bottomRightCorner(Index cRows, Index cCols) const
+{
+  return Block<const Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+}
+
+/** \returns an expression of a fixed-size bottom-right corner of *this.
+  *
+  * The template parameters CRows and CCols are the number of rows and columns in the corner.
+  *
+  * Example: \include MatrixBase_template_int_int_bottomRightCorner.cpp
+  * Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int CRows, int CCols>
+inline Block<Derived, CRows, CCols> bottomRightCorner()
+{
+  return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+}
+
+/** This is the const version of bottomRightCorner<int, int>().*/
+template<int CRows, int CCols>
+inline const Block<const Derived, CRows, CCols> bottomRightCorner() const
+{
+  return Block<const Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+}
+
+
+
+/** \returns a dynamic-size expression of a bottom-left corner of *this.
+  *
+  * \param cRows the number of rows in the corner
+  * \param cCols the number of columns in the corner
+  *
+  * Example: \include MatrixBase_bottomLeftCorner_int_int.cpp
+  * Output: \verbinclude MatrixBase_bottomLeftCorner_int_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline Block<Derived> bottomLeftCorner(Index cRows, Index cCols)
+{
+  return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+}
+
+/** This is the const version of bottomLeftCorner(Index, Index).*/
+inline const Block<const Derived> bottomLeftCorner(Index cRows, Index cCols) const
+{
+  return Block<const Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+}
+
+/** \returns an expression of a fixed-size bottom-left corner of *this.
+  *
+  * The template parameters CRows and CCols are the number of rows and columns in the corner.
+  *
+  * Example: \include MatrixBase_template_int_int_bottomLeftCorner.cpp
+  * Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int CRows, int CCols>
+inline Block<Derived, CRows, CCols> bottomLeftCorner()
+{
+  return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+}
+
+/** This is the const version of bottomLeftCorner<int, int>().*/
+template<int CRows, int CCols>
+inline const Block<const Derived, CRows, CCols> bottomLeftCorner() const
+{
+  return Block<const Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+}
+
+
+
+/** \returns a block consisting of the top rows of *this.
+  *
+  * \param n the number of rows in the block
+  *
+  * Example: \include MatrixBase_topRows_int.cpp
+  * Output: \verbinclude MatrixBase_topRows_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline RowsBlockXpr topRows(Index n)
+{
+  return RowsBlockXpr(derived(), 0, 0, n, cols());
+}
+
+/** This is the const version of topRows(Index).*/
+inline ConstRowsBlockXpr topRows(Index n) const
+{
+  return ConstRowsBlockXpr(derived(), 0, 0, n, cols());
+}
+
+/** \returns a block consisting of the top rows of *this.
+  *
+  * \tparam N the number of rows in the block
+  *
+  * Example: \include MatrixBase_template_int_topRows.cpp
+  * Output: \verbinclude MatrixBase_template_int_topRows.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NRowsBlockXpr<N>::Type topRows()
+{
+  return typename NRowsBlockXpr<N>::Type(derived(), 0, 0, N, cols());
+}
+
+/** This is the const version of topRows<int>().*/
+template<int N>
+inline typename ConstNRowsBlockXpr<N>::Type topRows() const
+{
+  return typename ConstNRowsBlockXpr<N>::Type(derived(), 0, 0, N, cols());
+}
+
+
+
+/** \returns a block consisting of the bottom rows of *this.
+  *
+  * \param n the number of rows in the block
+  *
+  * Example: \include MatrixBase_bottomRows_int.cpp
+  * Output: \verbinclude MatrixBase_bottomRows_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline RowsBlockXpr bottomRows(Index n)
+{
+  return RowsBlockXpr(derived(), rows() - n, 0, n, cols());
+}
+
+/** This is the const version of bottomRows(Index).*/
+inline ConstRowsBlockXpr bottomRows(Index n) const
+{
+  return ConstRowsBlockXpr(derived(), rows() - n, 0, n, cols());
+}
+
+/** \returns a block consisting of the bottom rows of *this.
+  *
+  * \tparam N the number of rows in the block
+  *
+  * Example: \include MatrixBase_template_int_bottomRows.cpp
+  * Output: \verbinclude MatrixBase_template_int_bottomRows.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NRowsBlockXpr<N>::Type bottomRows()
+{
+  return typename NRowsBlockXpr<N>::Type(derived(), rows() - N, 0, N, cols());
+}
+
+/** This is the const version of bottomRows<int>().*/
+template<int N>
+inline typename ConstNRowsBlockXpr<N>::Type bottomRows() const
+{
+  return typename ConstNRowsBlockXpr<N>::Type(derived(), rows() - N, 0, N, cols());
+}
+
+
+
+/** \returns a block consisting of a range of rows of *this.
+  *
+  * \param startRow the index of the first row in the block
+  * \param numRows the number of rows in the block
+  *
+  * Example: \include DenseBase_middleRows_int.cpp
+  * Output: \verbinclude DenseBase_middleRows_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline RowsBlockXpr middleRows(Index startRow, Index numRows)
+{
+  return RowsBlockXpr(derived(), startRow, 0, numRows, cols());
+}
+
+/** This is the const version of middleRows(Index,Index).*/
+inline ConstRowsBlockXpr middleRows(Index startRow, Index numRows) const
+{
+  return ConstRowsBlockXpr(derived(), startRow, 0, numRows, cols());
+}
+
+/** \returns a block consisting of a range of rows of *this.
+  *
+  * \tparam N the number of rows in the block
+  * \param startRow the index of the first row in the block
+  *
+  * Example: \include DenseBase_template_int_middleRows.cpp
+  * Output: \verbinclude DenseBase_template_int_middleRows.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NRowsBlockXpr<N>::Type middleRows(Index startRow)
+{
+  return typename NRowsBlockXpr<N>::Type(derived(), startRow, 0, N, cols());
+}
+
+/** This is the const version of middleRows<int>().*/
+template<int N>
+inline typename ConstNRowsBlockXpr<N>::Type middleRows(Index startRow) const
+{
+  return typename ConstNRowsBlockXpr<N>::Type(derived(), startRow, 0, N, cols());
+}
+
+
+
+/** \returns a block consisting of the left columns of *this.
+  *
+  * \param n the number of columns in the block
+  *
+  * Example: \include MatrixBase_leftCols_int.cpp
+  * Output: \verbinclude MatrixBase_leftCols_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline ColsBlockXpr leftCols(Index n)
+{
+  return ColsBlockXpr(derived(), 0, 0, rows(), n);
+}
+
+/** This is the const version of leftCols(Index).*/
+inline ConstColsBlockXpr leftCols(Index n) const
+{
+  return ConstColsBlockXpr(derived(), 0, 0, rows(), n);
+}
+
+/** \returns a block consisting of the left columns of *this.
+  *
+  * \tparam N the number of columns in the block
+  *
+  * Example: \include MatrixBase_template_int_leftCols.cpp
+  * Output: \verbinclude MatrixBase_template_int_leftCols.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NColsBlockXpr<N>::Type leftCols()
+{
+  return typename NColsBlockXpr<N>::Type(derived(), 0, 0, rows(), N);
+}
+
+/** This is the const version of leftCols<int>().*/
+template<int N>
+inline typename ConstNColsBlockXpr<N>::Type leftCols() const
+{
+  return typename ConstNColsBlockXpr<N>::Type(derived(), 0, 0, rows(), N);
+}
+
+
+
+/** \returns a block consisting of the right columns of *this.
+  *
+  * \param n the number of columns in the block
+  *
+  * Example: \include MatrixBase_rightCols_int.cpp
+  * Output: \verbinclude MatrixBase_rightCols_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline ColsBlockXpr rightCols(Index n)
+{
+  return ColsBlockXpr(derived(), 0, cols() - n, rows(), n);
+}
+
+/** This is the const version of rightCols(Index).*/
+inline ConstColsBlockXpr rightCols(Index n) const
+{
+  return ConstColsBlockXpr(derived(), 0, cols() - n, rows(), n);
+}
+
+/** \returns a block consisting of the right columns of *this.
+  *
+  * \tparam N the number of columns in the block
+  *
+  * Example: \include MatrixBase_template_int_rightCols.cpp
+  * Output: \verbinclude MatrixBase_template_int_rightCols.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NColsBlockXpr<N>::Type rightCols()
+{
+  return typename NColsBlockXpr<N>::Type(derived(), 0, cols() - N, rows(), N);
+}
+
+/** This is the const version of rightCols<int>().*/
+template<int N>
+inline typename ConstNColsBlockXpr<N>::Type rightCols() const
+{
+  return typename ConstNColsBlockXpr<N>::Type(derived(), 0, cols() - N, rows(), N);
+}
+
+
+
+/** \returns a block consisting of a range of columns of *this.
+  *
+  * \param startCol the index of the first column in the block
+  * \param numCols the number of columns in the block
+  *
+  * Example: \include DenseBase_middleCols_int.cpp
+  * Output: \verbinclude DenseBase_middleCols_int.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+inline ColsBlockXpr middleCols(Index startCol, Index numCols)
+{
+  return ColsBlockXpr(derived(), 0, startCol, rows(), numCols);
+}
+
+/** This is the const version of middleCols(Index,Index).*/
+inline ConstColsBlockXpr middleCols(Index startCol, Index numCols) const
+{
+  return ConstColsBlockXpr(derived(), 0, startCol, rows(), numCols);
+}
+
+/** \returns a block consisting of a range of columns of *this.
+  *
+  * \tparam N the number of columns in the block
+  * \param startCol the index of the first column in the block
+  *
+  * Example: \include DenseBase_template_int_middleCols.cpp
+  * Output: \verbinclude DenseBase_template_int_middleCols.out
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int N>
+inline typename NColsBlockXpr<N>::Type middleCols(Index startCol)
+{
+  return typename NColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), N);
+}
+
+/** This is the const version of middleCols<int>().*/
+template<int N>
+inline typename ConstNColsBlockXpr<N>::Type middleCols(Index startCol) const
+{
+  return typename ConstNColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), N);
+}
+
+
+
+/** \returns a fixed-size expression of a block in *this.
+  *
+  * The template parameters \a BlockRows and \a BlockCols are the number of
+  * rows and columns in the block.
+  *
+  * \param startRow the first row in the block
+  * \param startCol the first column in the block
+  *
+  * Example: \include MatrixBase_block_int_int.cpp
+  * Output: \verbinclude MatrixBase_block_int_int.out
+  *
+  * \note since block is a templated member, the keyword template has to be used
+  * if the matrix type is also a template parameter: \code m.template block<3,3>(1,1); \endcode
+  *
+  * \sa class Block, block(Index,Index,Index,Index)
+  */
+template<int BlockRows, int BlockCols>
+inline Block<Derived, BlockRows, BlockCols> block(Index startRow, Index startCol)
+{
+  return Block<Derived, BlockRows, BlockCols>(derived(), startRow, startCol);
+}
+
+/** This is the const version of block<>(Index, Index). */
+template<int BlockRows, int BlockCols>
+inline const Block<const Derived, BlockRows, BlockCols> block(Index startRow, Index startCol) const
+{
+  return Block<const Derived, BlockRows, BlockCols>(derived(), startRow, startCol);
+}
+
+/** \returns an expression of the \a i-th column of *this. Note that the numbering starts at 0.
+  *
+  * Example: \include MatrixBase_col.cpp
+  * Output: \verbinclude MatrixBase_col.out
+  *
+  * \sa row(), class Block */
+inline ColXpr col(Index i)
+{
+  return ColXpr(derived(), i);
+}
+
+/** This is the const version of col(). */
+inline ConstColXpr col(Index i) const
+{
+  return ConstColXpr(derived(), i);
+}
+
+/** \returns an expression of the \a i-th row of *this. Note that the numbering starts at 0.
+  *
+  * Example: \include MatrixBase_row.cpp
+  * Output: \verbinclude MatrixBase_row.out
+  *
+  * \sa col(), class Block */
+inline RowXpr row(Index i)
+{
+  return RowXpr(derived(), i);
+}
+
+/** This is the const version of row(). */
+inline ConstRowXpr row(Index i) const
+{
+  return ConstRowXpr(derived(), i);
+}
+
+#endif // EIGEN_BLOCKMETHODS_H
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/CMakeLists.txt b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/CMakeLists.txt
new file mode 100755
index 0000000..1a1d3ff
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_plugins_SRCS "*.h")
+
+INSTALL(FILES
+  ${Eigen_plugins_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/plugins COMPONENT Devel
+  )
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/CommonCwiseBinaryOps.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/CommonCwiseBinaryOps.h
new file mode 100755
index 0000000..8f7765e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/CommonCwiseBinaryOps.h
@@ -0,0 +1,61 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// This file is a base class plugin containing common coefficient wise functions.
+
+/** \returns an expression of the difference of \c *this and \a other
+  *
+  * \note If you want to substract a given scalar from all coefficients, see Cwise::operator-().
+  *
+  * \sa class CwiseBinaryOp, operator-=()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator-,internal::scalar_difference_op)
+
+/** \returns an expression of the sum of \c *this and \a other
+  *
+  * \note If you want to add a given scalar to all coefficients, see Cwise::operator+().
+  *
+  * \sa class CwiseBinaryOp, operator+=()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(operator+,internal::scalar_sum_op)
+
+/** \returns an expression of a custom coefficient-wise operator \a func of *this and \a other
+  *
+  * The template parameter \a CustomBinaryOp is the type of the functor
+  * of the custom operator (see class CwiseBinaryOp for an example)
+  *
+  * Here is an example illustrating the use of custom functors:
+  * \include class_CwiseBinaryOp.cpp
+  * Output: \verbinclude class_CwiseBinaryOp.out
+  *
+  * \sa class CwiseBinaryOp, operator+(), operator-(), cwiseProduct()
+  */
+template<typename CustomBinaryOp, typename OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>
+binaryExpr(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other, const CustomBinaryOp& func = CustomBinaryOp()) const
+{
+  return CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>(derived(), other.derived(), func);
+}
+
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/CommonCwiseUnaryOps.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/CommonCwiseUnaryOps.h
new file mode 100755
index 0000000..941d515
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/CommonCwiseUnaryOps.h
@@ -0,0 +1,187 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// This file is a base class plugin containing common coefficient wise functions.
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+/** \internal Represents a scalar multiple of an expression */
+typedef CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const Derived> ScalarMultipleReturnType;
+/** \internal Represents a quotient of an expression by a scalar*/
+typedef CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>, const Derived> ScalarQuotient1ReturnType;
+/** \internal the return type of conjugate() */
+typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                    const CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Derived>,
+                    const Derived&
+                  >::type ConjugateReturnType;
+/** \internal the return type of real() const */
+typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                    const CwiseUnaryOp<internal::scalar_real_op<Scalar>, const Derived>,
+                    const Derived&
+                  >::type RealReturnType;
+/** \internal the return type of real() */
+typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                    CwiseUnaryView<internal::scalar_real_ref_op<Scalar>, Derived>,
+                    Derived&
+                  >::type NonConstRealReturnType;
+/** \internal the return type of imag() const */
+typedef CwiseUnaryOp<internal::scalar_imag_op<Scalar>, const Derived> ImagReturnType;
+/** \internal the return type of imag() */
+typedef CwiseUnaryView<internal::scalar_imag_ref_op<Scalar>, Derived> NonConstImagReturnType;
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+/** \returns an expression of the opposite of \c *this
+  */
+inline const CwiseUnaryOp<internal::scalar_opposite_op<typename internal::traits<Derived>::Scalar>, const Derived>
+operator-() const { return derived(); }
+
+
+/** \returns an expression of \c *this scaled by the scalar factor \a scalar */
+inline const ScalarMultipleReturnType
+operator*(const Scalar& scalar) const
+{
+  return CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const Derived>
+    (derived(), internal::scalar_multiple_op<Scalar>(scalar));
+}
+
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+const ScalarMultipleReturnType operator*(const RealScalar& scalar) const;
+#endif
+
+/** \returns an expression of \c *this divided by the scalar value \a scalar */
+inline const CwiseUnaryOp<internal::scalar_quotient1_op<typename internal::traits<Derived>::Scalar>, const Derived>
+operator/(const Scalar& scalar) const
+{
+  return CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>, const Derived>
+    (derived(), internal::scalar_quotient1_op<Scalar>(scalar));
+}
+
+/** Overloaded for efficient real matrix times complex scalar value */
+inline const CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
+operator*(const std::complex<Scalar>& scalar) const
+{
+  return CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
+    (*static_cast<const Derived*>(this), internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >(scalar));
+}
+
+inline friend const ScalarMultipleReturnType
+operator*(const Scalar& scalar, const StorageBaseType& matrix)
+{ return matrix*scalar; }
+
+inline friend const CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
+operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
+{ return matrix*scalar; }
+
+/** \returns an expression of *this with the \a Scalar type casted to
+  * \a NewScalar.
+  *
+  * The template parameter \a NewScalar is the type we are casting the scalars to.
+  *
+  * \sa class CwiseUnaryOp
+  */
+template<typename NewType>
+typename internal::cast_return_type<Derived,const CwiseUnaryOp<internal::scalar_cast_op<typename internal::traits<Derived>::Scalar, NewType>, const Derived> >::type
+cast() const
+{
+  return derived();
+}
+
+/** \returns an expression of the complex conjugate of \c *this.
+  *
+  * \sa adjoint() */
+inline ConjugateReturnType
+conjugate() const
+{
+  return ConjugateReturnType(derived());
+}
+
+/** \returns a read-only expression of the real part of \c *this.
+  *
+  * \sa imag() */
+inline RealReturnType
+real() const { return derived(); }
+
+/** \returns an read-only expression of the imaginary part of \c *this.
+  *
+  * \sa real() */
+inline const ImagReturnType
+imag() const { return derived(); }
+
+/** \brief Apply a unary operator coefficient-wise
+  * \param[in]  func  Functor implementing the unary operator
+  * \tparam  CustomUnaryOp Type of \a func  
+  * \returns An expression of a custom coefficient-wise unary operator \a func of *this
+  *
+  * The function \c ptr_fun() from the C++ standard library can be used to make functors out of normal functions.
+  *
+  * Example:
+  * \include class_CwiseUnaryOp_ptrfun.cpp
+  * Output: \verbinclude class_CwiseUnaryOp_ptrfun.out
+  *
+  * Genuine functors allow for more possibilities, for instance it may contain a state.
+  *
+  * Example:
+  * \include class_CwiseUnaryOp.cpp
+  * Output: \verbinclude class_CwiseUnaryOp.out
+  *
+  * \sa class CwiseUnaryOp, class CwiseBinaryOp
+  */
+template<typename CustomUnaryOp>
+inline const CwiseUnaryOp<CustomUnaryOp, const Derived>
+unaryExpr(const CustomUnaryOp& func = CustomUnaryOp()) const
+{
+  return CwiseUnaryOp<CustomUnaryOp, const Derived>(derived(), func);
+}
+
+/** \returns an expression of a custom coefficient-wise unary operator \a func of *this
+  *
+  * The template parameter \a CustomUnaryOp is the type of the functor
+  * of the custom unary operator.
+  *
+  * Example:
+  * \include class_CwiseUnaryOp.cpp
+  * Output: \verbinclude class_CwiseUnaryOp.out
+  *
+  * \sa class CwiseUnaryOp, class CwiseBinaryOp
+  */
+template<typename CustomViewOp>
+inline const CwiseUnaryView<CustomViewOp, const Derived>
+unaryViewExpr(const CustomViewOp& func = CustomViewOp()) const
+{
+  return CwiseUnaryView<CustomViewOp, const Derived>(derived(), func);
+}
+
+/** \returns a non const expression of the real part of \c *this.
+  *
+  * \sa imag() */
+inline NonConstRealReturnType
+real() { return derived(); }
+
+/** \returns a non const expression of the imaginary part of \c *this.
+  *
+  * \sa real() */
+inline NonConstImagReturnType
+imag() { return derived(); }
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/MatrixCwiseBinaryOps.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/MatrixCwiseBinaryOps.h
new file mode 100755
index 0000000..35183f9
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/MatrixCwiseBinaryOps.h
@@ -0,0 +1,120 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// This file is a base class plugin containing matrix specifics coefficient wise functions.
+
+/** \returns an expression of the Schur product (coefficient wise product) of *this and \a other
+  *
+  * Example: \include MatrixBase_cwiseProduct.cpp
+  * Output: \verbinclude MatrixBase_cwiseProduct.out
+  *
+  * \sa class CwiseBinaryOp, cwiseAbs2
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)
+cwiseProduct(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise == operator of *this and \a other
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * Example: \include MatrixBase_cwiseEqual.cpp
+  * Output: \verbinclude MatrixBase_cwiseEqual.out
+  *
+  * \sa cwiseNotEqual(), isApprox(), isMuchSmallerThan()
+  */
+template<typename OtherDerived>
+inline const CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>
+cwiseEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise != operator of *this and \a other
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * Example: \include MatrixBase_cwiseNotEqual.cpp
+  * Output: \verbinclude MatrixBase_cwiseNotEqual.out
+  *
+  * \sa cwiseEqual(), isApprox(), isMuchSmallerThan()
+  */
+template<typename OtherDerived>
+inline const CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>
+cwiseNotEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise min of *this and \a other
+  *
+  * Example: \include MatrixBase_cwiseMin.cpp
+  * Output: \verbinclude MatrixBase_cwiseMin.out
+  *
+  * \sa class CwiseBinaryOp, max()
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const OtherDerived>
+cwiseMin(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise max of *this and \a other
+  *
+  * Example: \include MatrixBase_cwiseMax.cpp
+  * Output: \verbinclude MatrixBase_cwiseMax.out
+  *
+  * \sa class CwiseBinaryOp, min()
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const OtherDerived>
+cwiseMax(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise quotient of *this and \a other
+  *
+  * Example: \include MatrixBase_cwiseQuotient.cpp
+  * Output: \verbinclude MatrixBase_cwiseQuotient.out
+  *
+  * \sa class CwiseBinaryOp, cwiseProduct(), cwiseInverse()
+  */
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
+cwiseQuotient(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
diff --git a/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/MatrixCwiseUnaryOps.h b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/MatrixCwiseUnaryOps.h
new file mode 100755
index 0000000..a3d9a0e
--- /dev/null
+++ b/ASIFT_tests/demo_ASIFT_src/third_party/Eigen/src/plugins/MatrixCwiseUnaryOps.h
@@ -0,0 +1,82 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// This file is a base class plugin containing matrix specifics coefficient wise functions.
+
+/** \returns an expression of the coefficient-wise absolute value of \c *this
+  *
+  * Example: \include MatrixBase_cwiseAbs.cpp
+  * Output: \verbinclude MatrixBase_cwiseAbs.out
+  *
+  * \sa cwiseAbs2()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
+cwiseAbs() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise squared absolute value of \c *this
+  *
+  * Example: \include MatrixBase_cwiseAbs2.cpp
+  * Output: \verbinclude MatrixBase_cwiseAbs2.out
+  *
+  * \sa cwiseAbs()
+  */
+EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
+cwiseAbs2() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise square root of *this.
+  *
+  * Example: \include MatrixBase_cwiseSqrt.cpp
+  * Output: \verbinclude MatrixBase_cwiseSqrt.out
+  *
+  * \sa cwisePow(), cwiseSquare()
+  */
+inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
+cwiseSqrt() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise inverse of *this.
+  *
+  * Example: \include MatrixBase_cwiseInverse.cpp
+  * Output: \verbinclude MatrixBase_cwiseInverse.out
+  *
+  * \sa cwiseProduct()
+  */
+inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
+cwiseInverse() const { return derived(); }
+
+/** \returns an expression of the coefficient-wise == operator of \c *this and a scalar \a s
+  *
+  * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+  * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+  * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+  * isMuchSmallerThan().
+  *
+  * \sa cwiseEqual(const MatrixBase<OtherDerived> &) const
+  */
+inline const CwiseUnaryOp<std::binder1st<std::equal_to<Scalar> >, const Derived>
+cwiseEqual(const Scalar& s) const
+{
+  return CwiseUnaryOp<std::binder1st<std::equal_to<Scalar> >,const Derived>
+          (derived(), std::bind1st(std::equal_to<Scalar>(), s));
+}
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new file mode 100644
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+++ b/Visp_tests/learn_tests/CMakeFiles/detection_limited_info.dir/progress.make
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diff --git a/Visp_tests/learn_tests/CMakeFiles/detection_multi_tracker.dir/progress.make b/Visp_tests/learn_tests/CMakeFiles/detection_multi_tracker.dir/progress.make
index 781c7de..164e1d2 100644
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diff --git a/Visp_tests/learn_tests/CMakeLists.txt b/Visp_tests/learn_tests/CMakeLists.txt
index 0c6d278..45d1a5a 100644
--- a/Visp_tests/learn_tests/CMakeLists.txt
+++ b/Visp_tests/learn_tests/CMakeLists.txt
@@ -7,7 +7,8 @@ find_package(VISP REQUIRED visp_core visp_vision visp_mbt visp_io visp_gui)
 # set the list of source files
 set(tutorial_cpp
   tutorial-detection-object-mbt2.cpp
-	detection_multi_tracker.cpp
+	#detection_multi_tracker.cpp
+	detection_limited_info.cpp
 )
 
 
diff --git a/Visp_tests/learn_tests/CMakeLists.txt~ b/Visp_tests/learn_tests/CMakeLists.txt~
index 22e9306..254076b 100644
--- a/Visp_tests/learn_tests/CMakeLists.txt~
+++ b/Visp_tests/learn_tests/CMakeLists.txt~
@@ -7,6 +7,8 @@ find_package(VISP REQUIRED visp_core visp_vision visp_mbt visp_io visp_gui)
 # set the list of source files
 set(tutorial_cpp
   tutorial-detection-object-mbt2.cpp
+	detection_multi_tracker.cpp
+	detection_limited_info.cpp
 )
 
 
diff --git a/Visp_tests/learn_tests/Makefile b/Visp_tests/learn_tests/Makefile
index adea2e0..9ed307c 100644
--- a/Visp_tests/learn_tests/Makefile
+++ b/Visp_tests/learn_tests/Makefile
@@ -99,17 +99,17 @@ depend:
 .PHONY : depend
 
 #=============================================================================
-# Target rules for targets named detection_multi_tracker
+# Target rules for targets named detection_limited_info
 
 # Build rule for target.
-detection_multi_tracker: cmake_check_build_system
-	$(MAKE) -f CMakeFiles/Makefile2 detection_multi_tracker
-.PHONY : detection_multi_tracker
+detection_limited_info: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 detection_limited_info
+.PHONY : detection_limited_info
 
 # fast build rule for target.
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-	$(MAKE) -f CMakeFiles/detection_multi_tracker.dir/build.make CMakeFiles/detection_multi_tracker.dir/build
-.PHONY : detection_multi_tracker/fast
+detection_limited_info/fast:
+	$(MAKE) -f CMakeFiles/detection_limited_info.dir/build.make CMakeFiles/detection_limited_info.dir/build
+.PHONY : detection_limited_info/fast
 
 #=============================================================================
 # Target rules for targets named tutorial-detection-object-mbt2
@@ -124,29 +124,29 @@ tutorial-detection-object-mbt2/fast:
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-detection_multi_tracker.o: detection_multi_tracker.cpp.o
-.PHONY : detection_multi_tracker.o
+detection_limited_info.o: detection_limited_info.cpp.o
+.PHONY : detection_limited_info.o
 
 # target to build an object file
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-	$(MAKE) -f CMakeFiles/detection_multi_tracker.dir/build.make CMakeFiles/detection_multi_tracker.dir/detection_multi_tracker.cpp.o
-.PHONY : detection_multi_tracker.cpp.o
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+	$(MAKE) -f CMakeFiles/detection_limited_info.dir/build.make CMakeFiles/detection_limited_info.dir/detection_limited_info.cpp.o
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-.PHONY : detection_multi_tracker.i
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-.PHONY : detection_multi_tracker.cpp.i
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+	$(MAKE) -f CMakeFiles/detection_limited_info.dir/build.make CMakeFiles/detection_limited_info.dir/detection_limited_info.cpp.i
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-detection_multi_tracker.s: detection_multi_tracker.cpp.s
-.PHONY : detection_multi_tracker.s
+detection_limited_info.s: detection_limited_info.cpp.s
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-.PHONY : detection_multi_tracker.cpp.s
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+	$(MAKE) -f CMakeFiles/detection_limited_info.dir/build.make CMakeFiles/detection_limited_info.dir/detection_limited_info.cpp.s
+.PHONY : detection_limited_info.cpp.s
 
 tutorial-detection-object-mbt2.o: tutorial-detection-object-mbt2.cpp.o
 .PHONY : tutorial-detection-object-mbt2.o
@@ -178,13 +178,13 @@ help:
 	@echo "... all (the default if no target is provided)"
 	@echo "... clean"
 	@echo "... depend"
-	@echo "... detection_multi_tracker"
+	@echo "... detection_limited_info"
 	@echo "... edit_cache"
 	@echo "... rebuild_cache"
 	@echo "... tutorial-detection-object-mbt2"
-	@echo "... detection_multi_tracker.o"
-	@echo "... detection_multi_tracker.i"
-	@echo "... detection_multi_tracker.s"
+	@echo "... detection_limited_info.o"
+	@echo "... detection_limited_info.i"
+	@echo "... detection_limited_info.s"
 	@echo "... tutorial-detection-object-mbt2.o"
 	@echo "... tutorial-detection-object-mbt2.i"
 	@echo "... tutorial-detection-object-mbt2.s"
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+++ b/Visp_tests/learn_tests/detection_limited_info.cpp
@@ -0,0 +1,729 @@
+//! \example tutorial-detection-object-mbt2.cpp
+#include <visp3/core/vpConfig.h>
+#include <visp3/core/vpIoTools.h>
+#include <visp3/gui/vpDisplayGDI.h>
+#include <visp3/gui/vpDisplayOpenCV.h>
+#include <visp3/gui/vpDisplayX.h>
+#include <visp3/io/vpVideoReader.h>
+#include <visp3/mbt/vpMbGenericTracker.h>
+#include <visp3/vision/vpKeyPoint.h>
+
+//Options
+#define IMATCHING
+// #define HYBRID_MATCHING
+// #define VAR_TRESH
+
+#ifdef HYBRID_MATCHING
+    enum State
+    {
+      WAITING_FOR_INITIALIZATION,
+      TRACKING,
+      LOST,
+      UNCERTAIN //=Tracking OK / Matching FAIL
+    };
+#endif
+
+#if (VISP_HAVE_OPENCV_VERSION >= 0x020400)
+void learn(const vpImage<unsigned char> &I, vpMbGenericTracker &tracker, vpKeyPoint &keypoint_learning, int id)
+{
+  //! [Keypoints reference detection]
+  std::vector<cv::KeyPoint> trainKeyPoints;
+  double elapsedTime;
+  keypoint_learning.detect(I, trainKeyPoints, elapsedTime);
+  //! [Keypoints reference detection]
+
+  //! [Keypoints selection on faces]
+  std::vector<vpPolygon> polygons;
+  std::vector<std::vector<vpPoint> > roisPt;
+  std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair = tracker.getPolygonFaces();
+  polygons = pair.first;
+  roisPt = pair.second;
+
+  std::vector<cv::Point3f> points3f;
+  vpHomogeneousMatrix cMo;
+  tracker.getPose(cMo);
+  vpCameraParameters cam;
+  tracker.getCameraParameters(cam);
+  vpKeyPoint::compute3DForPointsInPolygons(cMo, cam, trainKeyPoints, polygons, roisPt, points3f);
+  //! [Keypoints selection on faces]
+
+  //! [Keypoints build reference]
+  keypoint_learning.buildReference(I, trainKeyPoints, points3f, true, id);
+  //! [Keypoints build reference]
+
+  //! [Display reference keypoints]
+  for (std::vector<cv::KeyPoint>::const_iterator it = trainKeyPoints.begin(); it != trainKeyPoints.end(); ++it) {
+    vpDisplay::displayCross(I, (int)it->pt.y, (int)it->pt.x, 4, vpColor::red);
+  }
+  //! [Display reference keypoints]
+}
+#endif
+
+#ifdef VAR_TRESH
+//Compute cummulative variance of a list of vector. 
+double varVector(std::list< vpArray2D<double> > vector_list)
+{
+  //Attention aux vecteurs vides
+  double var[3], mean[3];
+
+  //Compute means
+  for (std::list< vpArray2D<double> >::iterator it=vector_list.begin(); it != vector_list.end(); ++it)
+  {
+    if((*it).size()!=3)
+    {
+      std::cout<<"WARNING varVector : invalid array size"<<std::endl;
+      return -1;
+    }
+    else
+    {
+      for(unsigned int j=0; j< 3; j++)
+      {
+        mean[j]+=*(*it)[j];
+      }
+    }
+  }
+  for(unsigned int j=0; j<3; j++)
+  {
+    mean[j] /= vector_list.size();
+  }
+
+  //Compute variances
+  for (std::list< vpArray2D<double> >::iterator it=vector_list.begin(); it != vector_list.end(); ++it)
+  {
+    for(unsigned int j=0; j< 3; j++)
+    {
+      var[j]+=(*(*it)[j]-mean[j])*(*(*it)[j]-mean[j]);
+    }
+  }
+  for(unsigned int j=0; j<3; j++)
+  {
+    var[j] /= vector_list.size();
+  }
+  return var[0]+var[1]+var[2];
+}
+#endif
+
+#ifdef HYBRID_MATCHING
+float computeConfidenceLevel(std::list<State> states)
+{
+  float res = 0;
+
+  for (std::list<State>::iterator it=states.begin(); it != states.end(); ++it)
+  {
+    switch(*it)
+    {
+      case TRACKING:
+        res += 1;
+        break;
+      case UNCERTAIN:
+        res += 0.5;
+        break;
+      case LOST:
+        res -=1;
+      case WAITING_FOR_INITIALIZATION:
+        break;
+    }
+  }
+  res = res/states.size();
+
+  return res;
+}
+#endif
+
+int main(int argc, char **argv)
+{
+#if (VISP_HAVE_OPENCV_VERSION >= 0x020400)
+  //! [MBT code]
+  try {
+    std::string videoname = "book.mpeg";
+
+    for (int i = 0; i < argc; i++) {
+      if (std::string(argv[i]) == "--name")
+        videoname = std::string(argv[i + 1]);
+      else if (std::string(argv[i]) == "--help") {
+        std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--help]\n" << std::endl;
+        return 0;
+      }
+    }
+    std::string parentname = vpIoTools::getParent(videoname);
+    std::string objectname = vpIoTools::getNameWE(videoname);
+
+    if (!parentname.empty())
+      objectname = parentname + "/" + objectname;
+
+    std::cout << "Video name: " << videoname << std::endl;
+    std::cout << "Tracker requested config files: " << objectname << ".[init,"
+#ifdef VISP_HAVE_XML2
+              << "xml,"
+#endif
+              << "cao or wrl]" << std::endl;
+    std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
+
+    vpImage<unsigned char> I;
+    vpHomogeneousMatrix cMo;
+    vpCameraParameters cam;
+
+    vpMbGenericTracker tracker; //Bug lors de la config de type KLT de tracker dans le constructeur.
+    tracker.setTrackerType(vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER);
+
+    bool usexml = false;
+#ifdef VISP_HAVE_XML2
+    if (vpIoTools::checkFilename(objectname + ".xml")) {
+      tracker.loadConfigFile(objectname + ".xml");
+      tracker.getCameraParameters(cam);
+      usexml = true;
+    }
+#endif
+    if (!usexml) {
+      vpMe me;
+      me.setMaskSize(5);
+      me.setMaskNumber(180);
+      me.setRange(7);
+      me.setThreshold(5000);
+      me.setMu1(0.5);
+      me.setMu2(0.5);
+      me.setSampleStep(4);
+      me.setNbTotalSample(250);
+      tracker.setMovingEdge(me);
+      cam.initPersProjWithoutDistortion(547, 542, 339, 235);
+      tracker.setCameraParameters(cam);
+      tracker.setAngleAppear(vpMath::rad(89));
+      tracker.setAngleDisappear(vpMath::rad(89));
+      tracker.setNearClippingDistance(0.01);
+      tracker.setFarClippingDistance(10.0);
+      tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
+
+      vpKltOpencv klt_settings;
+      klt_settings.setMaxFeatures(300);
+      klt_settings.setWindowSize(5);
+      klt_settings.setQuality(0.015);
+      klt_settings.setMinDistance(8);
+      klt_settings.setHarrisFreeParameter(0.01);
+      klt_settings.setBlockSize(3);
+      klt_settings.setPyramidLevels(3);
+      tracker.setKltOpencv(klt_settings);
+      tracker.setKltMaskBorder(5);
+    }
+
+    tracker.setOgreVisibilityTest(false);
+    if (vpIoTools::checkFilename(objectname + ".cao"))
+      tracker.loadModel(objectname + ".cao");
+    else if (vpIoTools::checkFilename(objectname + ".wrl"))
+      tracker.loadModel(objectname + ".wrl");
+    tracker.setDisplayFeatures(true);
+    //! [MBT code]
+
+    //! [Keypoint declaration]
+    vpKeyPoint keypoint_learning("ORB", "ORB", "BruteForce-Hamming");
+#if (VISP_HAVE_OPENCV_VERSION < 0x030000)
+    keypoint_learning.setDetectorParameter("ORB", "nLevels", 1);
+#else
+    cv::Ptr<cv::ORB> orb_learning = keypoint_learning.getDetector("ORB").dynamicCast<cv::ORB>();
+    if (orb_learning != NULL) {
+      orb_learning->setNLevels(1);
+    }
+#endif
+//! [Keypoint declaration]
+
+#if defined(VISP_HAVE_X11)
+    vpDisplayX display;
+#elif defined(VISP_HAVE_GDI)
+    vpDisplayGDI display;
+#elif defined(VISP_HAVE_OPENCV)
+    vpDisplayOpenCV display;
+#else
+    std::cout << "No image viewer is available..." << std::endl;
+    return 0;
+#endif
+
+
+    videoname = "data_test/%03d.png";
+    /*
+     * Start the part of the code dedicated to object learning from 3 images
+     */
+    unsigned int init_data_nb = 11;
+
+    // vpVideoReader g;
+    // g.setFileName("book_training/train_image_%03d.png");
+
+    std::string trainData[] = {
+      "book_training/train_image_000", 
+      "book_training/train_image_001", 
+      "book_training/train_image_002",
+      "book_training/train_image_003",
+      "book_training/train_image_004",
+      "book_training/train_image_005",
+      "book_training/train_image_006",
+      "book_training/train_image_007",
+      "book_training/train_image_008",
+      "book_training/train_image_009",
+      "book_training/train_image_010"};
+
+    // std::string trainData[] = {
+    //   "book2_training/train_image_000", 
+    //   "book2_training/train_image_001",
+    //   "book2_training/train_image_002",
+    //   "book2_training/train_image_003"};
+
+    // std::string trainData[] = {
+      // "box_training/train_image_000", 
+      // "box_training/train_image_001",
+      // "box_training/train_image_002",
+      // "box_training/train_image_003",
+      // "box_training/train_image_004",
+      // "box_training/train_image_005"};
+
+    vpHomogeneousMatrix initPoseTab[init_data_nb];
+    // std::cout<<"Load init cMo"<<std::endl;
+    // vpArray2D<double>::loadYAML(cMoName[0],initPoseTab[0]);
+    // initPoseTab[0].print();
+
+    //Acquisition des cMo d'intialisation
+    for (int i = 0; i < init_data_nb; i++)
+    {
+      // std::cout<<i<<std::endl;
+      vpArray2D<double>::loadYAML(trainData[i]+".yml",initPoseTab[i]);
+    }
+
+    for (int i = 0; i < init_data_nb; i++) {
+      //Acquisition des images d'initialisation
+      vpImageIo::read(I, trainData[i]+".png");
+      // if(i==0 || !g.end())
+      //   g.acquire(I);
+      // else
+      //   std::cout<<"Missing training image !"<<std::endl;
+
+      // vpArray2D<double>::loadYAML(cMoName[i],initPoseTab[i]);
+      
+      if (i == 0) {
+        display.init(I, 10, 10);
+      }
+      std::stringstream title;
+      title << "Learning cube on image: " << trainData[i];
+      // title << "Learning cube on image: " << g.getFrameIndex();
+      vpDisplay::setTitle(I, title.str().c_str());
+
+      vpDisplay::display(I);
+
+      //! [Set tracker pose]
+      // tracker.setPose(I, initPoseTab[i]);
+      // tracker.initFromPose(I,initPoseTab[i]);
+      tracker.init(I);
+      //! [Set tracker pose]
+
+      // std::cout<<"Refine"<<std::endl;
+      //! [Refine pose]
+      // tracker.track(I);
+      //! [Refine pose]
+
+      // std::cout<<"Display"<<std::endl;
+      //! [Display tracker pose]
+      tracker.getPose(cMo);
+      tracker.display(I, cMo, cam, vpColor::red);
+      //! [Display tracker pose]
+
+      // std::cout<<"Learn"<<std::endl;
+      //! [Learn cube call]
+      learn(I, tracker, keypoint_learning, i);
+      //! [Learn cube call]
+
+      vpDisplay::displayText(I, 10, 10, "Learning step: keypoints are detected on visible cube faces", vpColor::red);
+      if (i < 2) {
+        vpDisplay::displayText(I, 30, 10, "Click to continue the learning...", vpColor::red);
+      } else {
+        vpDisplay::displayText(I, 30, 10, "Click to continue with the detection...", vpColor::red);
+      }
+
+      vpDisplay::flush(I);
+      // vpDisplay::getClick(I, true);
+      std::cout<<trainData[i]<<" learned !"<<std::endl;
+    }
+    // g.close();
+
+    //! [Save learning data]
+    #ifdef IMATCHING
+    keypoint_learning.saveLearningData("book_learning_data.bin", true, true); //+sauvegarde des images d'entrainement pour l'affichage
+    #else
+    keypoint_learning.saveLearningData("book_learning_data.bin", true, false);
+    #endif
+    //! [Save learning data]
+
+    /*
+     * Start the part of the code dedicated to detection and localization
+     */
+    //! [Init keypoint detection]
+    vpKeyPoint::vpFilterMatchingType filterType = vpKeyPoint::noFilterMatching;
+
+    vpKeyPoint keypoint_detection("ORB", "ORB", "BruteForce-Hamming",filterType);
+#if (VISP_HAVE_OPENCV_VERSION < 0x030000)
+    keypoint_detection.setDetectorParameter("ORB", "nLevels", 1);
+#else
+    cv::Ptr<cv::ORB> orb_detector = keypoint_detection.getDetector("ORB").dynamicCast<cv::ORB>();
+    orb_detector = keypoint_detection.getDetector("ORB").dynamicCast<cv::ORB>();
+    if (orb_detector != NULL) {
+      orb_detector->setNLevels(1);
+    }
+#endif
+    //! [Init keypoint detection]
+    //! [Load teabox learning data]
+    keypoint_detection.loadLearningData("book_learning_data.bin", true);
+    //! [Load teabox learning data]
+
+#ifdef IMATCHING
+    //! [Create image matching]
+    vpImage<unsigned char> IMatching;
+    keypoint_detection.createImageMatching(I, IMatching);
+    //! [Create image matching]
+#endif
+
+    // std::cout<<"Reading : "<<videoname<<std::endl;
+    vpVideoReader g;
+    g.setFileName(videoname);
+    g.open(I);
+
+#if defined VISP_HAVE_X11
+    vpDisplayX display2;
+#elif defined VISP_HAVE_GTK
+    vpDisplayGTK display2;
+#elif defined VISP_HAVE_GDI
+    vpDisplayGDI display2;
+#else
+    vpDisplayOpenCV display2;
+#endif
+
+  #ifdef IMATCHING
+    display2.init(IMatching, 50, 50, "Display matching between learned and current images");
+  #endif
+    vpDisplay::setTitle(I, "Cube detection and localization");
+
+///// TEST ////
+// if(rect_roi==NULL)
+//   rect_roi = new vpRect();
+// double time=0, nb=0;
+    // display.init(I, 10, 10);
+
+  #ifdef VAR_TRESH
+    //Var Treshold
+    std::list< vpArray2D<double> > translation_mem;
+    std::list< vpArray2D<double> > rotation_mem;
+    unsigned int var_mem_length = 15; // + = stabilité / - = rapidité
+    double tvar_treshold = 0.3;
+    double rvar_treshold = 0.5;
+    double tvar, rvar;
+    //Var Treshold
+  #endif
+
+  #ifdef HYBRID_MATCHING
+    vpRect* rect_roi = new vpRect();
+    State track_state = WAITING_FOR_INITIALIZATION;
+    std::list<State> state_mem;
+    unsigned int state_mem_length = 10;
+  #endif
+
+
+///////////////
+
+    double error;
+    bool click_done = false;
+
+    while (!g.end()) {
+      g.acquire(I);
+      vpDisplay::display(I);
+
+    #ifdef IMATCHING
+      //! [Insert image matching]
+      keypoint_detection.insertImageMatching(I, IMatching);
+      //! [Insert image matching]
+
+      vpDisplay::display(IMatching);
+    #endif
+      // vpDisplay::displayText(I, 10, 10, "Detection and localization in process...", vpColor::red);
+
+      double elapsedTime;
+      unsigned int nbMatch;
+      unsigned int match_tresh = 50;
+      vpRect boundingBox;
+      vpImagePoint center;
+      std::list<vpImagePoint> mem;
+
+      tracker.init(I);
+
+      // ! [Matching and pose estimation]
+      // if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime,NULL,*rect_roi)) {
+      // if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime)) {
+      // nbMatch = keypoint_detection.matchPoint(I);
+      keypoint_detection.matchPointAndDetect(I, boundingBox, center);
+      nbMatch = keypoint_detection.getMatches().size();
+      std::cout<<"Nb Match : "<<nbMatch<<std::endl;
+
+      if(nbMatch>match_tresh){
+        vpDisplay::displayPoint(I,center,vpColor::blue,10);
+        vpDisplay::displayRectangle(I, boundingBox, vpColor::blue,false,2);
+        //! [Matching and pose estimation]
+        try
+        {
+          tracker.track(I);
+          // tracker.testTracking();
+        }
+        catch(...)
+        {
+
+        }
+        tracker.getPose(cMo);
+
+      #ifdef VAR_TRESH
+        //Var Treshold
+        translation_mem.push_front(cMo.getTranslationVector());
+        rotation_mem.push_front(cMo.getThetaUVector());
+      
+        if(translation_mem.size()==var_mem_length)
+        {
+          // tvar = varVector(translation_mem);
+          // std::cout<<"Var trans : "<<tvar<<std::endl;
+          translation_mem.pop_back();
+        }
+        if(rotation_mem.size()==var_mem_length)
+        {
+          // rvar=varVector(rotation_mem);
+          // std::cout<<"Var rot : "<<rvar<<std::endl;
+          rotation_mem.pop_back();
+        }
+
+        tvar = varVector(translation_mem);
+        rvar=varVector(rotation_mem);
+        if(tvar < tvar_treshold && rvar < rvar_treshold)
+        {
+        //Var Treshold
+      #endif
+
+      #ifdef HYBRID_MATCHING
+        //Init ou Reinit du tracker après perte ou après incertitude
+        if(track_state != TRACKING || (tvar<0.1 && rvar<0.1))
+        {
+          tracker.initFromPose(I,cMo);
+          track_state = TRACKING;
+        }
+      #endif
+        //! [Tracker set pose]
+        // tracker.setPose(I, cMo);
+        //! [Tracker set pose]
+
+      /////TEST/////
+      //   time+=elapsedTime; nb++;
+      // std::vector<vpImagePoint> roi;
+      // for(unsigned int i=0; i<tracker.getNbPolygon();i++)
+      // {
+      //     std::vector<vpImagePoint> temp = tracker.getPolygon(i)->getRoi(cam);
+      //     roi.insert(roi.end(), temp.begin(), temp.end());
+      // }
+      // delete rect_roi;
+      // rect_roi = new vpRect(roi);
+
+        //Affichage de l'origine pointée par cMo
+      // vpPoint origine;
+      // origine.setWorldCoordinates(0,0,0) ;
+      // // std::cout <<"Origne (o):"<< origine.oP << std::endl ;
+      // origine.changeFrame(cMo) ;
+      // // std::cout << "Origine (c) : "<< origine.cP << std::endl ;
+      // origine.project(cMo);
+      // // std::cout << "Origine (2D) : "<< origine.p << std::endl ;
+
+      // vpImagePoint ImRes;
+      // vpMeterPixelConversion::convertPoint(cam,origine.p[0],origine.p[1],ImRes);
+      // // std::cout<<"Point : ";
+      // // std::cout<<ImRes.get_u()<<" / "<<ImRes.get_v(); 
+      // // std::cout<<std::endl;
+      // vpDisplay::displayPoint(I,ImRes,vpColor::blue,10);
+      /////////////
+
+        //! [Display]
+        // tracker.display(I, cMo, cam, vpColor::red, 2);
+        // vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none, 3);
+#ifdef VAR_TRESH
+        }
+        else
+        {
+          std::cout<<"Object detection uncertain in frame : "<<g.getFrameIndex()<<std::endl;
+
+        #ifdef HYBRID_MATCHING
+          //Tentative d'améliorationde la détédction avec ROI
+          if(track_state == TRACKING || track_state == UNCERTAIN) //Tracker initialisé
+          {
+            std::vector<vpImagePoint> roi;
+            for(unsigned int i=0; i<tracker.getNbPolygon();i++)
+            {
+                std::vector<vpImagePoint> temp = tracker.getPolygon(i)->getRoi(cam);
+                roi.insert(roi.end(), temp.begin(), temp.end());
+            }
+            delete rect_roi;
+            rect_roi = new vpRect(roi);
+
+            if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime,NULL,*rect_roi))
+            {
+              //Remplace previous result
+              translation_mem.pop_front();
+              rotation_mem.pop_front();
+              translation_mem.push_front(cMo.getTranslationVector());
+              rotation_mem.push_front(cMo.getThetaUVector());
+
+              tvar = varVector(translation_mem);
+              rvar=varVector(rotation_mem);
+              if(tvar < tvar_treshold && rvar < rvar_treshold)
+              {
+                std::cout<<"Object detection improved : "<<g.getFrameIndex()<<std::endl;
+                vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none, 3);
+                track_state = TRACKING;
+              }
+              else 
+              {
+                track_state = UNCERTAIN;
+              }
+            }
+            //BoF BOF
+            // else if( track_state = WAITING_FOR_INITIALIZATION )
+            // {
+            //   track_state = UNCERTAIN;
+            // }
+          }
+        #endif
+        }
+#endif
+
+        //! [Display]
+
+      #ifdef IMATCHING
+        keypoint_detection.displayMatching(I, IMatching);
+      #endif
+
+        //! [Get RANSAC inliers outliers]
+        std::vector<vpImagePoint> ransacInliers = keypoint_detection.getRansacInliers();
+        std::vector<vpImagePoint> ransacOutliers = keypoint_detection.getRansacOutliers();
+        //! [Get RANSAC inliers outliers]
+
+        //! [Display RANSAC inliers]
+        for (std::vector<vpImagePoint>::const_iterator it = ransacInliers.begin(); it != ransacInliers.end(); ++it) {
+          vpDisplay::displayCircle(I, *it, 4, vpColor::green);
+        #ifdef IMATCHING
+          vpImagePoint imPt(*it);
+          imPt.set_u(imPt.get_u() + I.getWidth());
+          imPt.set_v(imPt.get_v() + I.getHeight());
+          vpDisplay::displayCircle(IMatching, imPt, 4, vpColor::green);
+          vpDisplay::displayCircle(I, imPt, 4, vpColor::green);
+        #endif
+        }
+        //! [Display RANSAC inliers]
+
+        //! [Display RANSAC outliers]
+        for (std::vector<vpImagePoint>::const_iterator it = ransacOutliers.begin(); it != ransacOutliers.end(); ++it) {
+          vpDisplay::displayCircle(I, *it, 4, vpColor::red);
+        #ifdef IMATCHING
+          vpImagePoint imPt(*it);
+          imPt.set_u(imPt.get_u() + I.getWidth());
+          imPt.set_v(imPt.get_v() + I.getHeight());
+          vpDisplay::displayCircle(IMatching, imPt, 4, vpColor::red);
+          vpDisplay::displayCircle(I, imPt, 4, vpColor::red);
+        #endif
+        }
+        //! [Display RANSAC outliers]
+
+      #ifdef IMATCHING
+        //! [Display image matching]
+        keypoint_detection.displayMatching(I, IMatching);
+        //! [Display image matching]
+
+
+        //! [Display model image matching]
+        // vpCameraParameters cam2;
+        // cam2.initPersProjWithoutDistortion(cam.get_px(), cam.get_py(), cam.get_u0() + I.getWidth(),
+        //                                    cam.get_v0() + I.getHeight());
+        // tracker.setCameraParameters(cam2);
+        // tracker.setPose(IMatching, cMo);
+        // tracker.display(IMatching, cMo, cam2, vpColor::red, 2);
+        // vpDisplay::displayFrame(IMatching, cMo, cam2, 0.05, vpColor::none, 3);
+        //! [Display model image matching]
+      #endif
+      }
+      else
+      {
+        std::cout<<"Object Lost in frame : "<<g.getFrameIndex()<<std::endl;
+      #ifdef HYBRID_MATCHING
+        track_state = UNCERTAIN;
+      #endif
+      }
+
+    #ifdef HYBRID_MATCHING
+      if(track_state == TRACKING || track_state == UNCERTAIN) //Tracker intialisé
+      {
+        try
+        {
+          tracker.track(I);
+          // tracker.testTracking();
+        }
+        catch(...)
+        {
+          track_state = LOST;
+          std::cout<<"Tracker : Object Lost in frame : "<<g.getFrameIndex()<<std::endl;
+        }
+      
+        if(track_state !=LOST)
+        { 
+          tracker.getPose(cMo);
+          tracker.display(I, cMo, cam, vpColor::blue, 4);
+        }
+      }
+      state_mem.push_front(track_state);
+      if(state_mem.size()==state_mem_length)
+      {
+        std::stringstream title2;
+        title2 << "Confidence level :"<<computeConfidenceLevel(state_mem);
+        // vpDisplay::displayText(I, 10, 10, "Confidence Level : "+std::to_string(computeConfidenceLevel(state_mem)), vpColor::red); //C++11
+        vpDisplay::displayText(I, 10, 10, title2.str().c_str(), vpColor::red);
+        // std::cout<<"Confidence level :"<<computeConfidenceLevel(state_mem)<<std::endl;
+        state_mem.pop_back();
+      }
+    #endif
+
+      vpDisplay::flush(I);
+      if (vpDisplay::getClick(I, false)) {
+        click_done = true;
+        break;
+      }
+      // vpDisplay::getClick(I, true);
+
+    #ifdef IMATCHING
+      vpDisplay::displayText(IMatching, 30, 10, "A click to exit.", vpColor::red);
+      vpDisplay::flush(IMatching);
+
+      if (vpDisplay::getClick(IMatching, false)) {
+        click_done = true;
+        break;
+      }
+      // vpDisplay::getClick(IMatching, true);
+    #endif
+    }
+
+    // std::cout<<"Moyenne temps execution : "<<time/nb<<std::endl;
+    // delete rect_roi;
+
+  #if defined IMATCHING
+    if (!click_done)
+      vpDisplay::getClick(IMatching);
+  #endif
+
+#ifdef VISP_HAVE_XML2
+    vpXmlParser::cleanup();
+#endif
+#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
+    SoDB::finish();
+#endif
+  } catch (const vpException &e) {
+    std::cout << "Catch an exception: " << e << std::endl;
+  }
+#else
+  (void)argc;
+  (void)argv;
+  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
+#endif
+
+  return 0;
+}
\ No newline at end of file
diff --git a/Visp_tests/learn_tests/detection_multi_tracker b/Visp_tests/learn_tests/detection_multi_tracker
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new file mode 100644
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diff --git a/Visp_tests/learn_tests/tutorial-detection-object-mbt2.cpp b/Visp_tests/learn_tests/tutorial-detection-object-mbt2.cpp
index 4dbab2a..33c1b90 100644
--- a/Visp_tests/learn_tests/tutorial-detection-object-mbt2.cpp
+++ b/Visp_tests/learn_tests/tutorial-detection-object-mbt2.cpp
@@ -19,7 +19,7 @@
       WAITING_FOR_INITIALIZATION,
       TRACKING,
       LOST,
-      UNCERTAIN
+      UNCERTAIN //=Tracking OK / Matching FAIL
     };
 #endif
 
@@ -340,7 +340,11 @@ int main(int argc, char **argv)
     // g.close();
 
     //! [Save learning data]
+    #ifdef IMATCHING
+    keypoint_learning.saveLearningData("book_learning_data.bin", true, true); //+sauvegarde des images d'entrainement pour l'affichage
+    #else
     keypoint_learning.saveLearningData("book_learning_data.bin", true, false);
+    #endif
     //! [Save learning data]
 
     /*
@@ -399,7 +403,7 @@ int main(int argc, char **argv)
     //Var Treshold
     std::list< vpArray2D<double> > translation_mem;
     std::list< vpArray2D<double> > rotation_mem;
-    unsigned int var_mem_length = 15;
+    unsigned int var_mem_length = 15; // + = stabilité / - = rapidité
     double tvar_treshold = 0.3;
     double rvar_treshold = 0.5;
     double tvar, rvar;
@@ -549,13 +553,13 @@ int main(int argc, char **argv)
                 track_state = UNCERTAIN;
               }
             }
+            //BoF BOF
+            // else if( track_state = WAITING_FOR_INITIALIZATION )
+            // {
+            //   track_state = UNCERTAIN;
+            // }
           }
         #endif
-
-// #ifdef HYBRID_MATCHING
-//           // lost = true;
-//           uncertain = true;
-// #endif
         }
 #endif
 
@@ -620,8 +624,6 @@ int main(int argc, char **argv)
       {
         std::cout<<"Object Lost in frame : "<<g.getFrameIndex()<<std::endl;
       #ifdef HYBRID_MATCHING
-        // lost = true;
-        // uncertain = true;
         track_state = UNCERTAIN;
       #endif
       }
@@ -636,7 +638,6 @@ int main(int argc, char **argv)
         }
         catch(...)
         {
-          // lost = true;
           track_state = LOST;
           std::cout<<"Tracker : Object Lost in frame : "<<g.getFrameIndex()<<std::endl;
         }