diff --git a/CMakeCache.txt b/CMakeCache.txt
index 263cc9cccb3c9c796acd556f7958f4c6376f5f18..675d8691ebaffbede4bf34949b1e96487a1da9f8 100644
--- a/CMakeCache.txt
+++ b/CMakeCache.txt
@@ -248,7 +248,7 @@ OPENGL_opengl_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libOpenGL.so
 OPENGL_xmesa_INCLUDE_DIR:PATH=OPENGL_xmesa_INCLUDE_DIR-NOTFOUND
 
 //The directory containing a CMake configuration file for OpenCV.
-OpenCV_DIR:PATH=/home/thomas/Programs/opencv/build
+OpenCV_DIR:PATH=/usr/local/share/OpenCV
 
 //The directory containing a CMake configuration file for glfw3.
 glfw3_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/glfw3
@@ -410,7 +410,7 @@ FIND_PACKAGE_MESSAGE_DETAILS_GLEW:INTERNAL=[/usr/include][/usr/lib/x86_64-linux-
 //Details about finding GLUT
 FIND_PACKAGE_MESSAGE_DETAILS_GLUT:INTERNAL=[/usr/lib/x86_64-linux-gnu/libglut.so][/usr/include][v()]
 //Details about finding OpenCV
-FIND_PACKAGE_MESSAGE_DETAILS_OpenCV:INTERNAL=[/home/thomas/Programs/opencv/build][cfound components:  core imgproc highgui calib3d video aruco ][v4.0.0()]
+FIND_PACKAGE_MESSAGE_DETAILS_OpenCV:INTERNAL=[/usr/local][cfound components:  core imgproc highgui calib3d video aruco ][v4.0.0()]
 //Details about finding OpenGL
 FIND_PACKAGE_MESSAGE_DETAILS_OpenGL:INTERNAL=[/usr/lib/x86_64-linux-gnu/libOpenGL.so][/usr/lib/x86_64-linux-gnu/libGLX.so][/usr/include][c ][v()]
 //Details about finding Threads
diff --git a/CMakeFiles/Makefile.cmake b/CMakeFiles/Makefile.cmake
index d0daa09db5b32f163ed818ce797f94efa251effc..93e2b152dde9560072a63f377e3f9a51f533a1d1 100644
--- a/CMakeFiles/Makefile.cmake
+++ b/CMakeFiles/Makefile.cmake
@@ -13,9 +13,6 @@ set(CMAKE_MAKEFILE_DEPENDS
   "CMakeLists.txt"
   "apps/CMakeLists.txt"
   "apps/specular_estimation/CMakeLists.txt"
-  "/home/thomas/Programs/opencv/build/OpenCVConfig-version.cmake"
-  "/home/thomas/Programs/opencv/build/OpenCVConfig.cmake"
-  "/home/thomas/Programs/opencv/build/OpenCVModules.cmake"
   "/usr/lib/cmake/eigen3/Eigen3Config.cmake"
   "/usr/lib/cmake/eigen3/Eigen3ConfigVersion.cmake"
   "/usr/lib/cmake/eigen3/Eigen3Targets.cmake"
@@ -34,6 +31,10 @@ set(CMAKE_MAKEFILE_DEPENDS
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   "/usr/local/lib/cmake/Ceres/FindGflags.cmake"
   "/usr/local/lib/cmake/Ceres/FindGlog.cmake"
+  "/usr/local/share/OpenCV/OpenCVConfig-version.cmake"
+  "/usr/local/share/OpenCV/OpenCVConfig.cmake"
+  "/usr/local/share/OpenCV/OpenCVModules-release.cmake"
+  "/usr/local/share/OpenCV/OpenCVModules.cmake"
   "/usr/share/cmake-3.10/Modules/CMakeCInformation.cmake"
   "/usr/share/cmake-3.10/Modules/CMakeCXXInformation.cmake"
   "/usr/share/cmake-3.10/Modules/CMakeCommonLanguageInclude.cmake"
diff --git a/CMakeFiles/Makefile2 b/CMakeFiles/Makefile2
index 916e41108fb42a804c70a80ecfa726faaa2f44ed..9752c6b8e3338f91ed9f1096f58d694b05042d03 100644
--- a/CMakeFiles/Makefile2
+++ b/CMakeFiles/Makefile2
@@ -102,7 +102,7 @@ apps/specular_estimation/preinstall:
 apps/specular_estimation/CMakeFiles/specular_estimation.dir/all:
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 	$(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/build
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/thomas/Documents/Minimisation/CMakeFiles --progress-num=1,2,3,4,5,6 "Built target specular_estimation"
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/thomas/Documents/Minimisation/CMakeFiles --progress-num=1,2,3,4,5,6,7,8 "Built target specular_estimation"
 .PHONY : apps/specular_estimation/CMakeFiles/specular_estimation.dir/all
 
 # Include target in all.
@@ -112,7 +112,7 @@ all: apps/specular_estimation/CMakeFiles/specular_estimation.dir/all
 
 # Build rule for subdir invocation for target.
 apps/specular_estimation/CMakeFiles/specular_estimation.dir/rule: cmake_check_build_system
-	$(CMAKE_COMMAND) -E cmake_progress_start /home/thomas/Documents/Minimisation/CMakeFiles 6
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/thomas/Documents/Minimisation/CMakeFiles 8
 	$(MAKE) -f CMakeFiles/Makefile2 apps/specular_estimation/CMakeFiles/specular_estimation.dir/all
 	$(CMAKE_COMMAND) -E cmake_progress_start /home/thomas/Documents/Minimisation/CMakeFiles 0
 .PHONY : apps/specular_estimation/CMakeFiles/specular_estimation.dir/rule
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diff --git a/apps/specular_estimation/CMakeFiles/progress.marks b/apps/specular_estimation/CMakeFiles/progress.marks
index 1e8b314962144c26d5e0e50fd29d2ca327864913..45a4fb75db864000d01701c0f7a51864bd4daabf 100644
--- a/apps/specular_estimation/CMakeFiles/progress.marks
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@@ -1 +1 @@
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diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
index 2d0b1aaed99ab5fe5e15aa4a79942b8d51f16f52..bc8c1ad87a35fa06620c7889fb64dbcb1ab51c88 100644
--- a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
+++ b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
@@ -84,6 +84,48 @@ ceres/ceres.h
 glog/logging.h
 /home/thomas/Documents/Minimisation/apps/specular_estimation/src/glog/logging.h
 
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PFMAccess.cpp
+PFMAccess.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PFMAccess.h
+string.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/string.h
+
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PFMAccess.h
+stdio.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/stdio.h
+stdlib.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/stdlib.h
+
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PhotometricStereo.cc
+PhotometricStereo.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PhotometricStereo.h
+cmath
+-
+cstdlib
+-
+iostream
+-
+climits
+-
+cstdio
+-
+Eigen/SparseCholesky
+-
+
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PhotometricStereo.h
+string
+-
+vector
+-
+opencv2/core/core.hpp
+-
+opencv2/highgui/highgui.hpp
+-
+opencv2/imgproc/imgproc.hpp
+-
+PFMAccess.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PFMAccess.h
+
 /home/thomas/Documents/Minimisation/apps/specular_estimation/src/objloader.cpp
 vector
 -
@@ -187,6 +229,10 @@ Ceres.h
 /home/thomas/Documents/Minimisation/apps/specular_estimation/src/Ceres.h
 Macbeth.h
 /home/thomas/Documents/Minimisation/apps/specular_estimation/src/Macbeth.h
+PhotometricStereo.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PhotometricStereo.h
+PFMAccess.h
+/home/thomas/Documents/Minimisation/apps/specular_estimation/src/PFMAccess.h
 
 /home/thomas/Documents/Minimisation/apps/specular_estimation/src/texture.cpp
 stdio.h
@@ -216,197 +262,45 @@ string.h
 
 /home/thomas/Documents/Minimisation/apps/specular_estimation/src/vboindexer.h
 
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-opencv2/videostab.hpp
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-
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--
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cv_cpu_helper.h
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cvdef.h
-cvconfig.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cvconfig.h
-limits.h
+vecintrin.h
 -
-opencv2/core/hal/interface.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/hal/interface.h
-cv_cpu_dispatch.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cv_cpu_dispatch.h
-intrin.h
+vector_types.h
 -
-array
+host_defines.h
 -
-cstdint
+cuda_fp16.h
 -
-stdint.h
+omp.h
 -
-stdint.h
+cerrno
 -
-opencv2/core/fast_math.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/fast_math.hpp
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cvstd.hpp
-opencv2/core/cvdef.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvdef.h
 cstddef
 -
-cstring
--
-cctype
--
-string
--
-algorithm
--
-utility
--
 cstdlib
 -
 cmath
 -
-opencv2/core/ptr.inl.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/ptr.inl.hpp
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cvstd.inl.hpp
-complex
--
-ostream
--
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/fast_math.hpp
-opencv2/core/cvdef.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvdef.h
-emmintrin.h
--
-cmath
+cassert
 -
-fastmath.h
+functional
 -
-math.h
+iosfwd
 -
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/hal/interface.h
-cstddef
+cstring
 -
-stddef.h
+string
 -
-stdbool.h
+limits
 -
-cstdint
+climits
 -
-stdint.h
+algorithm
 -
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/mat.hpp
-opencv2/core/matx.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/matx.hpp
-opencv2/core/types.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/types.hpp
-opencv2/core/bufferpool.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/bufferpool.hpp
 type_traits
 -
-opencv2/core/mat.inl.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/mat.inl.hpp
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/mat.inl.hpp
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/matx.hpp
-opencv2/core/cvdef.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/base.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/base.hpp
-opencv2/core/traits.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/traits.hpp
-opencv2/core/saturate.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/saturate.hpp
-initializer_list
+iostream
 -
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/neon_utils.hpp
-opencv2/core/cvdef.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvdef.h
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/operations.hpp
-cstdio
--
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/optim.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/ovx.hpp
-cvdef.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/cvdef.h
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/persistence.hpp
-opencv2/core/types.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/types.hpp
-opencv2/core/mat.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/mat.hpp
-opencv2/opencv.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/opencv.hpp
-time.h
--
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/ptr.inl.hpp
-algorithm
--
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/saturate.hpp
-opencv2/core/cvdef.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/fast_math.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/fast_math.hpp
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/traits.hpp
-opencv2/core/cvdef.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvdef.h
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/types.hpp
-climits
--
-cfloat
--
-vector
--
-limits
--
-opencv2/core/cvdef.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvdef.h
-opencv2/core/cvstd.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvstd.hpp
-opencv2/core/matx.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/matx.hpp
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/types_c.h
-ipl.h
--
-ipl/ipl.h
--
-opencv2/core/cvdef.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvdef.h
-assert.h
--
-stdlib.h
--
-string.h
--
-float.h
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/utility.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core.hpp
-ostream
--
-functional
--
-mutex
--
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/version.hpp
-
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/vsx_utils.hpp
-opencv2/core/cvdef.h
-/home/thomas/Programs/opencv/modules/core/include/opencv2/core/opencv2/core/cvdef.h
-assert.h
--
-
-/home/thomas/Programs/opencv/modules/dnn/include/opencv2/dnn.hpp
-opencv2/dnn/dnn.hpp
--
-
-/home/thomas/Programs/opencv/modules/dnn/include/opencv2/dnn/dict.hpp
-opencv2/core.hpp
--
-map
--
-ostream
--
-opencv2/dnn/dnn.hpp
--
-
-/home/thomas/Programs/opencv/modules/dnn/include/opencv2/dnn/dnn.hpp
-vector
--
-opencv2/core.hpp
--
-opencv2/dnn/dict.hpp
--
-opencv2/dnn/layer.hpp
--
-opencv2/dnn/dnn.inl.hpp
--
-
-/home/thomas/Programs/opencv/modules/dnn/include/opencv2/dnn/dnn.inl.hpp
-opencv2/dnn.hpp
--
-
-/home/thomas/Programs/opencv/modules/dnn/include/opencv2/dnn/layer.hpp
-opencv2/dnn.hpp
--
-
-/home/thomas/Programs/opencv/modules/features2d/include/opencv2/features2d.hpp
-opencv2/opencv_modules.hpp
-/home/thomas/Programs/opencv/modules/features2d/include/opencv2/opencv2/opencv_modules.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/features2d/include/opencv2/opencv2/core.hpp
-opencv2/flann/miniflann.hpp
-/home/thomas/Programs/opencv/modules/features2d/include/opencv2/opencv2/flann/miniflann.hpp
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/opencv2/core.hpp
-opencv2/flann/miniflann.hpp
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/opencv2/flann/miniflann.hpp
-opencv2/flann/flann_base.hpp
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/opencv2/flann/flann_base.hpp
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/all_indices.h
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-kdtree_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kdtree_index.h
-kdtree_single_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kdtree_single_index.h
-kmeans_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kmeans_index.h
-composite_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/composite_index.h
-linear_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/linear_index.h
-hierarchical_clustering_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/hierarchical_clustering_index.h
-lsh_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/lsh_index.h
-autotuned_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/autotuned_index.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/allocator.h
-stdlib.h
--
-stdio.h
--
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/any.h
-defines.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/defines.h
-stdexcept
--
-ostream
--
-typeinfo
--
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/autotuned_index.h
-sstream
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-ground_truth.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/ground_truth.h
-index_testing.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/index_testing.h
-sampling.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/sampling.h
-kdtree_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kdtree_index.h
-kdtree_single_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kdtree_single_index.h
-kmeans_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kmeans_index.h
-composite_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/composite_index.h
-linear_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/linear_index.h
-logger.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/logger.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/composite_index.h
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-kdtree_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kdtree_index.h
-kmeans_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kmeans_index.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/config.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/defines.h
-config.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/config.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dist.h
-cmath
--
-cstdlib
--
-string.h
--
-stdint.h
--
-defines.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/defines.h
-Intrin.h
--
-arm_neon.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/arm_neon.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dynamic_bitset.h
-boost/dynamic_bitset.hpp
--
-limits.h
--
-dist.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dist.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/flann_base.hpp
-vector
--
-cassert
--
-cstdio
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-params.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/params.h
-saving.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/saving.h
-all_indices.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/all_indices.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/ground_truth.h
-dist.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dist.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/heap.h
-algorithm
--
-vector
--
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/hierarchical_clustering_index.h
-algorithm
--
-map
--
-cassert
--
-limits
--
-cmath
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-dist.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dist.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-result_set.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-heap.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/heap.h
-allocator.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/allocator.h
-random.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-saving.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/saving.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/index_testing.h
-cstring
--
-cassert
--
-cmath
--
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-result_set.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-logger.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/logger.h
-timer.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/timer.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kdtree_index.h
-algorithm
--
-map
--
-cassert
--
-cstring
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-dynamic_bitset.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dynamic_bitset.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-result_set.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-heap.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/heap.h
-allocator.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/allocator.h
-random.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-saving.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/saving.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kdtree_single_index.h
-algorithm
--
-map
--
-cassert
--
-cstring
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-result_set.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-heap.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/heap.h
-allocator.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/allocator.h
-random.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-saving.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/saving.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/kmeans_index.h
-algorithm
--
-map
--
-cassert
--
-limits
--
-cmath
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-dist.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dist.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-result_set.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-heap.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/heap.h
-allocator.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/allocator.h
-random.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-saving.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/saving.h
-logger.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/logger.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/linear_index.h
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/logger.h
-stdio.h
--
-stdarg.h
--
-defines.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/defines.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/lsh_index.h
-algorithm
--
-cassert
--
-cstring
--
-map
--
-vector
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-result_set.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-heap.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/heap.h
-lsh_table.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/lsh_table.h
-allocator.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/allocator.h
-random.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-saving.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/saving.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/lsh_table.h
-algorithm
--
-iostream
--
-iomanip
--
-limits.h
--
-unordered_map
--
-map
--
-math.h
--
-stddef.h
--
-dynamic_bitset.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/dynamic_bitset.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-stdio.h
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/miniflann.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/opencv2/core.hpp
-opencv2/flann/defines.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/opencv2/flann/defines.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-result_set.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-params.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/params.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/params.h
-any.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/any.h
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-iostream
--
-map
--
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-algorithm
--
-cstdlib
--
-vector
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/result_set.h
-algorithm
--
-cstring
--
-iostream
--
-limits
--
-set
--
-vector
--
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/sampling.h
-matrix.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/matrix.h
-random.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/random.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/saving.h
-cstring
--
-vector
--
-general.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/general.h
-nn_index.h
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/nn_index.h
-
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/timer.h
-time.h
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/opencv2/core.hpp
-opencv2/core/utility.hpp
-/home/thomas/Programs/opencv/modules/flann/include/opencv2/flann/opencv2/core/utility.hpp
-
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/opencv2/core.hpp
-opencv2/imgcodecs.hpp
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/opencv2/imgcodecs.hpp
-opencv2/videoio.hpp
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/opencv2/videoio.hpp
-
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui/highgui_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui/opencv2/core/core_c.h
-opencv2/imgproc/imgproc_c.h
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui/opencv2/imgproc/imgproc_c.h
-opencv2/imgcodecs/imgcodecs_c.h
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui/opencv2/imgcodecs/imgcodecs_c.h
-opencv2/videoio/videoio_c.h
-/home/thomas/Programs/opencv/modules/highgui/include/opencv2/highgui/opencv2/videoio/videoio_c.h
-
-/home/thomas/Programs/opencv/modules/imgcodecs/include/opencv2/imgcodecs.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/imgcodecs/include/opencv2/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/imgcodecs/include/opencv2/imgcodecs/imgcodecs_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/imgcodecs/include/opencv2/imgcodecs/opencv2/core/core_c.h
-
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/imgproc.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/imgproc/imgproc_c.h
-opencv2/imgproc/types_c.h
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/imgproc/opencv2/imgproc/types_c.h
-
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/imgproc/types_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/imgproc/include/opencv2/imgproc/opencv2/core/core_c.h
-
-/home/thomas/Programs/opencv/modules/ml/include/opencv2/ml.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/ml/include/opencv2/opencv2/core.hpp
-float.h
--
-map
--
-iostream
--
-opencv2/ml/ml.inl.hpp
--
-
-/home/thomas/Programs/opencv/modules/ml/include/opencv2/ml/ml.inl.hpp
-
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/objdetect.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/opencv2/core.hpp
-opencv2/objdetect/detection_based_tracker.hpp
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/opencv2/objdetect/detection_based_tracker.hpp
-
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/objdetect/detection_based_tracker.hpp
-opencv2/core.hpp
--
-vector
--
-
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/objdetect/objdetect_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/objdetect/include/opencv2/objdetect/opencv2/core/core_c.h
-deque
--
-vector
--
-
-/home/thomas/Programs/opencv/modules/photo/include/opencv2/photo.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/photo/include/opencv2/opencv2/core.hpp
-opencv2/imgproc.hpp
-/home/thomas/Programs/opencv/modules/photo/include/opencv2/opencv2/imgproc.hpp
-
-/home/thomas/Programs/opencv/modules/photo/include/opencv2/photo/photo_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/photo/include/opencv2/photo/opencv2/core/core_c.h
-
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape.hpp
-opencv2/shape/emdL1.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/opencv2/shape/emdL1.hpp
-opencv2/shape/shape_transformer.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/opencv2/shape/shape_transformer.hpp
-opencv2/shape/hist_cost.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/opencv2/shape/hist_cost.hpp
-opencv2/shape/shape_distance.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/opencv2/shape/shape_distance.hpp
-
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/emdL1.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/hist_cost.hpp
-opencv2/imgproc.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/imgproc.hpp
-
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/shape_distance.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/core.hpp
-opencv2/shape/hist_cost.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/shape/hist_cost.hpp
-opencv2/shape/shape_transformer.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/shape/shape_transformer.hpp
-
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/shape_transformer.hpp
-vector
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/core.hpp
-opencv2/imgproc.hpp
-/home/thomas/Programs/opencv/modules/shape/include/opencv2/shape/opencv2/imgproc.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/core.hpp
-opencv2/features2d.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/features2d.hpp
-opencv2/stitching/warpers.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/warpers.hpp
-opencv2/stitching/detail/matchers.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/matchers.hpp
-opencv2/stitching/detail/motion_estimators.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/motion_estimators.hpp
-opencv2/stitching/detail/exposure_compensate.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/exposure_compensate.hpp
-opencv2/stitching/detail/seam_finders.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/seam_finders.hpp
-opencv2/stitching/detail/blenders.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/blenders.hpp
-opencv2/stitching/detail/camera.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/opencv2/stitching/detail/camera.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/blenders.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-opencv2/core/cuda.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core/cuda.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/camera.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/exposure_compensate.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/matchers.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-opencv2/features2d.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/features2d.hpp
-opencv2/opencv_modules.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
-opencv2/xfeatures2d/cuda.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/xfeatures2d/cuda.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-matchers.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/matchers.hpp
-util.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/util.hpp
-camera.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/camera.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/seam_finders.hpp
-set
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-opencv2/opencv_modules.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/util.hpp
-list
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-util_inl.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/util_inl.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/util_inl.hpp
-queue
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-util.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/util.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/warpers.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-opencv2/core/cuda.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core/cuda.hpp
-opencv2/imgproc.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/imgproc.hpp
-opencv2/opencv_modules.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
-warpers_inl.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/opencv2/core.hpp
-warpers.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/detail/warpers.hpp
-limits
--
-
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/warpers.hpp
-opencv2/stitching/detail/warpers.hpp
-/home/thomas/Programs/opencv/modules/stitching/include/opencv2/stitching/opencv2/stitching/detail/warpers.hpp
-
-/home/thomas/Programs/opencv/modules/superres/include/opencv2/superres.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/superres/include/opencv2/opencv2/core.hpp
-opencv2/superres/optical_flow.hpp
-/home/thomas/Programs/opencv/modules/superres/include/opencv2/opencv2/superres/optical_flow.hpp
-
-/home/thomas/Programs/opencv/modules/superres/include/opencv2/superres/optical_flow.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/superres/include/opencv2/superres/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video.hpp
-opencv2/video/tracking.hpp
-/home/thomas/Programs/opencv/modules/video/include/opencv2/opencv2/video/tracking.hpp
-opencv2/video/background_segm.hpp
-/home/thomas/Programs/opencv/modules/video/include/opencv2/opencv2/video/background_segm.hpp
-
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/background_segm.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/tracking.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/opencv2/core.hpp
-opencv2/imgproc.hpp
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/opencv2/imgproc.hpp
-
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/tracking_c.h
-opencv2/imgproc/types_c.h
-/home/thomas/Programs/opencv/modules/video/include/opencv2/video/opencv2/imgproc/types_c.h
-
-/home/thomas/Programs/opencv/modules/videoio/include/opencv2/videoio.hpp
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/videoio/include/opencv2/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/videoio/include/opencv2/videoio/videoio_c.h
-opencv2/core/core_c.h
-/home/thomas/Programs/opencv/modules/videoio/include/opencv2/videoio/opencv2/core/core_c.h
-
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/videostab.hpp
-opencv2/videostab/stabilizer.hpp
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/opencv2/videostab/stabilizer.hpp
-opencv2/videostab/ring_buffer.hpp
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/opencv2/videostab/ring_buffer.hpp
-
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/videostab/deblurring.hpp
-vector
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/videostab/opencv2/core.hpp
-
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/videostab/fast_marching.hpp
-cmath
--
-queue
--
-algorithm
--
-opencv2/core.hpp
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/videostab/opencv2/core.hpp
-fast_marching_inl.hpp
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/videostab/fast_marching_inl.hpp
-
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/videostab/fast_marching_inl.hpp
-opencv2/videostab/fast_marching.hpp
-/home/thomas/Programs/opencv/modules/videostab/include/opencv2/videostab/opencv2/videostab/fast_marching.hpp
-
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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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--
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--
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--
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--
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--
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--
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--
-vector
--
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--
-vector
--
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--
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--
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--
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-/home/thomas/Programs/opencv_contrib/modules/tracking/include/opencv2/tracking/opencv2/imgproc.hpp
-iostream
--
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--
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--
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-/usr/include/eigen3/Eigen/Cholesky
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 Core
 /usr/include/eigen3/Eigen/Core
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 /usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
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 src/misc/lapacke.h
 /usr/include/eigen3/Eigen/src/misc/lapacke.h
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 src/Core/util/ReenableStupidWarnings.h
 /usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
-/usr/include/eigen3/Eigen/Core
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 src/Core/util/DisableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
-math_functions.hpp
--
-new
--
-src/Core/util/Macros.h
-/usr/include/eigen3/Eigen/src/Core/util/Macros.h
-complex
--
-src/Core/util/MKL_support.h
-/usr/include/eigen3/Eigen/src/Core/util/MKL_support.h
-malloc.h
--
-immintrin.h
--
-mmintrin.h
--
-emmintrin.h
--
-xmmintrin.h
--
-pmmintrin.h
--
-tmmintrin.h
--
-smmintrin.h
--
-nmmintrin.h
--
-immintrin.h
--
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--
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--
-arm_neon.h
--
-vecintrin.h
--
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--
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--
-cuda_fp16.h
--
-omp.h
--
-cerrno
--
-cstddef
--
-cstdlib
--
-cmath
--
-cassert
--
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--
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--
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--
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--
-limits
--
-climits
--
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--
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--
-iostream
--
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--
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-/usr/include/eigen3/Eigen/src/Core/util/Constants.h
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-src/Core/arch/AVX512/PacketMath.h
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-src/Eigenvalues/RealQZ.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/RealQZ.h
-src/Eigenvalues/GeneralizedEigenSolver.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
-src/Eigenvalues/MatrixBaseEigenvalues.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
-src/misc/lapacke.h
-/usr/include/eigen3/Eigen/src/misc/lapacke.h
-src/Eigenvalues/RealSchur_LAPACKE.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h
-src/Eigenvalues/ComplexSchur_LAPACKE.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h
-src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
-/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
-src/Core/util/ReenableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/BlasUtil.h
+
+/usr/include/eigen3/Eigen/src/Core/util/Constants.h
 
-/usr/include/eigen3/Eigen/Geometry
-Core
-/usr/include/eigen3/Eigen/Core
-src/Core/util/DisableStupidWarnings.h
 /usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
-SVD
-/usr/include/eigen3/Eigen/SVD
-LU
-/usr/include/eigen3/Eigen/LU
-limits
+
+/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h
+
+/usr/include/eigen3/Eigen/src/Core/util/MKL_support.h
+mkl.h
 -
-src/Geometry/OrthoMethods.h
-/usr/include/eigen3/Eigen/src/Geometry/OrthoMethods.h
-src/Geometry/EulerAngles.h
-/usr/include/eigen3/Eigen/src/Geometry/EulerAngles.h
-src/Geometry/Homogeneous.h
-/usr/include/eigen3/Eigen/src/Geometry/Homogeneous.h
-src/Geometry/RotationBase.h
-/usr/include/eigen3/Eigen/src/Geometry/RotationBase.h
-src/Geometry/Rotation2D.h
-/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h
-src/Geometry/Quaternion.h
-/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h
-src/Geometry/AngleAxis.h
-/usr/include/eigen3/Eigen/src/Geometry/AngleAxis.h
-src/Geometry/Transform.h
-/usr/include/eigen3/Eigen/src/Geometry/Transform.h
-src/Geometry/Translation.h
-/usr/include/eigen3/Eigen/src/Geometry/Translation.h
-src/Geometry/Scaling.h
-/usr/include/eigen3/Eigen/src/Geometry/Scaling.h
-src/Geometry/Hyperplane.h
-/usr/include/eigen3/Eigen/src/Geometry/Hyperplane.h
-src/Geometry/ParametrizedLine.h
-/usr/include/eigen3/Eigen/src/Geometry/ParametrizedLine.h
-src/Geometry/AlignedBox.h
-/usr/include/eigen3/Eigen/src/Geometry/AlignedBox.h
-src/Geometry/Umeyama.h
-/usr/include/eigen3/Eigen/src/Geometry/Umeyama.h
-src/Geometry/arch/Geometry_SSE.h
-/usr/include/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h
-src/Core/util/ReenableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
+../../misc/blas.h
+/usr/include/eigen3/Eigen/src/misc/blas.h
 
-/usr/include/eigen3/Eigen/Householder
-Core
-/usr/include/eigen3/Eigen/Core
-src/Core/util/DisableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
-src/Householder/Householder.h
-/usr/include/eigen3/Eigen/src/Householder/Householder.h
-src/Householder/HouseholderSequence.h
-/usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h
-src/Householder/BlockHouseholder.h
-/usr/include/eigen3/Eigen/src/Householder/BlockHouseholder.h
-src/Core/util/ReenableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/Macros.h
+cstdlib
+-
+iostream
+-
 
-/usr/include/eigen3/Eigen/Jacobi
-Core
-/usr/include/eigen3/Eigen/Core
-src/Core/util/DisableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
-src/Jacobi/Jacobi.h
-/usr/include/eigen3/Eigen/src/Jacobi/Jacobi.h
-src/Core/util/ReenableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/Memory.h
 
-/usr/include/eigen3/Eigen/LU
-Core
-/usr/include/eigen3/Eigen/Core
-src/Core/util/DisableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
-src/misc/Kernel.h
-/usr/include/eigen3/Eigen/src/misc/Kernel.h
-src/misc/Image.h
-/usr/include/eigen3/Eigen/src/misc/Image.h
-src/LU/FullPivLU.h
-/usr/include/eigen3/Eigen/src/LU/FullPivLU.h
-src/LU/PartialPivLU.h
-/usr/include/eigen3/Eigen/src/LU/PartialPivLU.h
-src/misc/lapacke.h
-/usr/include/eigen3/Eigen/src/misc/lapacke.h
-src/LU/PartialPivLU_LAPACKE.h
-/usr/include/eigen3/Eigen/src/LU/PartialPivLU_LAPACKE.h
-src/LU/Determinant.h
-/usr/include/eigen3/Eigen/src/LU/Determinant.h
-src/LU/InverseImpl.h
-/usr/include/eigen3/Eigen/src/LU/InverseImpl.h
-src/LU/arch/Inverse_SSE.h
-/usr/include/eigen3/Eigen/src/LU/arch/Inverse_SSE.h
-src/Core/util/ReenableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/Meta.h
+cfloat
+-
+math_constants.h
+-
+cstdint
+-
 
-/usr/include/eigen3/Eigen/QR
-Core
-/usr/include/eigen3/Eigen/Core
-src/Core/util/DisableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
-Cholesky
-/usr/include/eigen3/Eigen/Cholesky
-Jacobi
-/usr/include/eigen3/Eigen/Jacobi
-Householder
-/usr/include/eigen3/Eigen/Householder
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-/usr/include/eigen3/Eigen/src/QR/HouseholderQR.h
-src/QR/FullPivHouseholderQR.h
-/usr/include/eigen3/Eigen/src/QR/FullPivHouseholderQR.h
-src/QR/ColPivHouseholderQR.h
-/usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR.h
-src/QR/CompleteOrthogonalDecomposition.h
-/usr/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h
-src/misc/lapacke.h
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-/usr/include/eigen3/Eigen/src/QR/HouseholderQR_LAPACKE.h
-src/QR/ColPivHouseholderQR_LAPACKE.h
-/usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h
-src/Core/util/ReenableStupidWarnings.h
-/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
+/usr/include/eigen3/Eigen/src/Core/util/NonMPL2.h
 
-/usr/include/eigen3/Eigen/SVD
-QR
-/usr/include/eigen3/Eigen/QR
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-Jacobi
-/usr/include/eigen3/Eigen/Jacobi
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-/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
-src/misc/RealSvd2x2.h
-/usr/include/eigen3/Eigen/src/misc/RealSvd2x2.h
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-/usr/include/eigen3/Eigen/src/SVD/UpperBidiagonalization.h
-src/SVD/SVDBase.h
-/usr/include/eigen3/Eigen/src/SVD/SVDBase.h
-src/SVD/JacobiSVD.h
-/usr/include/eigen3/Eigen/src/SVD/JacobiSVD.h
-src/SVD/BDCSVD.h
-/usr/include/eigen3/Eigen/src/SVD/BDCSVD.h
-src/misc/lapacke.h
-/usr/include/eigen3/Eigen/src/misc/lapacke.h
-src/SVD/JacobiSVD_LAPACKE.h
-/usr/include/eigen3/Eigen/src/SVD/JacobiSVD_LAPACKE.h
-src/Core/util/ReenableStupidWarnings.h
 /usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h
 
-/usr/include/eigen3/Eigen/StdVector
-Core
-/usr/include/eigen3/Eigen/Core
-vector
--
-src/StlSupport/StdVector.h
-/usr/include/eigen3/Eigen/src/StlSupport/StdVector.h
+/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h
 
-/usr/include/eigen3/Eigen/src/Cholesky/LDLT.h
+/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h
 
-/usr/include/eigen3/Eigen/src/Cholesky/LLT.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./ComplexSchur.h
+./HessenbergDecomposition.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/././HessenbergDecomposition.h
 
-/usr/include/eigen3/Eigen/src/Cholesky/LLT_LAPACKE.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./HessenbergDecomposition.h
 
-/usr/include/eigen3/Eigen/src/Core/Array.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./RealQZ.h
 
-/usr/include/eigen3/Eigen/src/Core/ArrayBase.h
-../plugins/CommonCwiseUnaryOps.h
-/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
-../plugins/MatrixCwiseUnaryOps.h
-/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
-../plugins/ArrayCwiseUnaryOps.h
-/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h
-../plugins/CommonCwiseBinaryOps.h
-/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
-../plugins/MatrixCwiseBinaryOps.h
-/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
-../plugins/ArrayCwiseBinaryOps.h
-/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./RealSchur.h
+./HessenbergDecomposition.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/././HessenbergDecomposition.h
 
-/usr/include/eigen3/Eigen/src/Core/ArrayWrapper.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./Tridiagonalization.h
 
-/usr/include/eigen3/Eigen/src/Core/Assign.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h
+./ComplexSchur.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./ComplexSchur.h
 
-/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h
+./HessenbergDecomposition.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./HessenbergDecomposition.h
 
-/usr/include/eigen3/Eigen/src/Core/Assign_MKL.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h
 
-/usr/include/eigen3/Eigen/src/Core/BandMatrix.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/EigenSolver.h
+./RealSchur.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./RealSchur.h
 
-/usr/include/eigen3/Eigen/src/Core/Block.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
+./RealQZ.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./RealQZ.h
 
-/usr/include/eigen3/Eigen/src/Core/BooleanRedux.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
+./Tridiagonalization.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./Tridiagonalization.h
 
-/usr/include/eigen3/Eigen/src/Core/CommaInitializer.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h
 
-/usr/include/eigen3/Eigen/src/Core/ConditionEstimator.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
 
-/usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/RealQZ.h
 
-/usr/include/eigen3/Eigen/src/Core/CoreIterators.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur.h
+./HessenbergDecomposition.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./HessenbergDecomposition.h
 
-/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h
 
-/usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
+./Tridiagonalization.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/./Tridiagonalization.h
 
-/usr/include/eigen3/Eigen/src/Core/CwiseTernaryOp.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
 
-/usr/include/eigen3/Eigen/src/Core/CwiseUnaryOp.h
+/usr/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h
 
-/usr/include/eigen3/Eigen/src/Core/CwiseUnaryView.h
+/usr/include/eigen3/Eigen/src/Geometry/AlignedBox.h
 
-/usr/include/eigen3/Eigen/src/Core/DenseBase.h
-../plugins/BlockMethods.h
-/usr/include/eigen3/Eigen/src/plugins/BlockMethods.h
+/usr/include/eigen3/Eigen/src/Geometry/AngleAxis.h
+
+/usr/include/eigen3/Eigen/src/Geometry/EulerAngles.h
+
+/usr/include/eigen3/Eigen/src/Geometry/Homogeneous.h
+
+/usr/include/eigen3/Eigen/src/Geometry/Hyperplane.h
+
+/usr/include/eigen3/Eigen/src/Geometry/OrthoMethods.h
+
+/usr/include/eigen3/Eigen/src/Geometry/ParametrizedLine.h
+
+/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h
 
-/usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h
+/usr/include/eigen3/Eigen/src/Geometry/Rotation2D.h
 
-/usr/include/eigen3/Eigen/src/Core/DenseStorage.h
+/usr/include/eigen3/Eigen/src/Geometry/RotationBase.h
 
-/usr/include/eigen3/Eigen/src/Core/Diagonal.h
+/usr/include/eigen3/Eigen/src/Geometry/Scaling.h
 
-/usr/include/eigen3/Eigen/src/Core/DiagonalMatrix.h
+/usr/include/eigen3/Eigen/src/Geometry/Transform.h
 
-/usr/include/eigen3/Eigen/src/Core/DiagonalProduct.h
+/usr/include/eigen3/Eigen/src/Geometry/Translation.h
 
-/usr/include/eigen3/Eigen/src/Core/Dot.h
+/usr/include/eigen3/Eigen/src/Geometry/Umeyama.h
 
-/usr/include/eigen3/Eigen/src/Core/EigenBase.h
+/usr/include/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h
 
-/usr/include/eigen3/Eigen/src/Core/Fuzzy.h
+/usr/include/eigen3/Eigen/src/Householder/BlockHouseholder.h
 
-/usr/include/eigen3/Eigen/src/Core/GeneralProduct.h
+/usr/include/eigen3/Eigen/src/Householder/Householder.h
 
-/usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h
+/usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h
 
-/usr/include/eigen3/Eigen/src/Core/GlobalFunctions.h
+/usr/include/eigen3/Eigen/src/Jacobi/Jacobi.h
 
-/usr/include/eigen3/Eigen/src/Core/IO.h
+/usr/include/eigen3/Eigen/src/LU/Determinant.h
 
-/usr/include/eigen3/Eigen/src/Core/Inverse.h
+/usr/include/eigen3/Eigen/src/LU/FullPivLU.h
 
-/usr/include/eigen3/Eigen/src/Core/Map.h
+/usr/include/eigen3/Eigen/src/LU/InverseImpl.h
 
-/usr/include/eigen3/Eigen/src/Core/MapBase.h
+/usr/include/eigen3/Eigen/src/LU/PartialPivLU.h
 
-/usr/include/eigen3/Eigen/src/Core/MathFunctions.h
+/usr/include/eigen3/Eigen/src/LU/PartialPivLU_LAPACKE.h
 
-/usr/include/eigen3/Eigen/src/Core/MathFunctionsImpl.h
+/usr/include/eigen3/Eigen/src/LU/arch/Inverse_SSE.h
 
-/usr/include/eigen3/Eigen/src/Core/Matrix.h
+/usr/include/eigen3/Eigen/src/OrderingMethods/Amd.h
+../Core/util/NonMPL2.h
+/usr/include/eigen3/Eigen/src/Core/util/NonMPL2.h
 
-/usr/include/eigen3/Eigen/src/Core/MatrixBase.h
-../plugins/CommonCwiseUnaryOps.h
-/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
-../plugins/CommonCwiseBinaryOps.h
-/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
-../plugins/MatrixCwiseUnaryOps.h
-/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
-../plugins/MatrixCwiseBinaryOps.h
-/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
+/usr/include/eigen3/Eigen/src/OrderingMethods/Eigen_Colamd.h
 
-/usr/include/eigen3/Eigen/src/Core/NestByValue.h
+/usr/include/eigen3/Eigen/src/OrderingMethods/Ordering.h
+Eigen_Colamd.h
+/usr/include/eigen3/Eigen/src/OrderingMethods/Eigen_Colamd.h
 
-/usr/include/eigen3/Eigen/src/Core/NoAlias.h
+/usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR.h
 
-/usr/include/eigen3/Eigen/src/Core/NumTraits.h
+/usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h
 
-/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h
+/usr/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h
 
-/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h
+/usr/include/eigen3/Eigen/src/QR/FullPivHouseholderQR.h
 
-/usr/include/eigen3/Eigen/src/Core/Product.h
+/usr/include/eigen3/Eigen/src/QR/HouseholderQR.h
 
-/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h
+/usr/include/eigen3/Eigen/src/QR/HouseholderQR_LAPACKE.h
 
-/usr/include/eigen3/Eigen/src/Core/Random.h
+/usr/include/eigen3/Eigen/src/SVD/BDCSVD.h
 
-/usr/include/eigen3/Eigen/src/Core/Redux.h
+/usr/include/eigen3/Eigen/src/SVD/JacobiSVD.h
 
-/usr/include/eigen3/Eigen/src/Core/Ref.h
+/usr/include/eigen3/Eigen/src/SVD/JacobiSVD_LAPACKE.h
 
-/usr/include/eigen3/Eigen/src/Core/Replicate.h
+/usr/include/eigen3/Eigen/src/SVD/SVDBase.h
 
-/usr/include/eigen3/Eigen/src/Core/ReturnByValue.h
+/usr/include/eigen3/Eigen/src/SVD/UpperBidiagonalization.h
 
-/usr/include/eigen3/Eigen/src/Core/Reverse.h
+/usr/include/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky.h
 
-/usr/include/eigen3/Eigen/src/Core/Select.h
+/usr/include/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
+../Core/util/NonMPL2.h
+/usr/include/eigen3/Eigen/src/Core/util/NonMPL2.h
 
-/usr/include/eigen3/Eigen/src/Core/SelfAdjointView.h
+/usr/include/eigen3/Eigen/src/SparseCore/AmbiVector.h
 
-/usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h
+/usr/include/eigen3/Eigen/src/SparseCore/CompressedStorage.h
 
-/usr/include/eigen3/Eigen/src/Core/Solve.h
+/usr/include/eigen3/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
 
-/usr/include/eigen3/Eigen/src/Core/SolveTriangular.h
+/usr/include/eigen3/Eigen/src/SparseCore/MappedSparseMatrix.h
 
-/usr/include/eigen3/Eigen/src/Core/SolverBase.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseAssign.h
 
-/usr/include/eigen3/Eigen/src/Core/StableNorm.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseBlock.h
 
-/usr/include/eigen3/Eigen/src/Core/Stride.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h
 
-/usr/include/eigen3/Eigen/src/Core/Swap.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
 
-/usr/include/eigen3/Eigen/src/Core/Transpose.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
 
-/usr/include/eigen3/Eigen/src/Core/Transpositions.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseDenseProduct.h
 
-/usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseDiagonalProduct.h
 
-/usr/include/eigen3/Eigen/src/Core/VectorBlock.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseDot.h
 
-/usr/include/eigen3/Eigen/src/Core/VectorwiseOp.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseFuzzy.h
 
-/usr/include/eigen3/Eigen/src/Core/Visitor.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseMap.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/AVX/Complex.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseMatrix.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/AVX/MathFunctions.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h
+../plugins/CommonCwiseUnaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
+../plugins/CommonCwiseBinaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
+../plugins/MatrixCwiseUnaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
+../plugins/MatrixCwiseBinaryOps.h
+/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
+../plugins/BlockMethods.h
+/usr/include/eigen3/Eigen/src/plugins/BlockMethods.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/AVX/TypeCasting.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseProduct.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/AVX512/MathFunctions.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseRedux.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/AVX512/PacketMath.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseRef.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/AltiVec/Complex.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseSelfAdjointView.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/AltiVec/MathFunctions.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseSolverBase.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/Complex.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseTranspose.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/Half.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseTriangularView.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/MathFunctions.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseUtil.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/PacketMath.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseVector.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/PacketMathHalf.h
+/usr/include/eigen3/Eigen/src/SparseCore/SparseView.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/CUDA/TypeCasting.h
+/usr/include/eigen3/Eigen/src/SparseCore/TriangularSolver.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/Default/ConjHelper.h
+/usr/include/eigen3/Eigen/src/StlSupport/StdVector.h
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+/usr/include/eigen3/Eigen/src/StlSupport/details.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/Default/Settings.h
+/usr/include/eigen3/Eigen/src/StlSupport/details.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/NEON/Complex.h
+/usr/include/eigen3/Eigen/src/misc/Image.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/NEON/MathFunctions.h
+/usr/include/eigen3/Eigen/src/misc/Kernel.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/NEON/PacketMath.h
+/usr/include/eigen3/Eigen/src/misc/RealSvd2x2.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/SSE/Complex.h
+/usr/include/eigen3/Eigen/src/misc/blas.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h
+/usr/include/eigen3/Eigen/src/misc/lapacke.h
+lapacke_config.h
+/usr/include/eigen3/Eigen/src/misc/lapacke_config.h
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+-
+complex.h
+-
+complex.h
+-
+lapacke_mangling.h
+/usr/include/eigen3/Eigen/src/misc/lapacke_mangling.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h
+/usr/include/eigen3/Eigen/src/misc/lapacke_mangling.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/SSE/TypeCasting.h
+/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/ZVector/Complex.h
+/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/ZVector/MathFunctions.h
+/usr/include/eigen3/Eigen/src/plugins/BlockMethods.h
 
-/usr/include/eigen3/Eigen/src/Core/arch/ZVector/PacketMath.h
-stdint.h
--
+/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
 
-/usr/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h
+/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
 
-/usr/include/eigen3/Eigen/src/Core/functors/BinaryFunctors.h
+/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
 
-/usr/include/eigen3/Eigen/src/Core/functors/NullaryFunctors.h
+/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
 
-/usr/include/eigen3/Eigen/src/Core/functors/StlFunctors.h
+/usr/local/include/ceres/autodiff_cost_function.h
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+/usr/local/include/ceres/ceres/internal/autodiff.h
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+/usr/local/include/ceres/ceres/types.h
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+/usr/local/include/ceres/glog/logging.h
 
-/usr/include/eigen3/Eigen/src/Core/functors/TernaryFunctors.h
+/usr/local/include/ceres/autodiff_local_parameterization.h
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+/usr/local/include/ceres/ceres/local_parameterization.h
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+/usr/local/include/ceres/ceres/internal/autodiff.h
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+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
 
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+/usr/local/include/ceres/ceres.h
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+/usr/local/include/ceres/ceres/autodiff_cost_function.h
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+/usr/local/include/ceres/ceres/autodiff_local_parameterization.h
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+/usr/local/include/ceres/ceres/cost_function.h
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+/usr/local/include/ceres/ceres/cost_function_to_functor.h
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+/usr/local/include/ceres/ceres/covariance.h
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+/usr/local/include/ceres/ceres/crs_matrix.h
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+/usr/local/include/ceres/ceres/dynamic_autodiff_cost_function.h
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+/usr/local/include/ceres/ceres/dynamic_numeric_diff_cost_function.h
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+/usr/local/include/ceres/ceres/gradient_problem.h
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+/usr/local/include/ceres/ceres/gradient_problem_solver.h
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+/usr/local/include/ceres/ceres/iteration_callback.h
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+/usr/local/include/ceres/ceres/loss_function.h
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+/usr/local/include/ceres/ceres/numeric_diff_cost_function.h
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+/usr/local/include/ceres/ceres/ordered_groups.h
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+/usr/local/include/ceres/ceres/problem.h
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+/usr/local/include/ceres/ceres/sized_cost_function.h
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+/usr/local/include/ceres/ceres/solver.h
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+/usr/local/include/ceres/ceres/types.h
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+/usr/local/include/ceres/ceres/version.h
 
-/usr/include/eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h
+/usr/local/include/ceres/cost_function.h
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+-
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+/usr/local/include/ceres/ceres/internal/macros.h
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+/usr/local/include/ceres/ceres/internal/port.h
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+/usr/local/include/ceres/ceres/types.h
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+/usr/local/include/ceres/ceres/internal/disable_warnings.h
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+/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
-/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h
+/usr/local/include/ceres/cost_function_to_functor.h
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+-
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+-
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+/usr/local/include/ceres/ceres/cost_function.h
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+/usr/local/include/ceres/ceres/dynamic_cost_function_to_functor.h
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+/usr/local/include/ceres/ceres/internal/fixed_array.h
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+/usr/local/include/ceres/ceres/internal/port.h
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+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
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+/usr/local/include/ceres/covariance.h
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+-
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+-
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+/usr/local/include/ceres/ceres/internal/port.h
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+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
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+/usr/local/include/ceres/ceres/types.h
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+/usr/local/include/ceres/ceres/internal/disable_warnings.h
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+/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
-/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
+/usr/local/include/ceres/crs_matrix.h
+vector
+-
+ceres/internal/port.h
+/usr/local/include/ceres/ceres/internal/port.h
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+/usr/local/include/ceres/ceres/internal/disable_warnings.h
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+/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
-/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
+/usr/local/include/ceres/dynamic_autodiff_cost_function.h
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+-
+numeric
+-
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+-
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+/usr/local/include/ceres/ceres/dynamic_cost_function.h
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+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
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+/usr/local/include/ceres/ceres/jet.h
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+/usr/local/include/ceres/glog/logging.h
 
-/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
+/usr/local/include/ceres/dynamic_cost_function.h
+ceres/cost_function.h
+/usr/local/include/ceres/ceres/cost_function.h
 
-/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixVector.h
+/usr/local/include/ceres/dynamic_cost_function_to_functor.h
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+-
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+-
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+/usr/local/include/ceres/ceres/dynamic_cost_function.h
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+/usr/local/include/ceres/ceres/internal/fixed_array.h
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+/usr/local/include/ceres/ceres/internal/port.h
+ceres/internal/scoped_ptr.h
+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
 
-/usr/include/eigen3/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h
+/usr/local/include/ceres/dynamic_numeric_diff_cost_function.h
+cmath
+-
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+-
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+-
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+/usr/local/include/ceres/ceres/dynamic_cost_function.h
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+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
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+/usr/local/include/ceres/ceres/internal/eigen.h
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+/usr/local/include/ceres/ceres/internal/numeric_diff.h
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+/usr/local/include/ceres/ceres/numeric_diff_options.h
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+/usr/local/include/ceres/glog/logging.h
 
-/usr/include/eigen3/Eigen/src/Core/products/Parallelizer.h
+/usr/local/include/ceres/gradient_problem.h
+ceres/internal/macros.h
+/usr/local/include/ceres/ceres/internal/macros.h
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+/usr/local/include/ceres/ceres/internal/port.h
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+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
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+/usr/local/include/ceres/ceres/local_parameterization.h
 
-/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
+/usr/local/include/ceres/gradient_problem_solver.h
+cmath
+-
+string
+-
+vector
+-
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+/usr/local/include/ceres/ceres/internal/macros.h
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+/usr/local/include/ceres/ceres/internal/port.h
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+/usr/local/include/ceres/ceres/iteration_callback.h
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+/usr/local/include/ceres/ceres/types.h
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+/usr/local/include/ceres/ceres/internal/disable_warnings.h
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+/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
-/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
+/usr/local/include/ceres/internal/autodiff.h
+stddef.h
+-
+ceres/jet.h
+/usr/local/include/ceres/internal/ceres/jet.h
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+/usr/local/include/ceres/internal/ceres/internal/eigen.h
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+/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
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+/usr/local/include/ceres/internal/ceres/internal/variadic_evaluate.h
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+/usr/local/include/ceres/internal/glog/logging.h
 
-/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h
+/usr/local/include/ceres/internal/config.h
 
-/usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h
+/usr/local/include/ceres/internal/disable_warnings.h
 
-/usr/include/eigen3/Eigen/src/Core/products/SelfadjointProduct.h
+/usr/local/include/ceres/internal/eigen.h
+Eigen/Core
+/usr/local/include/ceres/internal/Eigen/Core
 
-/usr/include/eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h
+/usr/local/include/ceres/internal/fixed_array.h
+cstddef
+-
+Eigen/Core
+/usr/local/include/ceres/internal/Eigen/Core
+ceres/internal/macros.h
+/usr/local/include/ceres/internal/ceres/internal/macros.h
+ceres/internal/manual_constructor.h
+/usr/local/include/ceres/internal/ceres/internal/manual_constructor.h
+glog/logging.h
+/usr/local/include/ceres/internal/glog/logging.h
 
-/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h
+/usr/local/include/ceres/internal/manual_constructor.h
+new
+-
 
-/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
+/usr/local/include/ceres/internal/numeric_diff.h
+cstring
+-
+Eigen/Dense
+/usr/local/include/ceres/internal/Eigen/Dense
+Eigen/StdVector
+/usr/local/include/ceres/internal/Eigen/StdVector
+ceres/cost_function.h
+/usr/local/include/ceres/internal/ceres/cost_function.h
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+/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
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+/usr/local/include/ceres/internal/ceres/internal/scoped_ptr.h
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+/usr/local/include/ceres/internal/ceres/internal/variadic_evaluate.h
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+/usr/local/include/ceres/internal/ceres/numeric_diff_options.h
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+/usr/local/include/ceres/internal/ceres/types.h
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+/usr/local/include/ceres/internal/glog/logging.h
 
-/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector.h
+/usr/local/include/ceres/internal/port.h
+cstddef
+-
+ceres/internal/config.h
+/usr/local/include/ceres/internal/ceres/internal/config.h
+tr1/memory
+-
+memory
+-
 
-/usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h
+/usr/local/include/ceres/internal/reenable_warnings.h
 
-/usr/include/eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h
+/usr/local/include/ceres/internal/variadic_evaluate.h
+stddef.h
+-
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+/usr/local/include/ceres/internal/ceres/jet.h
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+/usr/local/include/ceres/internal/ceres/types.h
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+/usr/local/include/ceres/internal/ceres/internal/eigen.h
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+/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
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+/usr/local/include/ceres/internal/glog/logging.h
 
-/usr/include/eigen3/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
+/usr/local/include/ceres/iteration_callback.h
+ceres/types.h
+/usr/local/include/ceres/ceres/types.h
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+/usr/local/include/ceres/ceres/internal/disable_warnings.h
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+/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
-/usr/include/eigen3/Eigen/src/Core/products/TriangularSolverVector.h
+/usr/local/include/ceres/jet.h
+cmath
+-
+iosfwd
+-
+iostream
+-
+limits
+-
+string
+-
+Eigen/Core
+/usr/local/include/ceres/Eigen/Core
+ceres/fpclassify.h
+/usr/local/include/ceres/ceres/fpclassify.h
+ceres/internal/port.h
+/usr/local/include/ceres/ceres/internal/port.h
 
-/usr/include/eigen3/Eigen/src/Core/util/BlasUtil.h
+/usr/local/include/ceres/local_parameterization.h
+vector
+-
+ceres/internal/port.h
+/usr/local/include/ceres/ceres/internal/port.h
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+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
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+/usr/local/include/ceres/ceres/internal/disable_warnings.h
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+/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
-/usr/include/eigen3/Eigen/src/Core/util/Constants.h
+/usr/local/include/ceres/loss_function.h
+glog/logging.h
+/usr/local/include/ceres/glog/logging.h
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+/usr/local/include/ceres/ceres/internal/macros.h
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+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
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+/usr/local/include/ceres/ceres/types.h
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+/usr/local/include/ceres/ceres/internal/disable_warnings.h
+ceres/internal/reenable_warnings.h
+/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
-/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h
+/usr/local/include/ceres/numeric_diff_cost_function.h
+Eigen/Dense
+/usr/local/include/ceres/Eigen/Dense
+ceres/cost_function.h
+/usr/local/include/ceres/ceres/cost_function.h
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+/usr/local/include/ceres/ceres/internal/numeric_diff.h
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+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
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+/usr/local/include/ceres/ceres/numeric_diff_options.h
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+/usr/local/include/ceres/ceres/sized_cost_function.h
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+/usr/local/include/ceres/ceres/types.h
+glog/logging.h
+/usr/local/include/ceres/glog/logging.h
 
-/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h
+/usr/local/include/ceres/numeric_diff_options.h
 
-/usr/include/eigen3/Eigen/src/Core/util/MKL_support.h
-mkl.h
+/usr/local/include/ceres/ordered_groups.h
+map
 -
-../../misc/blas.h
-/usr/include/eigen3/Eigen/src/misc/blas.h
+set
+-
+vector
+-
+ceres/internal/port.h
+/usr/local/include/ceres/ceres/internal/port.h
+glog/logging.h
+/usr/local/include/ceres/glog/logging.h
 
-/usr/include/eigen3/Eigen/src/Core/util/Macros.h
-cstdlib
+/usr/local/include/ceres/problem.h
+cstddef
 -
-iostream
+map
+-
+set
+-
+vector
 -
+glog/logging.h
+/usr/local/include/ceres/glog/logging.h
+ceres/internal/macros.h
+/usr/local/include/ceres/ceres/internal/macros.h
+ceres/internal/port.h
+/usr/local/include/ceres/ceres/internal/port.h
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+/usr/local/include/ceres/ceres/internal/scoped_ptr.h
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+/usr/local/include/ceres/ceres/types.h
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+/usr/local/include/ceres/ceres/internal/disable_warnings.h
+ceres/internal/reenable_warnings.h
+/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
-/usr/include/eigen3/Eigen/src/Core/util/Memory.h
+/usr/local/include/ceres/sized_cost_function.h
+ceres/types.h
+/usr/local/include/ceres/ceres/types.h
+ceres/cost_function.h
+/usr/local/include/ceres/ceres/cost_function.h
+glog/logging.h
+/usr/local/include/ceres/glog/logging.h
 
-/usr/include/eigen3/Eigen/src/Core/util/Meta.h
-cfloat
+/usr/local/include/ceres/solver.h
+cmath
 -
-math_constants.h
+string
 -
-cstdint
+vector
 -
+ceres/crs_matrix.h
+/usr/local/include/ceres/ceres/crs_matrix.h
+ceres/internal/macros.h
+/usr/local/include/ceres/ceres/internal/macros.h
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+/usr/local/include/ceres/ceres/internal/port.h
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+/usr/local/include/ceres/ceres/iteration_callback.h
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+/usr/local/include/ceres/ceres/internal/disable_warnings.h
+ceres/internal/reenable_warnings.h
+/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
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-/usr/include/eigen3/Eigen/src/StlSupport/StdVector.h
-details.h
-/usr/include/eigen3/Eigen/src/StlSupport/details.h
+/usr/local/include/opencv2/flann/dist.h
+cmath
+-
+cstdlib
+-
+string.h
+-
+stdint.h
+-
+defines.h
+/usr/local/include/opencv2/flann/defines.h
+Intrin.h
+-
+arm_neon.h
+/usr/local/include/opencv2/flann/arm_neon.h
 
-/usr/include/eigen3/Eigen/src/StlSupport/details.h
+/usr/local/include/opencv2/flann/dynamic_bitset.h
+boost/dynamic_bitset.hpp
+-
+limits.h
+-
+dist.h
+/usr/local/include/opencv2/flann/dist.h
 
-/usr/include/eigen3/Eigen/src/misc/Image.h
+/usr/local/include/opencv2/flann/flann_base.hpp
+vector
+-
+cassert
+-
+cstdio
+-
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+/usr/local/include/opencv2/flann/general.h
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+/usr/local/include/opencv2/flann/matrix.h
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+/usr/local/include/opencv2/flann/params.h
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+/usr/local/include/opencv2/flann/saving.h
+all_indices.h
+/usr/local/include/opencv2/flann/all_indices.h
 
-/usr/include/eigen3/Eigen/src/misc/Kernel.h
+/usr/local/include/opencv2/flann/general.h
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+/usr/local/include/opencv2/flann/opencv2/core.hpp
 
-/usr/include/eigen3/Eigen/src/misc/RealSvd2x2.h
+/usr/local/include/opencv2/flann/ground_truth.h
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+/usr/local/include/opencv2/flann/dist.h
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+/usr/local/include/opencv2/flann/matrix.h
 
-/usr/include/eigen3/Eigen/src/misc/blas.h
+/usr/local/include/opencv2/flann/heap.h
+algorithm
+-
+vector
+-
 
-/usr/include/eigen3/Eigen/src/misc/lapacke.h
-lapacke_config.h
-/usr/include/eigen3/Eigen/src/misc/lapacke_config.h
-stdlib.h
+/usr/local/include/opencv2/flann/hierarchical_clustering_index.h
+algorithm
+-
+map
+-
+cassert
 -
-complex.h
+limits
 -
-complex.h
+cmath
 -
-lapacke_mangling.h
-/usr/include/eigen3/Eigen/src/misc/lapacke_mangling.h
-
-/usr/include/eigen3/Eigen/src/misc/lapacke_mangling.h
+general.h
+/usr/local/include/opencv2/flann/general.h
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+/usr/local/include/opencv2/flann/nn_index.h
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+/usr/local/include/opencv2/flann/dist.h
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+/usr/local/include/opencv2/flann/matrix.h
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+/usr/local/include/opencv2/flann/result_set.h
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+/usr/local/include/opencv2/flann/heap.h
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+/usr/local/include/opencv2/flann/allocator.h
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+/usr/local/include/opencv2/flann/random.h
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+/usr/local/include/opencv2/flann/saving.h
 
-/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h
+/usr/local/include/opencv2/flann/index_testing.h
+cstring
+-
+cassert
+-
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+-
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+/usr/local/include/opencv2/flann/matrix.h
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+/usr/local/include/opencv2/flann/nn_index.h
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+/usr/local/include/opencv2/flann/result_set.h
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+/usr/local/include/opencv2/flann/logger.h
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+/usr/local/include/opencv2/flann/timer.h
 
-/usr/include/eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h
+/usr/local/include/opencv2/flann/kdtree_index.h
+algorithm
+-
+map
+-
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+-
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+-
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+/usr/local/include/opencv2/flann/general.h
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+/usr/local/include/opencv2/flann/nn_index.h
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+/usr/local/include/opencv2/flann/dynamic_bitset.h
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+/usr/local/include/opencv2/flann/matrix.h
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+/usr/local/include/opencv2/flann/result_set.h
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+/usr/local/include/opencv2/flann/random.h
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+/usr/local/include/opencv2/flann/saving.h
 
-/usr/include/eigen3/Eigen/src/plugins/BlockMethods.h
+/usr/local/include/opencv2/flann/kdtree_single_index.h
+algorithm
+-
+map
+-
+cassert
+-
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+-
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+/usr/local/include/opencv2/flann/general.h
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+/usr/local/include/opencv2/flann/nn_index.h
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+/usr/local/include/opencv2/flann/matrix.h
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+/usr/local/include/opencv2/flann/result_set.h
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+/usr/local/include/opencv2/flann/heap.h
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+/usr/local/include/opencv2/flann/allocator.h
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+/usr/local/include/opencv2/flann/random.h
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+/usr/local/include/opencv2/flann/saving.h
 
-/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h
+/usr/local/include/opencv2/flann/kmeans_index.h
+algorithm
+-
+map
+-
+cassert
+-
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+-
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+-
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+/usr/local/include/opencv2/flann/general.h
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+/usr/local/include/opencv2/flann/nn_index.h
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+/usr/local/include/opencv2/flann/dist.h
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+/usr/local/include/opencv2/flann/matrix.h
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+/usr/local/include/opencv2/flann/heap.h
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+/usr/local/include/opencv2/flann/allocator.h
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+/usr/local/include/opencv2/flann/random.h
+saving.h
+/usr/local/include/opencv2/flann/saving.h
+logger.h
+/usr/local/include/opencv2/flann/logger.h
 
-/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h
+/usr/local/include/opencv2/flann/linear_index.h
+general.h
+/usr/local/include/opencv2/flann/general.h
+nn_index.h
+/usr/local/include/opencv2/flann/nn_index.h
 
-/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h
+/usr/local/include/opencv2/flann/logger.h
+stdio.h
+-
+stdarg.h
+-
+defines.h
+/usr/local/include/opencv2/flann/defines.h
 
-/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h
+/usr/local/include/opencv2/flann/lsh_index.h
+algorithm
+-
+cassert
+-
+cstring
+-
+map
+-
+vector
+-
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+/usr/local/include/opencv2/flann/general.h
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+/usr/local/include/opencv2/flann/nn_index.h
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+/usr/local/include/opencv2/flann/matrix.h
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+/usr/local/include/opencv2/flann/result_set.h
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+/usr/local/include/opencv2/flann/heap.h
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+/usr/local/include/opencv2/flann/lsh_table.h
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+/usr/local/include/opencv2/flann/allocator.h
+random.h
+/usr/local/include/opencv2/flann/random.h
+saving.h
+/usr/local/include/opencv2/flann/saving.h
 
-/usr/local/include/ceres/autodiff_cost_function.h
-ceres/internal/autodiff.h
-/usr/local/include/ceres/ceres/internal/autodiff.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/sized_cost_function.h
-/usr/local/include/ceres/ceres/sized_cost_function.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
+/usr/local/include/opencv2/flann/lsh_table.h
+algorithm
+-
+iostream
+-
+iomanip
+-
+limits.h
+-
+unordered_map
+-
+map
+-
+math.h
+-
+stddef.h
+-
+dynamic_bitset.h
+/usr/local/include/opencv2/flann/dynamic_bitset.h
+matrix.h
+/usr/local/include/opencv2/flann/matrix.h
 
-/usr/local/include/ceres/autodiff_local_parameterization.h
-ceres/local_parameterization.h
-/usr/local/include/ceres/ceres/local_parameterization.h
-ceres/internal/autodiff.h
-/usr/local/include/ceres/ceres/internal/autodiff.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
+/usr/local/include/opencv2/flann/matrix.h
+stdio.h
+-
+general.h
+/usr/local/include/opencv2/flann/general.h
 
-/usr/local/include/ceres/ceres.h
-ceres/autodiff_cost_function.h
-/usr/local/include/ceres/ceres/autodiff_cost_function.h
-ceres/autodiff_local_parameterization.h
-/usr/local/include/ceres/ceres/autodiff_local_parameterization.h
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
-ceres/cost_function_to_functor.h
-/usr/local/include/ceres/ceres/cost_function_to_functor.h
-ceres/covariance.h
-/usr/local/include/ceres/ceres/covariance.h
-ceres/crs_matrix.h
-/usr/local/include/ceres/ceres/crs_matrix.h
-ceres/dynamic_autodiff_cost_function.h
-/usr/local/include/ceres/ceres/dynamic_autodiff_cost_function.h
-ceres/dynamic_numeric_diff_cost_function.h
-/usr/local/include/ceres/ceres/dynamic_numeric_diff_cost_function.h
-ceres/gradient_problem.h
-/usr/local/include/ceres/ceres/gradient_problem.h
-ceres/gradient_problem_solver.h
-/usr/local/include/ceres/ceres/gradient_problem_solver.h
-ceres/iteration_callback.h
-/usr/local/include/ceres/ceres/iteration_callback.h
-ceres/jet.h
-/usr/local/include/ceres/ceres/jet.h
-ceres/local_parameterization.h
-/usr/local/include/ceres/ceres/local_parameterization.h
-ceres/loss_function.h
-/usr/local/include/ceres/ceres/loss_function.h
-ceres/numeric_diff_cost_function.h
-/usr/local/include/ceres/ceres/numeric_diff_cost_function.h
-ceres/ordered_groups.h
-/usr/local/include/ceres/ceres/ordered_groups.h
-ceres/problem.h
-/usr/local/include/ceres/ceres/problem.h
-ceres/sized_cost_function.h
-/usr/local/include/ceres/ceres/sized_cost_function.h
-ceres/solver.h
-/usr/local/include/ceres/ceres/solver.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/version.h
-/usr/local/include/ceres/ceres/version.h
+/usr/local/include/opencv2/flann/miniflann.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/flann/opencv2/core.hpp
+opencv2/flann/defines.h
+/usr/local/include/opencv2/flann/opencv2/flann/defines.h
 
-/usr/local/include/ceres/cost_function.h
-vector
--
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
+/usr/local/include/opencv2/flann/nn_index.h
+general.h
+/usr/local/include/opencv2/flann/general.h
+matrix.h
+/usr/local/include/opencv2/flann/matrix.h
+result_set.h
+/usr/local/include/opencv2/flann/result_set.h
+params.h
+/usr/local/include/opencv2/flann/params.h
 
-/usr/local/include/ceres/cost_function_to_functor.h
-numeric
+/usr/local/include/opencv2/flann/params.h
+any.h
+/usr/local/include/opencv2/flann/any.h
+general.h
+/usr/local/include/opencv2/flann/general.h
+iostream
 -
-vector
+map
 -
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
-ceres/dynamic_cost_function_to_functor.h
-/usr/local/include/ceres/ceres/dynamic_cost_function_to_functor.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/ceres/internal/fixed_array.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
 
-/usr/local/include/ceres/covariance.h
-utility
+/usr/local/include/opencv2/flann/random.h
+algorithm
 -
-vector
+cstdlib
 -
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
-
-/usr/local/include/ceres/crs_matrix.h
 vector
--
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
+-
+general.h
+/usr/local/include/opencv2/flann/general.h
 
-/usr/local/include/ceres/dynamic_autodiff_cost_function.h
-cmath
+/usr/local/include/opencv2/flann/result_set.h
+algorithm
 -
-numeric
+cstring
+-
+iostream
+-
+limits
+-
+set
 -
 vector
 -
-ceres/dynamic_cost_function.h
-/usr/local/include/ceres/ceres/dynamic_cost_function.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/jet.h
-/usr/local/include/ceres/ceres/jet.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
 
-/usr/local/include/ceres/dynamic_cost_function.h
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
+/usr/local/include/opencv2/flann/sampling.h
+matrix.h
+/usr/local/include/opencv2/flann/matrix.h
+random.h
+/usr/local/include/opencv2/flann/random.h
 
-/usr/local/include/ceres/dynamic_cost_function_to_functor.h
-numeric
+/usr/local/include/opencv2/flann/saving.h
+cstring
 -
 vector
 -
-ceres/dynamic_cost_function.h
-/usr/local/include/ceres/ceres/dynamic_cost_function.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/ceres/internal/fixed_array.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
+general.h
+/usr/local/include/opencv2/flann/general.h
+nn_index.h
+/usr/local/include/opencv2/flann/nn_index.h
 
-/usr/local/include/ceres/dynamic_numeric_diff_cost_function.h
-cmath
+/usr/local/include/opencv2/flann/timer.h
+time.h
 -
-numeric
+opencv2/core.hpp
+/usr/local/include/opencv2/flann/opencv2/core.hpp
+opencv2/core/utility.hpp
+/usr/local/include/opencv2/flann/opencv2/core/utility.hpp
+
+/usr/local/include/opencv2/highgui.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+opencv2/imgcodecs.hpp
+/usr/local/include/opencv2/opencv2/imgcodecs.hpp
+opencv2/videoio.hpp
+/usr/local/include/opencv2/opencv2/videoio.hpp
+
+/usr/local/include/opencv2/highgui/highgui.hpp
+opencv2/highgui.hpp
+/usr/local/include/opencv2/highgui/opencv2/highgui.hpp
+
+/usr/local/include/opencv2/highgui/highgui_c.h
+opencv2/core/core_c.h
+/usr/local/include/opencv2/highgui/opencv2/core/core_c.h
+opencv2/imgproc/imgproc_c.h
+/usr/local/include/opencv2/highgui/opencv2/imgproc/imgproc_c.h
+opencv2/imgcodecs/imgcodecs_c.h
+/usr/local/include/opencv2/highgui/opencv2/imgcodecs/imgcodecs_c.h
+opencv2/videoio/videoio_c.h
+/usr/local/include/opencv2/highgui/opencv2/videoio/videoio_c.h
+
+/usr/local/include/opencv2/imgcodecs.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+
+/usr/local/include/opencv2/imgcodecs/imgcodecs_c.h
+opencv2/core/core_c.h
+/usr/local/include/opencv2/imgcodecs/opencv2/core/core_c.h
+
+/usr/local/include/opencv2/imgproc.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+
+/usr/local/include/opencv2/imgproc/imgproc.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/imgproc/opencv2/imgproc.hpp
+
+/usr/local/include/opencv2/imgproc/imgproc_c.h
+opencv2/imgproc/types_c.h
+/usr/local/include/opencv2/imgproc/opencv2/imgproc/types_c.h
+
+/usr/local/include/opencv2/imgproc/types_c.h
+opencv2/core/core_c.h
+/usr/local/include/opencv2/imgproc/opencv2/core/core_c.h
+
+/usr/local/include/opencv2/ml.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+float.h
 -
-vector
+map
+-
+iostream
+-
+opencv2/ml/ml.inl.hpp
 -
-ceres/dynamic_cost_function.h
-/usr/local/include/ceres/ceres/dynamic_cost_function.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/internal/eigen.h
-/usr/local/include/ceres/ceres/internal/eigen.h
-ceres/internal/numeric_diff.h
-/usr/local/include/ceres/ceres/internal/numeric_diff.h
-ceres/numeric_diff_options.h
-/usr/local/include/ceres/ceres/numeric_diff_options.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
 
-/usr/local/include/ceres/gradient_problem.h
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/local_parameterization.h
-/usr/local/include/ceres/ceres/local_parameterization.h
+/usr/local/include/opencv2/ml/ml.inl.hpp
 
-/usr/local/include/ceres/gradient_problem_solver.h
-cmath
--
-string
+/usr/local/include/opencv2/objdetect.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+opencv2/objdetect/detection_based_tracker.hpp
+/usr/local/include/opencv2/opencv2/objdetect/detection_based_tracker.hpp
+
+/usr/local/include/opencv2/objdetect/detection_based_tracker.hpp
+opencv2/core.hpp
 -
 vector
 -
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/iteration_callback.h
-/usr/local/include/ceres/ceres/iteration_callback.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
-/usr/local/include/ceres/internal/autodiff.h
-stddef.h
+/usr/local/include/opencv2/objdetect/objdetect_c.h
+opencv2/core/core_c.h
+/usr/local/include/opencv2/objdetect/opencv2/core/core_c.h
+deque
+-
+vector
 -
-ceres/jet.h
-/usr/local/include/ceres/internal/ceres/jet.h
-ceres/internal/eigen.h
-/usr/local/include/ceres/internal/ceres/internal/eigen.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
-ceres/internal/variadic_evaluate.h
-/usr/local/include/ceres/internal/ceres/internal/variadic_evaluate.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
 
-/usr/local/include/ceres/internal/config.h
+/usr/local/include/opencv2/opencv.hpp
+opencv2/opencv_modules.hpp
+/usr/local/include/opencv2/opencv2/opencv_modules.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+opencv2/calib3d.hpp
+/usr/local/include/opencv2/opencv2/calib3d.hpp
+opencv2/features2d.hpp
+/usr/local/include/opencv2/opencv2/features2d.hpp
+opencv2/dnn.hpp
+/usr/local/include/opencv2/opencv2/dnn.hpp
+opencv2/flann.hpp
+/usr/local/include/opencv2/opencv2/flann.hpp
+opencv2/highgui.hpp
+/usr/local/include/opencv2/opencv2/highgui.hpp
+opencv2/imgcodecs.hpp
+/usr/local/include/opencv2/opencv2/imgcodecs.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/opencv2/imgproc.hpp
+opencv2/ml.hpp
+/usr/local/include/opencv2/opencv2/ml.hpp
+opencv2/objdetect.hpp
+/usr/local/include/opencv2/opencv2/objdetect.hpp
+opencv2/photo.hpp
+/usr/local/include/opencv2/opencv2/photo.hpp
+opencv2/shape.hpp
+/usr/local/include/opencv2/opencv2/shape.hpp
+opencv2/stitching.hpp
+/usr/local/include/opencv2/opencv2/stitching.hpp
+opencv2/superres.hpp
+/usr/local/include/opencv2/opencv2/superres.hpp
+opencv2/video.hpp
+/usr/local/include/opencv2/opencv2/video.hpp
+opencv2/videoio.hpp
+/usr/local/include/opencv2/opencv2/videoio.hpp
+opencv2/videostab.hpp
+/usr/local/include/opencv2/opencv2/videostab.hpp
+opencv2/viz.hpp
+/usr/local/include/opencv2/opencv2/viz.hpp
+opencv2/cudaarithm.hpp
+/usr/local/include/opencv2/opencv2/cudaarithm.hpp
+opencv2/cudabgsegm.hpp
+/usr/local/include/opencv2/opencv2/cudabgsegm.hpp
+opencv2/cudacodec.hpp
+/usr/local/include/opencv2/opencv2/cudacodec.hpp
+opencv2/cudafeatures2d.hpp
+/usr/local/include/opencv2/opencv2/cudafeatures2d.hpp
+opencv2/cudafilters.hpp
+/usr/local/include/opencv2/opencv2/cudafilters.hpp
+opencv2/cudaimgproc.hpp
+/usr/local/include/opencv2/opencv2/cudaimgproc.hpp
+opencv2/cudaobjdetect.hpp
+/usr/local/include/opencv2/opencv2/cudaobjdetect.hpp
+opencv2/cudaoptflow.hpp
+/usr/local/include/opencv2/opencv2/cudaoptflow.hpp
+opencv2/cudastereo.hpp
+/usr/local/include/opencv2/opencv2/cudastereo.hpp
+opencv2/cudawarping.hpp
+/usr/local/include/opencv2/opencv2/cudawarping.hpp
 
-/usr/local/include/ceres/internal/disable_warnings.h
+/usr/local/include/opencv2/opencv_modules.hpp
 
-/usr/local/include/ceres/internal/eigen.h
-Eigen/Core
-/usr/local/include/ceres/internal/Eigen/Core
+/usr/local/include/opencv2/photo.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/opencv2/imgproc.hpp
 
-/usr/local/include/ceres/internal/fixed_array.h
-cstddef
--
-Eigen/Core
-/usr/local/include/ceres/internal/Eigen/Core
-ceres/internal/macros.h
-/usr/local/include/ceres/internal/ceres/internal/macros.h
-ceres/internal/manual_constructor.h
-/usr/local/include/ceres/internal/ceres/internal/manual_constructor.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
+/usr/local/include/opencv2/photo/photo_c.h
+opencv2/core/core_c.h
+/usr/local/include/opencv2/photo/opencv2/core/core_c.h
 
-/usr/local/include/ceres/internal/manual_constructor.h
-new
--
+/usr/local/include/opencv2/shape.hpp
+opencv2/shape/emdL1.hpp
+/usr/local/include/opencv2/opencv2/shape/emdL1.hpp
+opencv2/shape/shape_transformer.hpp
+/usr/local/include/opencv2/opencv2/shape/shape_transformer.hpp
+opencv2/shape/hist_cost.hpp
+/usr/local/include/opencv2/opencv2/shape/hist_cost.hpp
+opencv2/shape/shape_distance.hpp
+/usr/local/include/opencv2/opencv2/shape/shape_distance.hpp
 
-/usr/local/include/ceres/internal/numeric_diff.h
-cstring
+/usr/local/include/opencv2/shape/emdL1.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/shape/opencv2/core.hpp
+
+/usr/local/include/opencv2/shape/hist_cost.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/shape/opencv2/imgproc.hpp
+
+/usr/local/include/opencv2/shape/shape_distance.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/shape/opencv2/core.hpp
+opencv2/shape/hist_cost.hpp
+/usr/local/include/opencv2/shape/opencv2/shape/hist_cost.hpp
+opencv2/shape/shape_transformer.hpp
+/usr/local/include/opencv2/shape/opencv2/shape/shape_transformer.hpp
+
+/usr/local/include/opencv2/shape/shape_transformer.hpp
+vector
 -
-Eigen/Dense
-/usr/local/include/ceres/internal/Eigen/Dense
-Eigen/StdVector
-/usr/local/include/ceres/internal/Eigen/StdVector
-ceres/cost_function.h
-/usr/local/include/ceres/internal/ceres/cost_function.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/internal/ceres/internal/scoped_ptr.h
-ceres/internal/variadic_evaluate.h
-/usr/local/include/ceres/internal/ceres/internal/variadic_evaluate.h
-ceres/numeric_diff_options.h
-/usr/local/include/ceres/internal/ceres/numeric_diff_options.h
-ceres/types.h
-/usr/local/include/ceres/internal/ceres/types.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
+opencv2/core.hpp
+/usr/local/include/opencv2/shape/opencv2/core.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/shape/opencv2/imgproc.hpp
 
-/usr/local/include/ceres/internal/port.h
-cstddef
+/usr/local/include/opencv2/stitching.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+opencv2/features2d.hpp
+/usr/local/include/opencv2/opencv2/features2d.hpp
+opencv2/stitching/warpers.hpp
+/usr/local/include/opencv2/opencv2/stitching/warpers.hpp
+opencv2/stitching/detail/matchers.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/matchers.hpp
+opencv2/stitching/detail/motion_estimators.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/motion_estimators.hpp
+opencv2/stitching/detail/exposure_compensate.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/exposure_compensate.hpp
+opencv2/stitching/detail/seam_finders.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/seam_finders.hpp
+opencv2/stitching/detail/blenders.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/blenders.hpp
+opencv2/stitching/detail/camera.hpp
+/usr/local/include/opencv2/opencv2/stitching/detail/camera.hpp
+
+/usr/local/include/opencv2/stitching/detail/blenders.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+opencv2/core/cuda.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core/cuda.hpp
+
+/usr/local/include/opencv2/stitching/detail/camera.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+
+/usr/local/include/opencv2/stitching/detail/exposure_compensate.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+
+/usr/local/include/opencv2/stitching/detail/matchers.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+opencv2/features2d.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/features2d.hpp
+opencv2/opencv_modules.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
+opencv2/xfeatures2d/cuda.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/xfeatures2d/cuda.hpp
+
+/usr/local/include/opencv2/stitching/detail/motion_estimators.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+matchers.hpp
+/usr/local/include/opencv2/stitching/detail/matchers.hpp
+util.hpp
+/usr/local/include/opencv2/stitching/detail/util.hpp
+camera.hpp
+/usr/local/include/opencv2/stitching/detail/camera.hpp
+
+/usr/local/include/opencv2/stitching/detail/seam_finders.hpp
+set
 -
-ceres/internal/config.h
-/usr/local/include/ceres/internal/ceres/internal/config.h
-tr1/memory
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+opencv2/opencv_modules.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
+
+/usr/local/include/opencv2/stitching/detail/util.hpp
+list
 -
-memory
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+util_inl.hpp
+/usr/local/include/opencv2/stitching/detail/util_inl.hpp
+
+/usr/local/include/opencv2/stitching/detail/util_inl.hpp
+queue
 -
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+util.hpp
+/usr/local/include/opencv2/stitching/detail/util.hpp
 
-/usr/local/include/ceres/internal/reenable_warnings.h
+/usr/local/include/opencv2/stitching/detail/warpers.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+opencv2/core/cuda.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core/cuda.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/imgproc.hpp
+opencv2/opencv_modules.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/opencv_modules.hpp
+warpers_inl.hpp
+/usr/local/include/opencv2/stitching/detail/warpers_inl.hpp
 
-/usr/local/include/ceres/internal/variadic_evaluate.h
-stddef.h
+/usr/local/include/opencv2/stitching/detail/warpers_inl.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/stitching/detail/opencv2/core.hpp
+warpers.hpp
+/usr/local/include/opencv2/stitching/detail/warpers.hpp
+limits
 -
-ceres/jet.h
-/usr/local/include/ceres/internal/ceres/jet.h
-ceres/types.h
-/usr/local/include/ceres/internal/ceres/types.h
-ceres/internal/eigen.h
-/usr/local/include/ceres/internal/ceres/internal/eigen.h
-ceres/internal/fixed_array.h
-/usr/local/include/ceres/internal/ceres/internal/fixed_array.h
-glog/logging.h
-/usr/local/include/ceres/internal/glog/logging.h
 
-/usr/local/include/ceres/iteration_callback.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
+/usr/local/include/opencv2/stitching/warpers.hpp
+opencv2/stitching/detail/warpers.hpp
+/usr/local/include/opencv2/stitching/opencv2/stitching/detail/warpers.hpp
 
-/usr/local/include/ceres/jet.h
-cmath
+/usr/local/include/opencv2/superres.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+opencv2/superres/optical_flow.hpp
+/usr/local/include/opencv2/opencv2/superres/optical_flow.hpp
+
+/usr/local/include/opencv2/superres/optical_flow.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/superres/opencv2/core.hpp
+
+/usr/local/include/opencv2/tracking.hpp
+opencv2/core/cvdef.h
+/usr/local/include/opencv2/opencv2/core/cvdef.h
+opencv2/tracking/tracker.hpp
 -
-iosfwd
+opencv2/tracking/tldDataset.hpp
 -
+
+/usr/local/include/opencv2/tracking/feature.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/tracking/opencv2/core.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/tracking/opencv2/imgproc.hpp
 iostream
 -
-limits
--
 string
 -
-Eigen/Core
-/usr/local/include/ceres/Eigen/Core
-ceres/fpclassify.h
-/usr/local/include/ceres/ceres/fpclassify.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
+time.h
+-
 
-/usr/local/include/ceres/local_parameterization.h
-vector
+/usr/local/include/opencv2/tracking/onlineBoosting.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/tracking/opencv2/core.hpp
+
+/usr/local/include/opencv2/tracking/onlineMIL.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/tracking/opencv2/core.hpp
+limits
 -
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
 
-/usr/local/include/ceres/loss_function.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
+/usr/local/include/opencv2/tracking/tldDataset.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/tracking/opencv2/core.hpp
 
-/usr/local/include/ceres/numeric_diff_cost_function.h
-Eigen/Dense
-/usr/local/include/ceres/Eigen/Dense
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
-ceres/internal/numeric_diff.h
-/usr/local/include/ceres/ceres/internal/numeric_diff.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/numeric_diff_options.h
-/usr/local/include/ceres/ceres/numeric_diff_options.h
-ceres/sized_cost_function.h
-/usr/local/include/ceres/ceres/sized_cost_function.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
+/usr/local/include/opencv2/tracking/tracker.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/tracking/opencv2/core.hpp
+opencv2/imgproc/types_c.h
+/usr/local/include/opencv2/tracking/opencv2/imgproc/types_c.h
+feature.hpp
+/usr/local/include/opencv2/tracking/feature.hpp
+onlineMIL.hpp
+/usr/local/include/opencv2/tracking/onlineMIL.hpp
+onlineBoosting.hpp
+/usr/local/include/opencv2/tracking/onlineBoosting.hpp
 
-/usr/local/include/ceres/numeric_diff_options.h
+/usr/local/include/opencv2/video.hpp
+opencv2/video/tracking.hpp
+/usr/local/include/opencv2/opencv2/video/tracking.hpp
+opencv2/video/background_segm.hpp
+/usr/local/include/opencv2/opencv2/video/background_segm.hpp
 
-/usr/local/include/ceres/ordered_groups.h
-map
+/usr/local/include/opencv2/video/background_segm.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/video/opencv2/core.hpp
+
+/usr/local/include/opencv2/video/tracking.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/video/opencv2/core.hpp
+opencv2/imgproc.hpp
+/usr/local/include/opencv2/video/opencv2/imgproc.hpp
+
+/usr/local/include/opencv2/video/tracking_c.h
+opencv2/imgproc/types_c.h
+/usr/local/include/opencv2/video/opencv2/imgproc/types_c.h
+
+/usr/local/include/opencv2/videoio.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/opencv2/core.hpp
+
+/usr/local/include/opencv2/videoio/videoio_c.h
+opencv2/core/core_c.h
+/usr/local/include/opencv2/videoio/opencv2/core/core_c.h
+
+/usr/local/include/opencv2/videostab.hpp
+opencv2/videostab/stabilizer.hpp
+/usr/local/include/opencv2/opencv2/videostab/stabilizer.hpp
+opencv2/videostab/ring_buffer.hpp
+/usr/local/include/opencv2/opencv2/videostab/ring_buffer.hpp
+
+/usr/local/include/opencv2/videostab/deblurring.hpp
+vector
 -
-set
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
+
+/usr/local/include/opencv2/videostab/fast_marching.hpp
+cmath
 -
-vector
+queue
 -
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
+algorithm
+-
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
+fast_marching_inl.hpp
+/usr/local/include/opencv2/videostab/fast_marching_inl.hpp
 
-/usr/local/include/ceres/problem.h
-cstddef
+/usr/local/include/opencv2/videostab/fast_marching_inl.hpp
+opencv2/videostab/fast_marching.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/fast_marching.hpp
+
+/usr/local/include/opencv2/videostab/frame_source.hpp
+vector
 -
-map
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
+
+/usr/local/include/opencv2/videostab/global_motion.hpp
+vector
 -
-set
+fstream
 -
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
+opencv2/features2d.hpp
+/usr/local/include/opencv2/videostab/opencv2/features2d.hpp
+opencv2/opencv_modules.hpp
+/usr/local/include/opencv2/videostab/opencv2/opencv_modules.hpp
+opencv2/videostab/optical_flow.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/optical_flow.hpp
+opencv2/videostab/motion_core.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/motion_core.hpp
+opencv2/videostab/outlier_rejection.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/outlier_rejection.hpp
+opencv2/cudaimgproc.hpp
+/usr/local/include/opencv2/videostab/opencv2/cudaimgproc.hpp
+
+/usr/local/include/opencv2/videostab/inpainting.hpp
 vector
 -
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
-ceres/internal/macros.h
-/usr/local/include/ceres/ceres/internal/macros.h
-ceres/internal/port.h
-/usr/local/include/ceres/ceres/internal/port.h
-ceres/internal/scoped_ptr.h
-/usr/local/include/ceres/ceres/internal/scoped_ptr.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/internal/disable_warnings.h
-/usr/local/include/ceres/ceres/internal/disable_warnings.h
-ceres/internal/reenable_warnings.h
-/usr/local/include/ceres/ceres/internal/reenable_warnings.h
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
+opencv2/videostab/optical_flow.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/optical_flow.hpp
+opencv2/videostab/fast_marching.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/fast_marching.hpp
+opencv2/videostab/global_motion.hpp
+/usr/local/include/opencv2/videostab/opencv2/videostab/global_motion.hpp
+opencv2/photo.hpp
+/usr/local/include/opencv2/videostab/opencv2/photo.hpp
 
-/usr/local/include/ceres/sized_cost_function.h
-ceres/types.h
-/usr/local/include/ceres/ceres/types.h
-ceres/cost_function.h
-/usr/local/include/ceres/ceres/cost_function.h
-glog/logging.h
-/usr/local/include/ceres/glog/logging.h
+/usr/local/include/opencv2/videostab/log.hpp
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
 
-/usr/local/include/ceres/solver.h
+/usr/local/include/opencv2/videostab/motion_core.hpp
 cmath
 -
-string
+opencv2/core.hpp
+/usr/local/include/opencv2/videostab/opencv2/core.hpp
+
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@@ -6,5 +6,5 @@ CXX_FLAGS = -std=c++11 -fopenmp   -std=gnu++11
 
 CXX_DEFINES = -DGFLAGS_IS_A_DLL=0 -DGLFW_DLL
 
-CXX_INCLUDES = -isystem /usr/include/eigen3 -I/usr/include/OpenEXR -isystem /home/thomas/Programs/opencv/build -isystem /home/thomas/Programs/opencv/include -isystem /home/thomas/Programs/opencv/include/opencv -isystem /home/thomas/Programs/opencv/modules/core/include -isystem /home/thomas/Programs/opencv/modules/flann/include -isystem /home/thomas/Programs/opencv/modules/imgproc/include -isystem /home/thomas/Programs/opencv/modules/ml/include -isystem /home/thomas/Programs/opencv/modules/objdetect/include -isystem /home/thomas/Programs/opencv_contrib/modules/phase_unwrapping/include -isystem /home/thomas/Programs/opencv/modules/photo/include -isystem /home/thomas/Programs/opencv_contrib/modules/plot/include -isystem /home/thomas/Programs/opencv_contrib/modules/reg/include -isystem /home/thomas/Programs/opencv_contrib/modules/surface_matching/include -isystem /home/thomas/Programs/opencv_contrib/modules/xphoto/include -isystem /home/thomas/Programs/opencv/modules/dnn/include -isystem /home/thomas/Programs/opencv_contrib/modules/freetype/include -isystem /home/thomas/Programs/opencv_contrib/modules/fuzzy/include -isystem /home/thomas/Programs/opencv_contrib/modules/hfs/include -isystem /home/thomas/Programs/opencv_contrib/modules/img_hash/include -isystem /home/thomas/Programs/opencv/modules/imgcodecs/include -isystem /home/thomas/Programs/opencv/modules/videoio/include -isystem /home/thomas/Programs/opencv_contrib/modules/xobjdetect/include -isystem /home/thomas/Programs/opencv/modules/highgui/include -isystem /home/thomas/Programs/opencv/modules/ts/include -isystem /home/thomas/Programs/opencv_contrib/modules/bioinspired/include -isystem /home/thomas/Programs/opencv_contrib/modules/dnn_objdetect/include -isystem /home/thomas/Programs/opencv_contrib/modules/dpm/include -isystem /home/thomas/Programs/opencv/modules/features2d/include -isystem /home/thomas/Programs/opencv_contrib/modules/line_descriptor/include -isystem /home/thomas/Programs/opencv_contrib/modules/saliency/include -isystem /home/thomas/Programs/opencv_contrib/modules/text/include -isystem /home/thomas/Programs/opencv/modules/calib3d/include -isystem /home/thomas/Programs/opencv_contrib/modules/ccalib/include -isystem /home/thomas/Programs/opencv_contrib/modules/datasets/include -isystem /home/thomas/Programs/opencv_contrib/modules/face/include -isystem /home/thomas/Programs/opencv_contrib/modules/rgbd/include -isystem /home/thomas/Programs/opencv/modules/shape/include -isystem /home/thomas/Programs/opencv_contrib/modules/stereo/include -isystem /home/thomas/Programs/opencv_contrib/modules/structured_light/include -isystem /home/thomas/Programs/opencv/modules/video/include -isystem /home/thomas/Programs/opencv/modules/videostab/include -isystem /home/thomas/Programs/opencv_contrib/modules/xfeatures2d/include -isystem /home/thomas/Programs/opencv_contrib/modules/ximgproc/include -isystem /home/thomas/Programs/opencv_contrib/modules/aruco/include -isystem /home/thomas/Programs/opencv_contrib/modules/bgsegm/include -isystem /home/thomas/Programs/opencv_contrib/modules/optflow/include -isystem /home/thomas/Programs/opencv_contrib/modules/sfm/include -isystem /home/thomas/Programs/opencv/modules/stitching/include -isystem /home/thomas/Programs/opencv/modules/superres/include -isystem /home/thomas/Programs/opencv_contrib/modules/tracking/include -isystem /usr/local/include 
+CXX_INCLUDES = -isystem /usr/include/eigen3 -I/usr/include/OpenEXR -isystem /usr/local/include -isystem /usr/local/include/opencv 
 
diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/link.txt b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/link.txt
index f50bc555ee6bccf2aa50cf2e2225bf2039829aa0..e5071ef3d1ef58c387a1e7be37ca3f1f783655c7 100644
--- a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/link.txt
+++ b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/link.txt
@@ -1 +1 @@
-/usr/bin/c++  -std=c++11 -fopenmp  -rdynamic CMakeFiles/specular_estimation.dir/src/objloader.cpp.o CMakeFiles/specular_estimation.dir/src/shader.cpp.o CMakeFiles/specular_estimation.dir/src/texture.cpp.o CMakeFiles/specular_estimation.dir/src/vboindexer.cpp.o CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o  -o ../../bin/specular_estimation -Wl,-rpath,/home/thomas/Programs/opencv/build/lib -lGLEW /home/thomas/Programs/opencv/build/lib/libopencv_video.so.4.0.0 /home/thomas/Programs/opencv/build/lib/libopencv_aruco.so.4.0.0 /usr/local/lib/libceres.a -lGL -lGLU -lglut -lXi -lGL -lGLU /usr/lib/x86_64-linux-gnu/libglfw.so.3.2 -lglut -lXi /home/thomas/Programs/opencv/build/lib/libopencv_calib3d.so.4.0.0 /home/thomas/Programs/opencv/build/lib/libopencv_features2d.so.4.0.0 /home/thomas/Programs/opencv/build/lib/libopencv_highgui.so.4.0.0 /home/thomas/Programs/opencv/build/lib/libopencv_videoio.so.4.0.0 /home/thomas/Programs/opencv/build/lib/libopencv_imgcodecs.so.4.0.0 /home/thomas/Programs/opencv/build/lib/libopencv_imgproc.so.4.0.0 /home/thomas/Programs/opencv/build/lib/libopencv_flann.so.4.0.0 /home/thomas/Programs/opencv/build/lib/libopencv_core.so.4.0.0 -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lpthread -lspqr -ltbbmalloc -ltbb -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse 
+/usr/bin/c++  -std=c++11 -fopenmp  -rdynamic CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.o CMakeFiles/specular_estimation.dir/src/objloader.cpp.o CMakeFiles/specular_estimation.dir/src/shader.cpp.o CMakeFiles/specular_estimation.dir/src/texture.cpp.o CMakeFiles/specular_estimation.dir/src/vboindexer.cpp.o CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o  -o ../../bin/specular_estimation -Wl,-rpath,/usr/local/lib -lGLEW /usr/local/lib/libopencv_video.so.4.0.0 /usr/local/lib/libopencv_aruco.so.4.0.0 /usr/local/lib/libceres.a -lGL -lGLU -lglut -lXi -lGL -lGLU /usr/lib/x86_64-linux-gnu/libglfw.so.3.2 -lglut -lXi /usr/local/lib/libopencv_calib3d.so.4.0.0 /usr/local/lib/libopencv_features2d.so.4.0.0 /usr/local/lib/libopencv_highgui.so.4.0.0 /usr/local/lib/libopencv_videoio.so.4.0.0 /usr/local/lib/libopencv_imgcodecs.so.4.0.0 /usr/local/lib/libopencv_imgproc.so.4.0.0 /usr/local/lib/libopencv_flann.so.4.0.0 /usr/local/lib/libopencv_core.so.4.0.0 -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lpthread -lspqr -ltbbmalloc -ltbb -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse 
diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/progress.make b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/progress.make
index daba7fae8329f94f9035390e28baa013e2a5f555..5b293683d957bc1678f81982ea4512d5ee9b06ad 100644
--- a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/progress.make
+++ b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/progress.make
@@ -4,4 +4,6 @@ CMAKE_PROGRESS_3 = 3
 CMAKE_PROGRESS_4 = 4
 CMAKE_PROGRESS_5 = 5
 CMAKE_PROGRESS_6 = 6
+CMAKE_PROGRESS_7 = 7
+CMAKE_PROGRESS_8 = 8
 
diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.o b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.o
new file mode 100644
index 0000000000000000000000000000000000000000..934ea7044a622c77bd6a5ba3731d6e3325bf59e6
Binary files /dev/null and b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.o differ
diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o
new file mode 100644
index 0000000000000000000000000000000000000000..c8c898f9cf5cd3e18d65a6a481b12844b3994167
Binary files /dev/null and b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o differ
diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o
index 8f2889a7190b1ae6eed25dee89aa324378274e21..431cadc3c2a6a9c64137ba4646f5f2c1b4be3fca 100644
Binary files a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o and b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o differ
diff --git a/apps/specular_estimation/Makefile b/apps/specular_estimation/Makefile
index 85ef6de28d9276c30cf8260749feef2d5587b446..50d1619ad771ec8842236a5b06fa8edeefabc37e 100644
--- a/apps/specular_estimation/Makefile
+++ b/apps/specular_estimation/Makefile
@@ -125,6 +125,60 @@ specular_estimation/fast:
 	cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/build
 .PHONY : specular_estimation/fast
 
+src/PFMAccess.o: src/PFMAccess.cpp.o
+
+.PHONY : src/PFMAccess.o
+
+# target to build an object file
+src/PFMAccess.cpp.o:
+	cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.o
+.PHONY : src/PFMAccess.cpp.o
+
+src/PFMAccess.i: src/PFMAccess.cpp.i
+
+.PHONY : src/PFMAccess.i
+
+# target to preprocess a source file
+src/PFMAccess.cpp.i:
+	cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.i
+.PHONY : src/PFMAccess.cpp.i
+
+src/PFMAccess.s: src/PFMAccess.cpp.s
+
+.PHONY : src/PFMAccess.s
+
+# target to generate assembly for a file
+src/PFMAccess.cpp.s:
+	cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PFMAccess.cpp.s
+.PHONY : src/PFMAccess.cpp.s
+
+src/PhotometricStereo.o: src/PhotometricStereo.cc.o
+
+.PHONY : src/PhotometricStereo.o
+
+# target to build an object file
+src/PhotometricStereo.cc.o:
+	cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o
+.PHONY : src/PhotometricStereo.cc.o
+
+src/PhotometricStereo.i: src/PhotometricStereo.cc.i
+
+.PHONY : src/PhotometricStereo.i
+
+# target to preprocess a source file
+src/PhotometricStereo.cc.i:
+	cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.i
+.PHONY : src/PhotometricStereo.cc.i
+
+src/PhotometricStereo.s: src/PhotometricStereo.cc.s
+
+.PHONY : src/PhotometricStereo.s
+
+# target to generate assembly for a file
+src/PhotometricStereo.cc.s:
+	cd /home/thomas/Documents/Minimisation && $(MAKE) -f apps/specular_estimation/CMakeFiles/specular_estimation.dir/build.make apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.s
+.PHONY : src/PhotometricStereo.cc.s
+
 src/objloader.o: src/objloader.cpp.o
 
 .PHONY : src/objloader.o
@@ -269,6 +323,12 @@ help:
 	@echo "... rebuild_cache"
 	@echo "... specular_estimation"
 	@echo "... edit_cache"
+	@echo "... src/PFMAccess.o"
+	@echo "... src/PFMAccess.i"
+	@echo "... src/PFMAccess.s"
+	@echo "... src/PhotometricStereo.o"
+	@echo "... src/PhotometricStereo.i"
+	@echo "... src/PhotometricStereo.s"
 	@echo "... src/objloader.o"
 	@echo "... src/objloader.i"
 	@echo "... src/objloader.s"
diff --git a/apps/specular_estimation/src/Ceres.h b/apps/specular_estimation/src/Ceres.h
index b46a8b9edcfab779ca63ac994d2485d1576d9d57..5f0dde9f2aceb0a692f49e120cccc4dbc88e966d 100644
--- a/apps/specular_estimation/src/Ceres.h
+++ b/apps/specular_estimation/src/Ceres.h
@@ -84,27 +84,31 @@ class MyScalarCostFunctor {
 
 void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double residualValue, cv::Vec3d residual, std::vector<cv::Vec3d> residuals, double totalResidual, cv::Mat residualImage, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, int numberOfLights, GLuint SpecularIntensityID, GLuint SpecularPowerID, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, glm::mat4 ModelMatrix, glm::mat4 MVP, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, std::vector<glm::vec3> lightInvDirs, std::vector<cv::Mat> textureImages) {
 	
-  // The variable to solve for with its initial value. It will be mutated in place by the solver.
-  const double initialSpecularIntensity = SpecularIntensity;
-  const double initialSpecularPower     = SpecularPower;
+	// The variable to solve for with its initial value. It will be mutated in place by the solver.
+	const double initialSpecularIntensity = SpecularIntensity;
+	const double initialSpecularPower     = SpecularPower;
 
-  // Build the problem.
-  ceres::Problem problem;
+	// Build the problem.
+	ceres::Problem problem;
 
-  // Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
-  // AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
-  ceres::CostFunction* cost_function = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 1, 1>(new MyScalarCostFunctor(residualValue, residual, residuals, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages));
-  problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
+	// Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
+	// AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
+	ceres::CostFunction* cost_function = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 1, 1>(new MyScalarCostFunctor(residualValue, residual, residuals, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages));
+	problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
 
-  // Run the solver!
-  Solver::Options options;
-  options.minimizer_progress_to_stdout = true;
-  Solver::Summary summary;
-  Solve(options, &problem, &summary);
+	problem.SetParameterLowerBound(&SpecularIntensity, 0, 0);
+	problem.SetParameterUpperBound(&SpecularIntensity, 0, 1);
+	problem.SetParameterLowerBound(&SpecularPower, 0, 0);
 
-  std::cout << summary.BriefReport() << "\n";
-  std::cout << "Specular Intensity: " << initialSpecularIntensity << " -> " << SpecularIntensity << "\n";
-  std::cout << "Specular Power: "     << initialSpecularPower     << " -> " << SpecularPower     << "\n";
+	// Run the solver!
+	Solver::Options options;
+	options.minimizer_progress_to_stdout = true;
+	Solver::Summary summary;
+	Solve(options, &problem, &summary);
+
+	std::cout << summary.BriefReport() << "\n";
+	std::cout << "Specular Intensity: " << initialSpecularIntensity << " -> " << SpecularIntensity << "\n";
+	std::cout << "Specular Power: "     << initialSpecularPower     << " -> " << SpecularPower     << "\n";
 }
 
 #endif
diff --git a/apps/specular_estimation/src/PFMAccess.cpp b/apps/specular_estimation/src/PFMAccess.cpp
new file mode 100755
index 0000000000000000000000000000000000000000..fdade4108a0078309fa250133210c5f3277e3427
--- /dev/null
+++ b/apps/specular_estimation/src/PFMAccess.cpp
@@ -0,0 +1,277 @@
+//#include "StdAfx.h"
+#include "PFMAccess.h"
+#include "string.h"
+
+
+CPFMAccess::CPFMAccess(void)
+{
+	m_data = NULL;
+	m_width = -1;
+	m_height = -1;
+}
+
+CPFMAccess::~CPFMAccess(void)
+{
+	if(m_data!=NULL)
+		delete []m_data;
+}
+
+
+bool CPFMAccess::LoadFromFile(char* fn)
+{
+	FILE * fp = fopen(fn,"rb");
+	if(fp == NULL)
+		return false;
+	int dataStartPos = ReadPFMHead(fp, &m_width, &m_height);
+	if(dataStartPos == 0)
+	{
+		fclose(fp);
+		return false;
+	}
+	fseek(fp,dataStartPos,SEEK_SET);
+
+	if(m_data != NULL)
+	{
+		delete []m_data;
+		m_data = NULL;
+	}
+	m_data = new float[3*m_width*m_height];
+	if(fread(m_data,sizeof(float),3*m_width*m_height,fp) != 3*m_width*m_height)
+	{
+		delete []m_data;
+		m_data =NULL;
+		fclose(fp);
+		return false;
+	}
+	
+	fclose(fp);
+	return true;
+}
+
+bool CPFMAccess::SaveToFile(char* fn)
+{
+	if(m_data == NULL)
+		return false;
+
+	FILE * fp = fopen(fn,"wb");
+	if(fp == NULL)
+		return false;
+
+	//fprintf(fp ,"PF\x0a%d %d\x0a-1.000000\x0a",m_width, m_height);
+	fprintf(fp ,"PF\x0a%d\x0a%d\x0a-1.000000\x0a",m_width, m_height); // by zlzhou
+
+	if(fwrite(m_data, sizeof(float), 3*m_width*m_height,fp) != 3*m_width*m_height)
+	{
+		fclose(fp);
+		return false;
+	}
+
+	fclose(fp);
+	return true;
+}
+
+
+int	CPFMAccess::ReadPFMHead(FILE * pFile, int* width,int* height)
+{
+	char Header[513];
+	fseek(pFile, 0, SEEK_SET);
+	int	len = fread(Header, sizeof(char), 512, pFile);
+	Header[len] = 0;
+	
+	if(len > 3)
+	{
+		Header[len-1] = 0;
+		if( (Header[0] == 'P' && Header[1] == 'F') || 
+			(Header[0] == 'p' && Header[1] == 'f') )
+		{
+			char* p = strchr(Header,0xa);
+			if(p)
+			{
+
+				p++;
+
+
+				//for the read of pfm file generated from photoshop
+				int cx, cy;
+				char* end;
+				end = strchr(p,0xa);
+				end = &(end[1]);
+				end = strchr(end,0xa);
+				end[0] = 0;
+				if(sscanf(p,"%d %d", &cx,&cy)==2)
+				{
+					*width	= cx;
+					*height	= cy;
+					p = &end[1];
+					end = strchr(p,0xa);
+					if(end)
+					{
+						return (end-Header)+1;
+					}
+
+				}
+
+
+				//for read of other pfm files
+// 				end = strchr(p,0xa);
+// 				if(end)
+// 				{
+// 					end[0] = 0;
+// 
+// 					int	cx,cy;
+// 					if(sscanf(p,"%d %d",&cx,&cy) == 2)
+// 					{
+// 						*width = cx;
+// 						*height = cy;
+// 						p = &end[1];
+// 						end = strchr(p,0xa);
+// 						if(end)
+// 						{
+// 							return (end-Header)+1;
+// 						}
+// 					}
+// 				} //if (end)
+
+
+			} //if(p)
+		} //if(Header)
+	}// if (len)
+	return 0;
+}
+
+bool CPFMAccess::SetSize(int width,int height)
+{
+	if(m_width*m_height == width*height)
+		return true;
+	
+	if(m_data !=NULL)
+		delete m_data;
+	m_width = width;
+	m_height = height;
+	m_data = new float[3*width*height];
+	for(int i=0; i<m_width; i++)
+	for(int j=0; j<m_height; j++)
+	{
+		m_data[3*(i*m_height+j)+0]	= 0;
+		m_data[3*(i*m_height+j)+1]	= 0;
+		m_data[3*(i*m_height+j)+2]	= 0;
+	}
+	return true;
+}
+
+bool CPFMAccess::SetData(float*data)
+{
+	if(m_width ==-1||m_height ==-1)
+		return false;
+	memcpy(m_data,data,3*sizeof(float)*m_height*m_width);
+	return true;
+}
+
+void CPFMAccess::SetPixelValue(int x,int y,const float r, const float g, const float b)
+{
+	m_data[0+3*x+3*y*m_width] = r;
+	m_data[1+3*x+3*y*m_width] = g;
+	m_data[2+3*x+3*y*m_width] = b;
+}
+
+void CPFMAccess::SetPixelValue(int x,int y,const float*value)
+{
+	for(int i=0;i<3;i++)
+		m_data[i+3*x+3*y*m_width] = value[i];
+}
+
+void CPFMAccess::SetPixelRValue(int x, int y, const float r)
+{
+	m_data[3*x+3*y*m_width] = r;
+}
+
+void CPFMAccess::SetPixelGValue(int x, int y, const float g)
+{
+	m_data[1+3*x+3*y*m_width] = g;
+}
+
+
+void CPFMAccess::SetPixelBValue(int x, int y, const float b)
+{
+	m_data[2+3*x+3*y*m_width] = b;
+}
+
+
+void CPFMAccess::SetPixelComponentValue(int x, int y, const int component_id, const float v)
+{
+	if(component_id<0 || component_id>2)
+		return;
+	m_data[component_id+3*x+3*y*m_width] = v;
+}
+
+
+void CPFMAccess::GetPixelValue(int x,int y,float *value)
+{
+	if(x<0||x>=m_width||y<0||y>=m_height)
+	{
+		value[0] = value[1] = value[2] =0.0;
+		return;
+	}
+	for(int i=0;i<3;i++)
+		value[i] = m_data[i+3*x+3*y*m_width];
+}
+
+void CPFMAccess::GetPixelValue(int x, int y, float* r, float* g, float* b)
+{
+	if(x<0||x>=m_width||y<0||y>=m_height)
+	{
+		*r = *g = *b =0.0;
+		return;
+	}
+	*r = m_data[0+3*x+3*y*m_width];
+	*g = m_data[1+3*x+3*y*m_width];
+	*b = m_data[2+3*x+3*y*m_width];
+}
+
+void CPFMAccess::GetPixelRValue(int x, int y, float *value)
+{
+	if(x<0||x>=m_width||y<0||y>=m_height)
+	{
+		*value	= 0.0;
+		return;
+	}
+	*value	= m_data[0+3*x+3*y*m_width];
+}
+
+void CPFMAccess::GetPixelGValue(int x, int y, float *value)
+{
+	if(x<0||x>=m_width||y<0||y>=m_height)
+	{
+		*value	= 0.0;
+		return;
+	}
+	*value	= m_data[1+3*x+3*y*m_width];
+}
+
+void CPFMAccess::GetPixelBValue(int x, int y, float *value)
+{
+	if(x<0||x>=m_width||y<0||y>=m_height)
+	{
+		*value	= 0.0;
+		return;
+	}
+	*value	= m_data[2+3*x+3*y*m_width];
+}
+
+void CPFMAccess::GetPixelComponentValue(int x, int y, int component_id, float *value)
+{
+	if(x<0||x>=m_width||y<0||y>=m_height)
+	{
+		*value	= 0.0;
+		return;
+	}
+	if(component_id<0 || component_id>2)
+	{
+		*value = 0.0;
+		return;
+	}
+	*value	= m_data[component_id+3*x+3*y*m_width];
+}
+
+
+
diff --git a/apps/specular_estimation/src/PFMAccess.h b/apps/specular_estimation/src/PFMAccess.h
new file mode 100755
index 0000000000000000000000000000000000000000..26f848f5f1005a0617944e078f5dccf318d95193
--- /dev/null
+++ b/apps/specular_estimation/src/PFMAccess.h
@@ -0,0 +1,43 @@
+#pragma once
+#include "stdio.h"
+#include "stdlib.h"
+
+
+class CPFMAccess
+{
+public:
+	CPFMAccess(void);
+	CPFMAccess(const CPFMAccess&) = delete;
+	CPFMAccess operator = (const CPFMAccess&) = delete;
+	~CPFMAccess(void);
+
+	bool LoadFromFile(char* fn);
+	bool SaveToFile(char* fn);
+	float* GetData(){return m_data;}
+	int GetWidth(){return m_width;}
+	int GetHeight(){return m_height;}
+	bool SetSize(int width,int height);
+	bool SetData(float* data);
+	
+	void SetPixelValue(int x,int y,const float * value);
+	void SetPixelValue(int x,int y,const float r, const float g, const float b);
+	void SetPixelBValue(int x, int y, const float b);
+	void SetPixelGValue(int x, int y, const float g);
+	void SetPixelRValue(int x, int y, const float r);
+	void SetPixelComponentValue(int x, int y, const int component_id, const float v);
+
+	void GetPixelValue(int x, int y, float* r, float* g, float* b);
+	void GetPixelValue(int x,int y,float *value);
+	void GetPixelValue(float x,float y,float *value);
+	void GetPixelRValue(int x, int y, float* value);
+	void GetPixelGValue(int x, int y, float* value);
+	void GetPixelBValue(int x, int y, float* value);
+	void GetPixelComponentValue(int x, int y, int component_id, float* value);
+
+    int ReadPFMHead(FILE * pFile, int* width,int* height);
+public:
+	float * m_data;
+	int m_width;
+	int m_height;
+
+};
diff --git a/apps/specular_estimation/src/PhotometricStereo.cc b/apps/specular_estimation/src/PhotometricStereo.cc
new file mode 100755
index 0000000000000000000000000000000000000000..dad8621c7fbcb3bf5057183630bf2345257b4860
--- /dev/null
+++ b/apps/specular_estimation/src/PhotometricStereo.cc
@@ -0,0 +1,873 @@
+#include "PhotometricStereo.h"
+
+#include <cmath>
+#include <cstdlib>
+#include <iostream>
+#include <climits>
+#include <cstdio>
+#include <Eigen/SparseCholesky>
+
+namespace phoSte {
+
+namespace {
+// use iniRSize points to get the initial r
+const int iniRSize = 10;
+// use 20 points to get the circle information
+const int adjustSize = 20;
+// iterate iterTimes to get the circle
+const int iterTime = 10;
+// threshold of stopping the iteration
+const double normThresh = 0.01;
+
+phoSte::circle getCircle(std::vector<cv::Point>& contour) {
+    double circle_x = 0;
+    double circle_y = 0;
+    double r = 0;
+    int pointSize = contour.size();
+    if(pointSize < iniRSize) {
+        std::cout << "the counter is error" << std::endl;
+        exit(-1);
+    }
+    for(int i = 0; i < pointSize; i++) {
+        circle_x += contour[i].x;
+        circle_y += contour[i].y;
+    }
+    circle_x /= pointSize;
+    circle_y /= pointSize;
+    for(int i = 0; i < iniRSize; i++) {
+        r += sqrt((contour[i].x - circle_x) * (contour[i].x - circle_x) +
+                  (contour[i].y - circle_y) * (contour[i].y - circle_y));
+    }
+    r /= iniRSize;
+
+    // use adjustment calculation to get the circle
+    if(pointSize < adjustSize) {
+        std::cout << "the counter is error" << std::endl;
+        exit(-1);
+    }
+    std::vector<int> pointIndex;
+    pointIndex.reserve(adjustSize);
+    int distanceOfIndex = pointSize / adjustSize;
+    pointIndex.push_back(0);
+    for(int i = 1; i < adjustSize; i++) {
+        pointIndex.push_back(pointIndex[i - 1] + distanceOfIndex);
+    }
+
+    cv::Mat B(adjustSize, 3, CV_64F);
+    cv::Mat L(adjustSize, 1, CV_64F);
+    double v_norm = INT_MAX;
+    for(int i = 0; i < iterTime; i++) {
+        double *pB = (double *)B.data;
+        double *pL = (double *)L.data;
+        for(int j = 0; j < adjustSize; j++) {
+            *pB = contour[pointIndex[j] + i].x - circle_x;
+            *(pB + 1) = contour[pointIndex[j] + i].y - circle_y;
+            *(pB + 2) = r;
+            pB += 3;
+            *pL = ((contour[pointIndex[j] + i].x - circle_x) * (contour[pointIndex[j] + i].x - circle_x)
+                   + (contour[pointIndex[j] + i].y - circle_y) * (contour[pointIndex[j] + i].y - circle_y)
+                   - r * r) / 2;
+            pL++;
+        }
+        cv::Mat pseudoInverse;
+        cv::invert(B, pseudoInverse, cv::DECOMP_SVD);
+        cv::Mat result = pseudoInverse * L;
+        circle_x += result.at<double>(0, 0);
+        circle_y += result.at<double>(1, 0);
+        r += result.at<double>(2, 0);
+    }
+    return phoSte::circle(circle_x, circle_y, r);
+}
+
+// get the direction of light according to the metalCircle
+phoSte::light getLightDirection(const phoSte::circle& metalCircle,
+                                const cv::Point& maxPoint) {
+    int maxX = maxPoint.x;
+    int maxY = maxPoint.y;
+    double nx = maxX - metalCircle.mCenterX;
+    double ny = maxY - metalCircle.mCenterY;
+    double nz = sqrt(metalCircle.mR * metalCircle.mR - nx * nx - ny * ny);
+    double rootSquareSum = sqrt(nx * nx + ny * ny + nz * nz);
+    nx /= rootSquareSum;
+    ny /= rootSquareSum;
+    nz /= rootSquareSum;
+    double nDotR = nz;
+    double lx = 2 * nDotR * nx;
+    double ly = 2 * nDotR * ny;
+    double lz = 2 * nDotR * nz - 1;
+
+    return phoSte::light(lx, ly, lz);
+}
+
+void swapNum(double& a, double& b) {
+    double tmp = a;
+    a = b;
+    b = tmp;
+
+}
+
+// find the num at the ratio of the nums
+// always use the endI as the pivot
+// use the random integer because there might be some order of the pixel value
+double quickSelect(std::vector<double>& nums, int startI, int endI, int selectI) {
+    if(startI == endI)
+        return nums[startI];
+    int pivotIndex = rand() % (endI - startI + 1) + startI;
+    swapNum(nums[endI], nums[pivotIndex]);
+    double pivot = nums[endI];
+    int i = startI - 1;
+    int j = startI;
+    while(j != endI) {
+        if(nums[j] < pivot) {
+            i++;
+            swapNum(nums[j], nums[i]);
+        }
+        j++;
+    }
+    i++;
+    swapNum(nums[endI], nums[i]);
+    if(i == selectI)
+        return nums[i];
+    else if(i < selectI) {
+        return quickSelect(nums, i + 1, endI, selectI);
+    } else
+        return quickSelect(nums, startI, i - 1, selectI);
+}
+
+// do the transform to image to output
+// maxValue to 255, minValue to 0
+int linearTransform(double max, double min, double value) {
+    return 255 / (max - min) * (value - min);
+}
+}
+
+photometryStero::~photometryStero() {
+    if(!mImageStorage.empty()) {
+        for(int i = 0; i < mImageStorage.size(); i++) {
+            delete mImageStorage[i];
+        }
+    }
+}
+
+photometryStero::photometryStero(int n, int startI, int endI, std::string path,
+                                 std::string metal1Phere1Name, std::string metal2Phere1Name,
+                                 std::string lambertPhereName, std::string objectName,
+                                 double discardRatio): mDiscardRatio(discardRatio), imageNum(n) {
+    int distance = (endI - startI + 1) / n;
+    for (int i = 0; i < n; i++) {
+        int index = i * distance + startI;
+        char imageName[100];
+        sprintf(imageName, "image%03d.pbm", index);
+        std::string imageNameStr = imageName;
+        imageNameStr = path + imageNameStr;
+        mImageNames.push_back(imageNameStr);
+    }
+    std::string mask1Name = metal1Phere1Name;
+    std::string mask2Name = metal2Phere1Name;
+    std::string mask3Name = lambertPhereName;
+
+    mMaskNames.push_back(path + mask1Name);
+    mMaskNames.push_back(path + mask2Name);
+    mMaskNames.push_back(path + mask3Name);
+    mMaskNames.push_back(path + objectName);
+}
+
+// read image and mask image according to the name
+// return true if read successfully
+// return false if read fail
+bool photometryStero::readImage() {
+    if(mImageNames.empty() || mMaskNames.empty())
+        return false;
+
+    // read the image
+    for(int i = 0; i < mImageNames.size(); i++) {
+        CPFMAccess* PFMAccessI = new CPFMAccess();
+        char *tpChar = new char[mImageNames[i].size() + 1];
+        std::strcpy(tpChar, mImageNames[i].c_str());
+        if(! (PFMAccessI -> LoadFromFile(tpChar)) )
+            return false;
+        delete[]tpChar;
+        float *imageData = PFMAccessI -> GetData();
+        mImageStorage.push_back(PFMAccessI);
+        cv::Mat image((PFMAccessI->GetWidth()) * (PFMAccessI->GetHeight()), 3,
+                      CV_32F, imageData);
+        cv::Mat p2Image (0.2989 * image.col(0) + 0.5870 * image.col(1)
+                         + 0.1140 * image.col(2));
+        p2Image = p2Image.reshape(0, PFMAccessI->GetHeight());
+        mp2Images.push_back(p2Image);
+    }
+    // read the maskImage
+    for(int i = 0; i < mMaskNames.size(); i++) {
+        cv::Mat p2Mask(cv::imread(mMaskNames[i], cv::IMREAD_GRAYSCALE));
+        if(! p2Mask.data )
+            return false;
+        mp2Mask.push_back(p2Mask);
+    }
+    return true;
+}
+
+void photometryStero::getLightInformation(const int metalIndex, const int lambIndex) {
+    // get the metal circle
+    cv::threshold(mp2Mask[metalIndex], mp2Mask[metalIndex], 255 / 2, 255, cv::THRESH_BINARY);
+    std::vector<std::vector<cv::Point>> metalContour;
+    cv::findContours(mp2Mask[metalIndex], metalContour, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
+    // use the contour with the max size to calculate the circle
+    int mostPoint = 0;
+    int mostPointIdx = 0;
+    for(int i = 0; i < metalContour.size(); i++) {
+        if(metalContour.size() > mostPoint) {
+            mostPoint = metalContour.size();
+            mostPointIdx = i;
+        }
+    }
+    m_metalSphere = getCircle(metalContour[mostPointIdx]);
+
+    // get the lambertian circle
+    cv::threshold(mp2Mask[lambIndex], mp2Mask[lambIndex], 255 / 2, 255, cv::THRESH_BINARY);
+    std::vector<std::vector<cv::Point>> lambContour;
+    cv::findContours(mp2Mask[lambIndex], lambContour, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
+    // use the contour with the max size to calculate the circle
+    mostPoint = 0;
+    mostPointIdx = 0;
+    for(int i = 0; i < lambContour.size(); i++) {
+        if(lambContour.size() > mostPoint) {
+            mostPoint = lambContour.size();
+            mostPointIdx = i;
+        }
+    }
+    m_lambSpere = getCircle(lambContour[mostPointIdx]);
+
+    // get the direction and the intensity of every image
+    for(int i = 0; i < mp2Images.size(); i++) {
+        cv::Point metalMaxPoint;
+        cv::minMaxLoc(mp2Images[i], NULL, NULL, NULL, &metalMaxPoint, mp2Mask[metalIndex]);
+        m_light.push_back(getLightDirection(m_metalSphere, metalMaxPoint));
+        double lightIntensity;
+        cv::minMaxLoc(mp2Images[i], NULL, &lightIntensity, NULL, NULL, mp2Mask[lambIndex]);
+        m_light[i].mIntensity = lightIntensity;
+    }
+}
+
+// calculate the norm and albedo for every pixel
+// here, threshold is for the dark discard
+void photometryStero::getPixelNormAndAlbedo(const int objectIndex) {
+    // calculate the pixel num
+    std::vector<double> pixelThreshold;
+    for(int i = 0; i < mp2Mask[objectIndex].rows; i++) {
+        for(int j = 0; j < mp2Mask[objectIndex].cols; j++) {
+            if(mp2Mask[objectIndex].at<unsigned char>(i, j) >= 255) {
+                mObjectX.push_back(j);
+                mObjectY.push_back(i);
+            }
+        }
+    }
+    std::vector<std::vector<double>> allPixelValue;
+    allPixelValue.reserve(imageNum);
+    int objectPixelNum = mObjectX.size();
+    for(int i = 0; i < imageNum; i++) {
+        std::vector<double> pixelValue;
+        allPixelValue.push_back(pixelValue);
+        allPixelValue[i].reserve(objectPixelNum);
+        for(int j = 0; j < objectPixelNum; j++) {
+            allPixelValue[i].push_back(mp2Images[i].at<float>(mObjectY[j], mObjectX[j]));
+        }
+    }
+    // threshold for every image;
+    std::vector<double> allThreshold;
+    allThreshold.reserve(imageNum);
+    int thresholdIndex = mDiscardRatio * objectPixelNum;
+    for(int i = 0; i < imageNum; i++) {
+        std::vector<double> tmpPixelValue = allPixelValue[i];
+        allThreshold.push_back(
+            quickSelect(tmpPixelValue, 0, objectPixelNum - 1, thresholdIndex));
+    }
+
+    cv::Mat I(imageNum, objectPixelNum, CV_64F);
+    cv::Mat L(imageNum, 3, CV_64F);
+    mN.create(3, objectPixelNum, CV_64F);
+    mAlbedo.create(1, objectPixelNum, CV_64F);
+    double *pL = (double *)L.data;
+    for(int i = 0; i < imageNum; i++) {
+        *pL = m_light[i].mx;
+        *(pL + 1) = m_light[i].my;
+        *(pL + 2) = m_light[i].mz;
+        pL += 3;
+    }
+    cv::Mat LPseudoInvert;
+    cv::invert(L, LPseudoInvert, cv::DECOMP_SVD);
+    double *pI = (double *)I.data;
+    double *pN = (double *)mN.data;
+
+    for(int i = 0; i < objectPixelNum; i++) {
+        int inValidNum = 0;
+        cv::Mat specificL;
+        for(int j = 0; j < imageNum; j++) {
+            if(allPixelValue[j][i] < allThreshold[j]) {
+                inValidNum ++;
+                if(inValidNum == 1) {
+                    L.copyTo(specificL);
+                }
+                double *p2LRow = specificL.ptr<double>(j);
+                *(p2LRow) = 0;
+                *(p2LRow + 1) = 0;
+                *(p2LRow + 2) = 0;
+                *(pI + j * objectPixelNum + i) = 0;
+            } else {
+                *(pI + j * objectPixelNum + i) = allPixelValue[j][i] / m_light[j].mIntensity;
+            }
+            if(imageNum - inValidNum < 3) {
+                break;
+            }
+        }
+        if(inValidNum == 0) {
+            mN.col(i) = LPseudoInvert * I.col(i);
+            double nx = mN.col(i).at<double>(0, 0);
+            double ny = mN.col(i).at<double>(1, 0);
+            double nz = mN.col(i).at<double>(2, 0);
+            mAlbedo.at<double>(0, i) = sqrt(nx * nx + ny * ny + nz * nz);
+        } else if(imageNum - inValidNum >= 3) {
+            cv::Mat specificLPseudoInvert;
+            cv::invert(specificL, specificLPseudoInvert, cv::DECOMP_SVD);
+            mN.col(i) = specificLPseudoInvert * I.col(i);
+            double nx = mN.col(i).at<double>(0, 0);
+            double ny = mN.col(i).at<double>(1, 0);
+            double nz = mN.col(i).at<double>(2, 0);
+            mAlbedo.at<double>(0, i) = sqrt(nx * nx + ny * ny + nz * nz);
+        } else {
+            mN.at<double>(0, i) = 0;
+            mN.at<double>(1, i) = 0;
+            mN.at<double>(2, i) = 0;
+            mAlbedo.at<double>(0, i) = 0;
+            mInvalidIndex.push_back(i);
+        }
+    }
+}
+
+void photometryStero::outputImage() {
+    double max = INT_MIN, min = INT_MAX;
+    if (mp2Images.empty()) {
+        std::cout << "no image to output" << std::endl;
+    }
+    cv::Mat out(mp2Images[0].rows, mp2Images[0].cols, CV_8U);
+    for (int i = 0; i < mp2Images[0].rows; i++) {
+        for (int j = 0; j < mp2Images[0].cols; j++) {
+            double pixelValue = mp2Images[0].at<float>(i, j);
+            max = pixelValue > max ? pixelValue : max;
+            min = pixelValue < min ? pixelValue : min;
+        }
+    }
+    for (int i = 0; i < mp2Images[0].rows; i++) {
+        for (int j = 0; j < mp2Images[0].cols; j++) {
+            double pixelValue = mp2Images[0].at<float>(i, j);
+            out.at<unsigned char>(i, j) = linearTransform(max, min, pixelValue);
+        }
+    }
+    cv::imshow("outputImage", out);
+    cv::waitKey(0);
+}
+
+cv::Mat photometryStero::outputNormalImage(int objectIndex) {
+    cv::Mat result = cv::Mat::zeros(mp2Images[0].rows, mp2Images[0].cols, CV_32FC3);
+    int nextInvalid = mInvalidIndex.empty() ? INT_MAX : mInvalidIndex[0];
+    int nextInvalidIndex = 0;
+    int invalidPixelNum = 0;
+    for (int i = 0; i < mObjectX.size(); i++) {
+        double nx = mN.at<double>(0, i);
+        double ny = mN.at<double>(1, i);
+        double nz = mN.at<double>(2, i);
+        if (i == nextInvalid) {
+            invalidPixelNum++;
+            result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[0] = 0;
+            result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[1] = 0;
+            result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[2] = 0;
+            if (nextInvalidIndex + 1 == mInvalidIndex.size()) {
+                nextInvalid = INT_MAX;
+            } else {
+                nextInvalidIndex++;
+                nextInvalid = mInvalidIndex[nextInvalidIndex];
+            }
+        } else {
+            double rootsquareSum = sqrt(nx * nx + ny * ny + nz * nz);
+            float nxf = (1 + nx / rootsquareSum) / 2;
+            float nyf = (1 + ny / rootsquareSum) / 2;
+            float nzf = (1 + nz / rootsquareSum) / 2;
+            result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[0] = nxf;
+            result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[1] = nyf;
+            result.at<cv::Vec3f>(mObjectY[i], mObjectX[i])[2] = nzf;
+        }
+    }
+    std::cout << invalidPixelNum << " pixels are not drawn" << std::endl;
+    return result;
+}
+
+// this function is only for debug
+void photometryStero::addSmallMaskForObject(int size, int midX, int midY) {
+    cv::Mat smallMask = cv::Mat::zeros(mp2Images[0].rows, mp2Images[0].cols, CV_8U);
+    int num = 0;
+    for (int i = midY - size / 2; i <= midY + size / 2; i++) {
+        for (int j = midX - size / 2; j <= midX + size / 2; j++) {
+            smallMask.at<unsigned char>(i, j) = 255;
+            num++;
+        }
+    }
+    mp2Mask.push_back(smallMask);
+}
+
+cv::Mat photometryStero::outputAlbedoImage(int objectIndex) {
+    cv::Mat result = cv::Mat::zeros(mp2Images[0].rows, mp2Images[0].cols, CV_32F);
+    int nextInvalid = mInvalidIndex.empty() ? INT_MAX : mInvalidIndex[0];
+    int nextInvalidIndex = 0;
+    int invalidPixelNum = 0;
+    for (int i = 0; i < mObjectX.size(); i++) {
+        float albedo = mAlbedo.at<double>(0, i);
+        if (i == nextInvalid) {
+            invalidPixelNum++;
+            result.at<float>(mObjectY[i], mObjectX[i]) = 0;
+            if (nextInvalidIndex + 1 == mInvalidIndex.size()) {
+                nextInvalid = INT_MAX;
+            } else {
+                nextInvalidIndex++;
+                nextInvalid = mInvalidIndex[nextInvalidIndex];
+            }
+        } else {
+            result.at<float>(mObjectY[i], mObjectX[i]) = albedo;
+        }
+    }
+    std::cout << invalidPixelNum << " pixels are not drawn" << std::endl;
+    return result;
+}
+
+// use the normal direction dot the (0, 0, 1) and then times the albedo
+cv::Mat photometryStero::outputNormalWithAlbedo(int objectIndex) {
+    cv::Mat result = cv::Mat::zeros(mp2Images[0].rows, mp2Images[0].cols, CV_32F);
+    int nextInvalid = mInvalidIndex.empty() ? INT_MAX : mInvalidIndex[0];
+    int nextInvalidIndex = 0;
+    int invalidPixelNum = 0;
+    for (int i = 0; i < mObjectX.size(); i++) {
+        float albedo = mAlbedo.at<double>(0, i);
+        double nx = mN.at<double>(0, i);
+        double ny = mN.at<double>(1, i);
+        double nz = mN.at<double>(2, i);
+        float intensity = nz / sqrt(nx * nx + ny * ny + nz * nz) * albedo;
+        if (i == nextInvalid) {
+            invalidPixelNum++;
+            result.at<float>(mObjectY[i], mObjectX[i]) = 0;
+            if (nextInvalidIndex + 1 == mInvalidIndex.size()) {
+                nextInvalid = INT_MAX;
+            } else {
+                nextInvalidIndex++;
+                nextInvalid = mInvalidIndex[nextInvalidIndex];
+            }
+        } else {
+            result.at<float>(mObjectY[i], mObjectX[i]) = intensity;
+        }
+    }
+    std::cout << invalidPixelNum << " pixels are not drawn" << std::endl;
+    return result;
+}
+
+// use the normal map to get the height map
+// mode 1: use the discard ratio to discard some low lengths
+// mode 2: use sigmoid function to map to the depth
+// in order to avoid the mistake due to the small nz, I plus 0.05 when nz is too small
+cv::Mat photometryStero::getHeightMap(int mode, double parameter) {
+    // make the map from object pixel to object index
+    int nextInvalid = mInvalidIndex.empty() ? INT_MAX : mInvalidIndex[0];
+    int nextInvalidIndex = 0;
+    cv::Mat pixel2ObjectIndex = cv::Mat::zeros(mp2Images[0].rows,
+                                mp2Images[0].cols, CV_32S);
+    for (int i = 0; i < mObjectX.size(); i++) {
+        if (i == nextInvalid) {
+            pixel2ObjectIndex.at<int>(mObjectY[i], mObjectX[i]) = -1;
+            if (nextInvalidIndex + 1 == mInvalidIndex.size()) {
+                nextInvalid = INT_MAX;
+            } else {
+                nextInvalidIndex++;
+                nextInvalid = mInvalidIndex[nextInvalidIndex];
+            }
+        } else {
+            // use i + 1 to prevent the collision with 0
+            pixel2ObjectIndex.at<int>(mObjectY[i], mObjectX[i]) = i + 1;
+
+        }
+    }
+    // first of all, iterate until all object points have normal value
+    // I use the 3*3 window to get average normal
+    cv::Mat NForHeight;
+    mN.copyTo(NForHeight);
+    cv::Mat heightMap = cv::Mat::zeros(mp2Images[0].rows, mp2Images[0].rows, CV_32F);
+    int nInvalid = mInvalidIndex.size();
+    int iterateTime = 0;
+    while (nInvalid > 0) {
+        if (iterateTime > 10) {
+            std::cout << "too many iterations during getting values to the invalid pixel"
+                      << std::endl;
+            return heightMap;
+        }
+        iterateTime++;
+        for (int i = 0; i < mInvalidIndex.size(); i++) {
+            int index = mInvalidIndex[i];
+            if (pixel2ObjectIndex.at<int>(mObjectY[index], mObjectX[index]) == -1) {
+                int x = mObjectX[index];
+                int y = mObjectY[index];
+                double nxSum = 0;
+                double nySum = 0;
+                double nzSum = 0;
+                int nValid = 0;
+                for (int dx = -1; dx <= 1; dx++) {
+                    for (int dy = -1; dy <= 1; dy++) {
+                        if (pixel2ObjectIndex.at<int>(y + dy, x + dx) > 0) {
+                            nValid++;
+                            nxSum += NForHeight.at<double>(0, pixel2ObjectIndex.at<int>(y + dy, x + dx));
+                            nySum += NForHeight.at<double>(1, pixel2ObjectIndex.at<int>(y + dy, x + dx));
+                            nzSum += NForHeight.at<double>(2, pixel2ObjectIndex.at<int>(y + dy, x + dx));
+                        }
+                    }
+                }
+                if (nValid > 0) {
+                    pixel2ObjectIndex.at<int>(y, x) = index + 1;
+                    nInvalid--;
+                    nxSum /= nValid;
+                    nySum /= nValid;
+                    nzSum /= nValid;
+                    double squareSum = sqrt(nxSum * nxSum + nySum * nySum + nzSum * nzSum);
+                    NForHeight.at<double>(0, index) = nxSum / squareSum;
+                    NForHeight.at<double>(1, index) = nySum / squareSum;
+                    NForHeight.at<double>(2, index) = nzSum / squareSum;
+                }
+            }
+        }
+    }
+    std::cout << "the iteration time is " << iterateTime;
+
+    // form the sparse matrix and solve the linear equation
+    // first of all, scan all the points to find the number of equations
+    int nEquation = 0;
+    for (int i = 0; i < mObjectX.size(); i++) {
+        int x = mObjectX[i];
+        int y = mObjectY[i];
+        if (pixel2ObjectIndex.at<int>(y + 1, x) > 0) {
+            nEquation++;
+        }
+        if (pixel2ObjectIndex.at<int>(y, x + 1) > 0) {
+            nEquation++;
+        }
+    }
+    // then use the sparse matrix to solve the linear equation
+    // I set z(allIndex / 2)=0 as the coordinate origin
+    int midIndex = mObjectX.size() / 2;
+    int midX = mObjectX[midIndex];
+    int midY = mObjectY[midIndex];
+    double midNx_midNz = -(NForHeight.at<double>(0, midIndex)) / (NForHeight.at<double>(2, midIndex));
+    double midNy_midNz = -(NForHeight.at<double>(1, midIndex)) / (NForHeight.at<double>(2, midIndex));
+    Eigen::VectorXd b(nEquation);
+    typedef Eigen::SparseMatrix<double> SpMat;
+    // since the sparse matrix of eigen is col main, so use the transpose to store the data
+    SpMat A(mObjectX.size() - 1, nEquation);
+    typedef Eigen::Triplet<double> T;
+    std::vector<T> tripletList;
+    tripletList.reserve(nEquation * 3);
+    int currentEquation = 0;
+    for (int i = 0; i < mObjectX.size(); i++) {
+        int x = mObjectX[i];
+        int y = mObjectY[i];
+        if (i != midIndex) {
+            int thisZIndex = i < midIndex ? i : i - 1;
+            if (pixel2ObjectIndex.at<int>(y + 1, x) > 0) {
+                if (y + 1 != midY || x != midX) {
+                    int index = pixel2ObjectIndex.at<int>(y + 1, x) - 1;
+                    int upZIndex = index < midIndex ? index : index - 1;
+                    tripletList.push_back(T(upZIndex, currentEquation, 1));
+                    tripletList.push_back(T(thisZIndex, currentEquation, -1));
+                    if (NForHeight.at<double>(2, index) < 0.001) {
+                        b(currentEquation) = -(NForHeight.at<double>(1, index) + 0.05) / (NForHeight.at<double>(2, index) + 0.05);
+                    } else {
+                        b(currentEquation) = -(NForHeight.at<double>(1, index)) / (NForHeight.at<double>(2, index));
+                    }
+                    currentEquation++;
+                } else {
+                    int index = pixel2ObjectIndex.at<int>(y + 1, x) - 1;
+                    tripletList.push_back(T(thisZIndex, currentEquation, -1));
+                    if (NForHeight.at<double>(2, index) < 0.001) {
+                        b(currentEquation) = -(NForHeight.at<double>(1, index) + 0.05) / (NForHeight.at<double>(2, index) + 0.05);
+                    } else {
+                        b(currentEquation) = -(NForHeight.at<double>(1, index)) / (NForHeight.at<double>(2, index));
+                    }
+                    currentEquation++;
+                }
+            }
+            if (pixel2ObjectIndex.at<int>(y, x + 1) > 0) {
+                if (y != midY || x + 1 != midX) {
+                    int index = pixel2ObjectIndex.at<int>(y, x + 1) - 1;
+                    int rightZIndex = index < midIndex ? index : index - 1;
+                    tripletList.push_back(T(rightZIndex, currentEquation, 1));
+                    tripletList.push_back(T(thisZIndex, currentEquation, -1));
+                    if (NForHeight.at<double>(2, index) < 0.001) {
+                        b(currentEquation) = -(NForHeight.at<double>(0, index) + 0.05) / (NForHeight.at<double>(2, index) + 0.05);
+                    } else {
+                        b(currentEquation) = -(NForHeight.at<double>(0, index)) / (NForHeight.at<double>(2, index));
+                    }
+                    currentEquation++;
+                } else {
+                    int index = pixel2ObjectIndex.at<int>(y, x + 1) - 1;
+                    tripletList.push_back(T(thisZIndex, currentEquation, -1));
+                    if (NForHeight.at<double>(2, index) < 0.001) {
+                        b(currentEquation) = -(NForHeight.at<double>(0, index) + 0.05) / (NForHeight.at<double>(2, index) + 0.05);
+                    } else {
+                        b(currentEquation) = -(NForHeight.at<double>(0, index)) / (NForHeight.at<double>(2, index));
+                    }
+                    currentEquation++;
+                }
+            }
+        } else {
+            int thisIndex = midIndex;
+            if (pixel2ObjectIndex.at<int>(y + 1, x) > 0) {
+                int index = pixel2ObjectIndex.at<int>(y + 1, x) - 1;
+                int upZIndex = index < midIndex ? index : index - 1;
+                tripletList.push_back(T(upZIndex, currentEquation, 1));
+                b(currentEquation) = -midNy_midNz;
+                currentEquation++;
+            }
+            if (pixel2ObjectIndex.at<int>(y, x + 1) > 0) {
+                int index = pixel2ObjectIndex.at<int>(y, x + 1) - 1;
+                int rightZIndex = index < midIndex ? index : index - 1;
+                tripletList.push_back(T(rightZIndex, currentEquation, 1));
+                b(currentEquation) = -midNx_midNz;
+                currentEquation++;
+            }
+        }
+    }
+    A.setFromTriplets(tripletList.begin(), tripletList.end());
+    SpMat Atranspose = A.transpose();
+    A = A * Atranspose;
+    A.makeCompressed();
+    Eigen::SimplicialLLT <Eigen::SparseMatrix<double>> solver;
+    solver.compute(A);
+    if (solver.info() != Eigen::Success) {
+        std::cout << "decomposition fails" << std::endl;
+        return heightMap;
+    }
+    b = Atranspose.transpose() * b;
+    Eigen::VectorXd z = solver.solve(b);
+    if (solver.info() != Eigen::Success) {
+        std::cout << "solving failed" << std::endl;
+        return heightMap;
+    }
+
+    // try to discard ratio to show;
+    switch (mode) {
+    case 1: {
+        std::vector<double> zVec;
+        zVec.reserve(mObjectX.size());
+        for (int i = 0; i < mObjectX.size() - 1; i++) {
+            zVec.push_back(z(i));
+        }
+        zVec.push_back(0);
+        std::vector<double> zVec2(zVec.begin(), zVec.end());
+        double minThreshold = quickSelect(zVec, 0, zVec.size() - 1, zVec.size() * parameter);
+        double maxZ = z.maxCoeff();
+        for (int i = 0; i < mObjectX.size(); i++) {
+            int x = mObjectX[i];
+            int y = mObjectY[i];
+            double originz;
+            if (i < midIndex) {
+                originz = z(i);
+            } else if (i > midIndex) {
+                originz = z(i - 1);
+            } else {
+                originz = 0;
+            }
+
+            if (originz < minThreshold) {
+                heightMap.at<float>(y, x) = 0;
+            } else {
+                float newz = (originz - minThreshold) / (maxZ - minThreshold);
+                heightMap.at<float>(y, x) = newz;
+            }
+        }
+        break;
+    }
+    case 2: {
+        std::vector<double> zVec;
+        zVec.reserve(mObjectX.size());
+        for (int i = 0; i < mObjectX.size() - 1; i++) {
+            zVec.push_back(z(i));
+        }
+        zVec.push_back(0);
+        std::vector<double> zVec2(zVec.begin(), zVec.end());
+        for (int i = 0; i < mObjectX.size(); i++) {
+            int x = mObjectX[i];
+            int y = mObjectY[i];
+            double originz;
+            if (i < midIndex) {
+                originz = z(i);
+            } else if (i > midIndex) {
+                originz = z(i - 1);
+            } else {
+                originz = 0;
+            }
+            heightMap.at<float>(y, x) = 1 / (1 + exp(parameter * originz));
+        }
+        break;
+    }
+    default:
+        break;
+    }
+    // output the height map to matrix;
+    return heightMap;
+}
+
+}
+
+void drawAppleNormal() {
+    phoSte::photometryStero A(21, 2, 22,
+                              "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/",
+                              "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat result = A.outputNormalImage(3);
+    cv::imshow("apple normal image", result);
+    cv::imwrite("/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/normal.jpg", result);
+    cv::waitKey(0);
+}
+
+void drawAppleAlbedo() {
+    phoSte::photometryStero A(21, 2, 22,
+                              "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/",
+                              "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat result = A.outputAlbedoImage(3);
+    cv::imshow("apple albedo image", result);
+    cv::waitKey(0);
+}
+
+void drawAppleNormalWithAlbedo() {
+    phoSte::photometryStero A(21, 2, 22,
+                              "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/",
+                              "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat result = A.outputNormalWithAlbedo(3);
+    cv::imshow("apple albedo image", result);
+    cv::waitKey(0);
+}
+
+void getAppleHeight() {
+    std::string path = "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/";
+    phoSte::photometryStero A(21, 2, 22,
+                              path, "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat heightMap = A.getHeightMap(2, -0.1);
+    std::string fileName = "appleDepth.png";
+    cv::imwrite(path + fileName, heightMap);
+    cv::imshow(fileName, heightMap);
+    cv::waitKey(0);
+}
+
+void drawElephantNormal() {
+    phoSte::photometryStero A(21, 1, 21,
+                              "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Elephant/",
+                              "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "mask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat result = A.outputNormalImage(3);
+    cv::imshow("elephant normal image", result);
+    cv::imwrite("/home/thomas/Documents/Photometric-Stereo/Assignment_1/Elephant/elephantNormal.jpg", result);
+    cv::waitKey(0);
+}
+
+void drawElephantNormalwithAlbedo() {
+    phoSte::photometryStero A(21, 1, 21,
+                              "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Elephant/",
+                              "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "mask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat result = A.outputNormalWithAlbedo(3);
+    cv::imshow("elephant normal image", result);
+    cv::waitKey(0);
+}
+
+void drawElephantAlbedo() {
+    phoSte::photometryStero A(21, 1, 21,
+                              "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Elephant/",
+                              "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "mask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat result = A.outputAlbedoImage(3);
+    cv::imshow("elephant albedo image", result);
+    cv::waitKey(0);
+}
+
+void getElephantHeight() {
+    std::string path = "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Elephant/";
+    phoSte::photometryStero A(21, 1, 21,
+                              path, "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "mask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat heightMap = A.getHeightMap(2, -0.1);
+    std::string fileName = "elephantHeight.png";
+    cv::imwrite(path + fileName, heightMap);
+    cv::imshow(fileName, heightMap);
+    cv::waitKey(0);
+}
+
+void drawPearNormal() {
+    phoSte::photometryStero A(21, 1, 21,
+                              "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Pear/",
+                              "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "pearmask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat result = A.outputNormalImage(3);
+    cv::imshow("pear normal image", result);
+    cv::imwrite("/home/thomas/Documents/Photometric-Stereo/Assignment_1/Pear/pearNormal.jpg", result);
+    cv::waitKey(0);
+}
+
+void drawPearAlbedo() {
+    phoSte::photometryStero A(21, 1, 21,
+                              "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Pear/",
+                              "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "pearmask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat result = A.outputAlbedoImage(3);
+    cv::imshow("pear albedo image", result);
+    cv::waitKey(0);
+}
+
+void drawPearNormalWithAlbedo() {
+    phoSte::photometryStero A(21, 1, 21,
+                              "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Pear/",
+                              "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "pearmask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat result = A.outputNormalWithAlbedo(3);
+    cv::imshow("pear albedo image", result);
+    cv::waitKey(0);
+}
+
+void getPearHeight() {
+    std::string path = "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Pear/";
+    phoSte::photometryStero A(21, 1, 21,
+                              path, "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "pearmask.png");
+    A.readImage();
+    A.getLightInformation(1, 2);
+    A.getPixelNormAndAlbedo(3);
+    cv::Mat heightMap = A.getHeightMap(2, -0.1);
+    std::string fileName = "pearHeight.png";
+    cv::imwrite(path + fileName, heightMap);
+    cv::imshow(fileName, heightMap);
+    cv::waitKey(0);
+}
diff --git a/apps/specular_estimation/src/PhotometricStereo.h b/apps/specular_estimation/src/PhotometricStereo.h
new file mode 100755
index 0000000000000000000000000000000000000000..9e6afb2e4bd2b630f9b53d5c2a9327d210cb4179
--- /dev/null
+++ b/apps/specular_estimation/src/PhotometricStereo.h
@@ -0,0 +1,88 @@
+#ifndef PCVASSIGNMENT1_PHOTOMETRICSTEREO_H_
+#define PCVASSIGNMENT1_PHOTOMETRICSTEREO_H_
+
+#include <string>
+#include <vector>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include "PFMAccess.h"
+
+void drawAppleNormal();
+void drawAppleAlbedo();
+void drawAppleNormalWithAlbedo();
+void getAppleHeight();
+void drawElephantNormal();
+void drawElephantAlbedo();
+void drawElephantNormalwithAlbedo();
+void getElephantHeight();
+void drawPearNormal();
+void drawPearAlbedo();
+void drawPearNormalWithAlbedo();
+void getPearHeight();
+
+namespace phoSte {
+struct circle {
+    circle(double x = 0, double y = 0, double r = 0): mCenterX(x), mCenterY(y), mR(r) {
+    }
+    double mCenterX;
+    double mCenterY;
+    double mR;
+};
+
+struct light {
+    light(double x, double y, double z): mx(x), my(y), mz(z) {
+    }
+    double mx;
+    double my;
+    double mz;
+    double mIntensity;
+};
+
+class photometryStero {
+  public:
+    // fill the imageNames and maskNames
+    // use image with euqal distance
+    photometryStero(int n, int startI, int endI, std::string path,
+                    std::string metal1Phere1Name, std::string metal2Phere1Name,
+                    std::string lambertPhereName, std::string objectName, double discardRatio = 0.1);
+    photometryStero(const photometryStero&) = delete;
+    photometryStero& operator = (const photometryStero&) = delete;
+    ~photometryStero();
+    bool readImage(); // read the images and masks according to the ImageNames
+    void getLightInformation(const int metalIndex, const int lambIndex);
+    void getPixelNormAndAlbedo(const int objectIndex);
+    cv::Mat outputNormalImage(int objectIndex);
+    cv::Mat outputAlbedoImage(int objectIndex);
+    cv::Mat outputNormalWithAlbedo(int objectIndex);
+    cv::Mat getHeightMap(int mode, double parameter);
+    // below are functions for test
+    //
+    void outputImage();
+    // build one mask with size*size in the middle to test the N;
+    void addSmallMaskForObject(int size, int midX, int midY);
+  private:
+    const int imageNum; // the num of images used to calculate;
+    std::vector<std::string> mImageNames; // the name of images
+    std::vector<std::string> mMaskNames; // the name of mask
+    std::vector<cv::Mat> mp2Images;
+    std::vector<cv::Mat> mp2Mask;
+    // when the PFMACCess destructs, the data will be destroyed
+    // so it's very dangerous, it should not be copied
+    std::vector<CPFMAccess*> mImageStorage;
+    // tht circle data for the metalSphere
+    phoSte::circle m_metalSphere;
+    phoSte::circle m_lambSpere;
+    std::vector<phoSte::light> m_light;
+    cv::Mat mN;
+    cv::Mat mAlbedo;
+    std::vector<int> mObjectX;
+    std::vector<int> mObjectY;
+    std::vector<int> mInvalidIndex;
+    const double mDiscardRatio;
+};
+}
+
+#endif
diff --git a/apps/specular_estimation/src/specular_estimation.cc b/apps/specular_estimation/src/specular_estimation.cc
index 53cc137f8e5ef3657f4b53b6c16421f2ebe99f85..0646d2bbc7429016b11af84650ab210758b919c6 100644
--- a/apps/specular_estimation/src/specular_estimation.cc
+++ b/apps/specular_estimation/src/specular_estimation.cc
@@ -43,6 +43,13 @@ int main(int argc, char** argv) {
 
 	std::cout << std::endl;
 
+
+	drawAppleNormal();
+	drawAppleAlbedo();
+	drawAppleNormalWithAlbedo();
+	getAppleHeight();
+
+
 	// Define the paths for the model images, calibration images and the albedo texture
 	//const std::string sourcePath	  = "/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/";
 	//const std::string imagesPath	  = "/media/tw00275/ESD-USB/";
@@ -53,7 +60,7 @@ int main(int argc, char** argv) {
 	const std::string calibrationPath = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
 	const std::string texturePath     = modelPath + "texture.png";
 
-	detectMacbeth("/media/thomas/ESD-USB/2017-12-04/macbeth/macbeth.0.png");
+	detectMacbeth("/home/thomas/Documents/2017-12-04/macbeth/macbeth.0.png");
 
 	// A vector of Mats allow multiple images to be allocated to the same object
 	// textureImages are the full colour photographs that are used to create the texture
diff --git a/apps/specular_estimation/src/stdafx.h b/apps/specular_estimation/src/stdafx.h
index cc35b5476994dbbc2711830d34b97729ccfd4261..3307d8af70640a738166c001628bfafc35d00747 100644
--- a/apps/specular_estimation/src/stdafx.h
+++ b/apps/specular_estimation/src/stdafx.h
@@ -43,3 +43,6 @@ using namespace glm;
 #include "OpenGL.h"
 #include "Ceres.h"
 #include "Macbeth.h"
+
+#include "PhotometricStereo.h"
+#include "PFMAccess.h"
diff --git a/bin/specular_estimation b/bin/specular_estimation
index 20631f4dec582f923bc69eeab98dd3f785025cfa..72d5beae6606f1d9b39935c8ca4666a1a8edb9ee 100755
Binary files a/bin/specular_estimation and b/bin/specular_estimation differ