diff --git a/trunk/bin/tos_supervoxels_test b/trunk/bin/tos_supervoxels_test
index 10b4d22901fc3d1632d6bc74201ec96e259e547b..c5d71660f0ce2a6c29b7d774df49dc22a4393e5e 100755
Binary files a/trunk/bin/tos_supervoxels_test and b/trunk/bin/tos_supervoxels_test differ
diff --git a/trunk/build/CMakeCache.txt b/trunk/build/CMakeCache.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53d55f72ef03c7d6a4f3a242084f89560c3506bd
--- /dev/null
+++ b/trunk/build/CMakeCache.txt
@@ -0,0 +1,1006 @@
+# This is the CMakeCache file.
+# For build in directory: /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
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+//The threading library used by boost-thread
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+
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+
+//Boost chrono library (release)
+Boost_CHRONO_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so
+
+//Boost date_time library (debug)
+Boost_DATE_TIME_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so
+
+//Boost date_time library (release)
+Boost_DATE_TIME_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so
+
+//Boost filesystem library (debug)
+Boost_FILESYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
+
+//Boost filesystem library (release)
+Boost_FILESYSTEM_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
+
+//Path to a file.
+Boost_INCLUDE_DIR:PATH=/usr/include
+
+//Boost iostreams library (debug)
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+
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+Boost_IOSTREAMS_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_iostreams.so
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+//Boost library directory
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+
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+Boost_SERIALIZATION_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_serialization.so
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+
+//Boost system library (release)
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+
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+//Path to a program.
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+//For backwards compatibility, what version of CMake commands and
+// syntax should this version of CMake try to support.
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+//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
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+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
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+
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+//Flags used by the compiler during release minsize builds.
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+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler.
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//Flags used by the compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
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+
+//Flags used by the compiler during release minsize builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
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+
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+
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+
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+//Path to a program.
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+//Path to a program.
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+
+//Flags used by the linker during the creation of modules.
+CMAKE_MODULE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
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+
+//Path to a program.
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+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
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+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=tos-supervoxels
+
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+
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+
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+
+//Flags used by the linker during Release with Debug Info builds.
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+//If set, runtime paths are not added when installing shared libraries,
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+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
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+
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+
+//Flags used by the linker during release builds.
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+
+//Flags used by the linker during Release with Debug Info builds.
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+
+//Path to a program.
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+//If true, cmake will use relative paths in makefiles and projects.
+CMAKE_USE_RELATIVE_PATHS:BOOL=OFF
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make. This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a file.
+DAVIDSDK_INCLUDE_DIR:PATH=DAVIDSDK_INCLUDE_DIR-NOTFOUND
+
+//Path to a library.
+DAVIDSDK_LIBRARY:FILEPATH=DAVIDSDK_LIBRARY-NOTFOUND
+
+//Graphviz Dot tool for using Doxygen
+DOXYGEN_DOT_EXECUTABLE:FILEPATH=/usr/bin/dot
+
+DOXYGEN_DOT_PATH:FILEPATH=/usr/bin
+
+//Doxygen documentation generation tool (http://www.doxygen.org)
+DOXYGEN_EXECUTABLE:FILEPATH=/usr/bin/doxygen
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+//DepthSense SDK directory
+DSSDK_DIR:PATH=DSSDK_DIR-NOTFOUND
+
+//Path to a library.
+DSSDK_LIBRARY_DepthSense:FILEPATH=DSSDK_LIBRARY_DepthSense-NOTFOUND
+
+//Path to a library.
+DSSDK_LIBRARY_DepthSensePlugins:FILEPATH=DSSDK_LIBRARY_DepthSensePlugins-NOTFOUND
+
+//Path to a library.
+DSSDK_LIBRARY_turbojpeg:FILEPATH=DSSDK_LIBRARY_turbojpeg-NOTFOUND
+
+//Path to a file.
+EIGEN_INCLUDE_DIRS:PATH=/usr/include/eigen3
+
+//Path to a file.
+ENSENSO_INCLUDE_DIR:PATH=ENSENSO_INCLUDE_DIR-NOTFOUND
+
+//Path to a library.
+ENSENSO_LIBRARY:FILEPATH=ENSENSO_LIBRARY-NOTFOUND
+
+//Single output directory for building all executables.
+EXECUTABLE_OUTPUT_PATH:PATH=
+
+//Path to a file.
+FLANN_INCLUDE_DIRS:PATH=/usr/include
+
+//Path to a library.
+FLANN_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
+
+//Path to a library.
+FLANN_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
+
+//Path to a file.
+IRI_DOC_DIR:PATH=IRI_DOC_DIR-NOTFOUND
+
+//Single output directory for building all libraries.
+LIBRARY_OUTPUT_PATH:PATH=
+
+//Path to a file.
+LIBUSB_1_INCLUDE_DIR:PATH=/usr/include
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+//Path to a library.
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+
+//Path to a file.
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+
+//Path to a library.
+OPENNI2_LIBRARY:FILEPATH=/usr/lib/libOpenNI2.so
+
+//Path to a file.
+OPENNI_INCLUDE_DIRS:PATH=/usr/include/ni
+
+//Path to a library.
+OPENNI_LIBRARY:FILEPATH=/usr/lib/libOpenNI.so
+
+//Path where debug 3rdpaty OpenCV dependencies are located
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+
+//Path where release 3rdpaty OpenCV dependencies are located
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+
+OpenCV_CONFIG_PATH:FILEPATH=/usr/share/OpenCV
+
+//The directory containing a CMake configuration file for OpenCV.
+OpenCV_DIR:PATH=/usr/share/OpenCV
+
+//Path where debug OpenCV libraries are located
+OpenCV_LIB_DIR_DBG:PATH=
+
+//Path where release OpenCV libraries are located
+OpenCV_LIB_DIR_OPT:PATH=
+
+//path to 2d headers
+PCL_2D_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to common headers
+PCL_COMMON_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_common library
+PCL_COMMON_LIBRARY:FILEPATH=/usr/local/lib/libpcl_common.so
+
+//path to pcl_common library debug
+PCL_COMMON_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_common.so
+
+//The directory containing a CMake configuration file for PCL.
+PCL_DIR:PATH=/usr/local/share/pcl-1.8
+
+//path to features headers
+PCL_FEATURES_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_features library
+PCL_FEATURES_LIBRARY:FILEPATH=/usr/local/lib/libpcl_features.so
+
+//path to pcl_features library debug
+PCL_FEATURES_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_features.so
+
+//path to filters headers
+PCL_FILTERS_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_filters library
+PCL_FILTERS_LIBRARY:FILEPATH=/usr/local/lib/libpcl_filters.so
+
+//path to pcl_filters library debug
+PCL_FILTERS_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_filters.so
+
+//path to geometry headers
+PCL_GEOMETRY_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to io headers
+PCL_IO_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
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+PCL_IO_LIBRARY:FILEPATH=/usr/local/lib/libpcl_io.so
+
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+PCL_IO_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_io.so
+
+//path to kdtree headers
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+
+//path to pcl_kdtree library
+PCL_KDTREE_LIBRARY:FILEPATH=/usr/local/lib/libpcl_kdtree.so
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+
+//path to keypoints headers
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+
+//path to pcl_keypoints library
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+
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+PCL_KEYPOINTS_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_keypoints.so
+
+//path to ml headers
+PCL_ML_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_ml library
+PCL_ML_LIBRARY:FILEPATH=/usr/local/lib/libpcl_ml.so
+
+//path to pcl_ml library debug
+PCL_ML_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_ml.so
+
+//path to octree headers
+PCL_OCTREE_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_octree library
+PCL_OCTREE_LIBRARY:FILEPATH=/usr/local/lib/libpcl_octree.so
+
+//path to pcl_octree library debug
+PCL_OCTREE_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_octree.so
+
+//path to outofcore headers
+PCL_OUTOFCORE_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_outofcore library
+PCL_OUTOFCORE_LIBRARY:FILEPATH=/usr/local/lib/libpcl_outofcore.so
+
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+PCL_OUTOFCORE_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_outofcore.so
+
+//path to people headers
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+
+//path to pcl_people library
+PCL_PEOPLE_LIBRARY:FILEPATH=/usr/local/lib/libpcl_people.so
+
+//path to pcl_people library debug
+PCL_PEOPLE_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_people.so
+
+//path to recognition headers
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+
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+PCL_RECOGNITION_LIBRARY:FILEPATH=/usr/local/lib/libpcl_recognition.so
+
+//path to pcl_recognition library debug
+PCL_RECOGNITION_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_recognition.so
+
+//path to registration headers
+PCL_REGISTRATION_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
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+
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+PCL_REGISTRATION_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_registration.so
+
+//path to sample_consensus headers
+PCL_SAMPLE_CONSENSUS_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_sample_consensus library
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+
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+
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+
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+
+//path to pcl_search library debug
+PCL_SEARCH_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_search.so
+
+//path to segmentation headers
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+
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+
+//path to pcl_segmentation library debug
+PCL_SEGMENTATION_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_segmentation.so
+
+//path to stereo headers
+PCL_STEREO_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_stereo library
+PCL_STEREO_LIBRARY:FILEPATH=/usr/local/lib/libpcl_stereo.so
+
+//path to pcl_stereo library debug
+PCL_STEREO_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_stereo.so
+
+//path to surface headers
+PCL_SURFACE_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_surface library
+PCL_SURFACE_LIBRARY:FILEPATH=/usr/local/lib/libpcl_surface.so
+
+//path to pcl_surface library debug
+PCL_SURFACE_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_surface.so
+
+//path to tracking headers
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+
+//path to pcl_tracking library
+PCL_TRACKING_LIBRARY:FILEPATH=/usr/local/lib/libpcl_tracking.so
+
+//path to pcl_tracking library debug
+PCL_TRACKING_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_tracking.so
+
+//path to visualization headers
+PCL_VISUALIZATION_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_visualization library
+PCL_VISUALIZATION_LIBRARY:FILEPATH=/usr/local/lib/libpcl_visualization.so
+
+//path to pcl_visualization library debug
+PCL_VISUALIZATION_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_visualization.so
+
+//pkg-config executable
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+
+//Path to a file.
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+
+//Path to a library.
+QHULL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libqhull.so
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+//Path to a library.
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+
+//RealSense SDK directory
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+
+//Path to a library.
+RSSDK_LIBRARY:FILEPATH=RSSDK_LIBRARY-NOTFOUND
+
+//Path to a library.
+RSSDK_LIBRARY_DEBUG:FILEPATH=RSSDK_LIBRARY_DEBUG-NOTFOUND
+
+//Value Computed by CMake
+tos-supervoxels_BINARY_DIR:STATIC=/home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/build
+
+//Value Computed by CMake
+tos-supervoxels_SOURCE_DIR:STATIC=/home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk
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+//Dependencies for the target
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+
+#if defined(__18CXX)
+# define ID_VOID_MAIN
+#endif
+
+#if defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+ /* __SUNPRO_C = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF)
+# else
+ /* __SUNPRO_C = 0xVRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+ /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+ /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000)
+
+#elif defined(__IBMC__)
+# if defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+# else
+# if __IBMC__ >= 800
+# define COMPILER_ID "XL"
+# else
+# define COMPILER_ID "VisualAge"
+# endif
+ /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+ http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+/* sdcc, the small devices C compiler for embedded systems,
+ http://sdcc.sourceforge.net */
+#elif defined(SDCC)
+# define COMPILER_ID "SDCC"
+ /* SDCC = VRP */
+# define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(SDCC % 10)
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+ /* _SGI_COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10)
+# else
+ /* _COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#else
+# define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+ (void)argv;
+ return require;
+}
+#endif
diff --git a/trunk/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/trunk/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out
new file mode 100755
index 0000000000000000000000000000000000000000..ddaaadc8f0be09eb9f5be82df6e9271de5cf5e27
Binary files /dev/null and b/trunk/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out differ
diff --git a/trunk/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/trunk/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e8220b26e508ad8289ae53743d2ffa316c17237f
--- /dev/null
+++ b/trunk/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,377 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+ recognize the extension without flags. Borland does not know .cxx for
+ example. */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+/* Version number components: V=Version, R=Revision, P=Patch
+ Version date components: YYYY=Year, MM=Month, DD=Day */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+ /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+ /* __SUNPRO_CC = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# else
+ /* __SUNPRO_CC = 0xVRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+ /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+ /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000)
+
+#elif defined(__IBMCPP__)
+# if defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+# else
+# if __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+# else
+# define COMPILER_ID "VisualAge"
+# endif
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+ http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+ /* _SGI_COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10)
+# else
+ /* _COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10)
+# endif
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new file mode 100644
index 0000000000000000000000000000000000000000..57b5f172bae3c56ad702db033474ec86dbd8e591
--- /dev/null
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diff --git a/trunk/lib/libtos_supervoxels.so b/trunk/lib/libtos_supervoxels.so
index 9dbcf8b3a62daafe37b8706c4d0bfe0c10cad235..a7665d2f54f02aff81cef8f3e81256e07c2e3ec1 100755
Binary files a/trunk/lib/libtos_supervoxels.so and b/trunk/lib/libtos_supervoxels.so differ