Copyright (C) 1999-2006, Vojtech Franc and Vaclav HlavacCzech Technical University Prague, Faculty of Electrical Engineering, Center for Machine Perception. All rights reserved.Redistribution and use in source and binary forms, with or withoutmodification, is permitted provided that the following conditionsare met: 1. Redistributions of source code must retain the above copyright    notice, this list of conditions and the following disclaimer.  2. Redistributions in binary form must reproduce the above copyright    notice, this list of conditions and the following disclaimer in    the documentation and/or other materials provided with the    distribution. 3. The name of the authors and its contributors must not be used to     endorse or promote products derived from this software without prior     written permission. For written permission, please contact     xfrancv@cmp.felk.cvut.cz.THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTSOR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.