update final design

MathTec/Assets/EasyAR/Shaders/CameraImage_RGB.shader

+//================================================================================================================================
+//
+//  Copyright (c) 2015-2021 VisionStar Information Technology (Shanghai) Co., Ltd. All Rights Reserved.
+//  EasyAR is the registered trademark or trademark of VisionStar Information Technology (Shanghai) Co., Ltd in China
+//  and other countries for the augmented reality technology developed by VisionStar Information Technology (Shanghai) Co., Ltd.
+//
+//================================================================================================================================
+
+Shader "EasyAR/CameraImage_BGR"
+{
+    Properties
+    {
+        _MainTex("Texture", 2D) = "white" {}
+    }
+        SubShader
+    {
+        Tags { "RenderType" = "Opaque" }
+        LOD 100
+
+        Pass
+        {
+            Cull Off
+            ZWrite Off
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+
+            #include "UnityCG.cginc"
+
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                float2 texcoord : TEXCOORD0;
+            };
+
+            struct v2f
+            {
+                float4 vertex : SV_POSITION;
+                float2 texcoord : TEXCOORD0;
+            };
+
+            sampler2D _MainTex;
+            float4x4 _projection;
+
+            v2f vert(appdata i)
+            {
+                v2f o;
+                o.vertex = mul(_projection, i.vertex);
+                if (_ProjectionParams.x < 0) // check if the render target is a texture rather than the screen, https://docs.unity3d.com/Manual/SL-PlatformDifferences.html
+                {
+                    o.vertex.y = -o.vertex.y;
+                }
+                o.texcoord = float2(i.texcoord.x, 1.0 - i.texcoord.y); // Texture2D.LoadRawTextureData follows OpenGL convention and will invert Y-axis for uncompressed data on all platforms
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target
+            {
+                float4 col = tex2D(_MainTex, i.texcoord).rgba;
+#ifndef UNITY_COLORSPACE_GAMMA
+                col.xyz = GammaToLinearSpace(col.xyz);
+#endif
+                return col;
+            }
+        ENDCG
+    }
+    }
+}

MathTec/Assets/EasyAR/Shaders/CameraImage_RGB.shader.meta

+fileFormatVersion: 2
+guid: ea9a295053a0dc440b9698a7f41d9741
+timeCreated: 1533005558
+licenseType: Free
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

MathTec/Assets/EasyAR/Shaders/CameraImage_YUV_I420_YV12.shader

+//================================================================================================================================
+//
+//  Copyright (c) 2015-2021 VisionStar Information Technology (Shanghai) Co., Ltd. All Rights Reserved.
+//  EasyAR is the registered trademark or trademark of VisionStar Information Technology (Shanghai) Co., Ltd in China
+//  and other countries for the augmented reality technology developed by VisionStar Information Technology (Shanghai) Co., Ltd.
+//
+//================================================================================================================================
+
+Shader "EasyAR/CameraImage_YUV_I420_YV12"
+{
+    Properties
+    {
+        _yTexture("Texture", 2D) = "white" {}
+        _uTexture("Texture", 2D) = "white" {}
+        _vTexture("Texture", 2D) = "white" {}
+    }
+        SubShader
+    {
+        Tags { "RenderType" = "Opaque" }
+        LOD 100
+
+        Pass
+        {
+            Cull Off
+            ZWrite Off
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+            #include "UnityCG.cginc"
+
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                float2 texcoord : TEXCOORD0;
+            };
+
+            struct v2f
+            {
+                float4 vertex : SV_POSITION;
+                float2 texcoord : TEXCOORD0;
+            };
+
+            sampler2D _yTexture;
+            sampler2D _uTexture;
+            sampler2D _vTexture;
+            float4x4 _projection;
+
+            v2f vert(appdata i)
+            {
+                v2f o;
+                o.vertex = mul(_projection, i.vertex);
+                if (_ProjectionParams.x < 0) // check if the render target is a texture rather than the screen, https://docs.unity3d.com/Manual/SL-PlatformDifferences.html
+                {
+                    o.vertex.y = -o.vertex.y;
+                }
+                o.texcoord = float2(i.texcoord.x, 1.0 - i.texcoord.y); // Texture2D.LoadRawTextureData follows OpenGL convention and will invert Y-axis for uncompressed data on all platforms
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target
+            {
+                const float4x4 ycbcrToRGBTransform = float4x4(
+                    float4(1.0, +0.0000, +1.4020, -0.7010),
+                    float4(1.0, -0.3441, -0.7141, +0.5291),
+                    float4(1.0, +1.7720, +0.0000, -0.8860),
+                    float4(0.0, +0.0000, +0.0000, +1.0000)
+                    );
+                float y = tex2D(_yTexture, i.texcoord).a;
+                float cb = tex2D(_uTexture, i.texcoord).a;
+                float cr = tex2D(_vTexture, i.texcoord).a;
+                float4 ycbcr = float4(y, cb, cr, 1.0);
+                float4 col = mul(ycbcrToRGBTransform, ycbcr);
+#ifndef UNITY_COLORSPACE_GAMMA
+                col.xyz = GammaToLinearSpace(col.xyz);
+#endif
+                return col;
+            }
+            ENDCG
+        }
+    }
+}

MathTec/Assets/EasyAR/Shaders/CameraImage_YUV_I420_YV12.shader.meta

+fileFormatVersion: 2
+guid: ae539cb2b258bd047a57837fd579cc80
+timeCreated: 1533005688
+licenseType: Free
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

MathTec/Assets/EasyAR/Shaders/CameraImage_YUV_NV12.shader

+//================================================================================================================================
+//
+//  Copyright (c) 2015-2021 VisionStar Information Technology (Shanghai) Co., Ltd. All Rights Reserved.
+//  EasyAR is the registered trademark or trademark of VisionStar Information Technology (Shanghai) Co., Ltd in China
+//  and other countries for the augmented reality technology developed by VisionStar Information Technology (Shanghai) Co., Ltd.
+//
+//================================================================================================================================
+
+Shader "EasyAR/CameraImage_YUV_NV12"
+{
+    Properties
+    {
+        _yTexture("Texture", 2D) = "white" {}
+        _uvTexture("Texture", 2D) = "white" {}
+    }
+        SubShader
+    {
+        Tags { "RenderType" = "Opaque" }
+        LOD 100
+        Pass
+        {
+            Cull Off
+            ZWrite Off
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+            #include "UnityCG.cginc"
+
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                float2 texcoord : TEXCOORD0;
+            };
+
+            struct v2f
+            {
+                float4 vertex : SV_POSITION;
+                float2 texcoord : TEXCOORD0;
+            };
+
+            sampler2D _yTexture;
+            sampler2D _uvTexture;
+            float4x4 _projection;
+
+            v2f vert(appdata i)
+            {
+                v2f o;
+                o.vertex = mul(_projection, i.vertex);
+                if (_ProjectionParams.x < 0) // check if the render target is a texture rather than the screen, https://docs.unity3d.com/Manual/SL-PlatformDifferences.html
+                {
+                    o.vertex.y = -o.vertex.y;
+                }
+                o.texcoord = float2(i.texcoord.x, 1.0 - i.texcoord.y); // Texture2D.LoadRawTextureData follows OpenGL convention and will invert Y-axis for uncompressed data on all platforms
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target
+            {
+                const float4x4 ycbcrToRGBTransform = float4x4(
+                    float4(1.0, +0.0000, +1.4020, -0.7010),
+                    float4(1.0, -0.3441, -0.7141, +0.5291),
+                    float4(1.0, +1.7720, +0.0000, -0.8860),
+                    float4(0.0, +0.0000, +0.0000, +1.0000)
+                );
+
+                float y = tex2D(_yTexture, i.texcoord).a;
+                float4 rgb4444 = tex2D(_uvTexture, i.texcoord);
+                float cb = rgb4444.b * 16 / 17 + rgb4444.a / 17;
+                float cr = rgb4444.r * 16 / 17 + rgb4444.g / 17;
+                float4 ycbcr = float4(y, cb, cr, 1.0);
+                float4 col = mul(ycbcrToRGBTransform, ycbcr);
+#ifndef UNITY_COLORSPACE_GAMMA
+                col.xyz = GammaToLinearSpace(col.xyz);
+#endif
+                return col;
+            }
+            ENDCG
+        }
+    }
+}

MathTec/Assets/EasyAR/Shaders/CameraImage_YUV_NV12.shader.meta

+fileFormatVersion: 2
+guid: 58841e6e22debfc43ba09a0cf58cd92d
+timeCreated: 1532934373
+licenseType: Free
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

MathTec/Assets/EasyAR/Shaders/CameraImage_YUV_NV21.shader

+//================================================================================================================================
+//
+//  Copyright (c) 2015-2021 VisionStar Information Technology (Shanghai) Co., Ltd. All Rights Reserved.
+//  EasyAR is the registered trademark or trademark of VisionStar Information Technology (Shanghai) Co., Ltd in China
+//  and other countries for the augmented reality technology developed by VisionStar Information Technology (Shanghai) Co., Ltd.
+//
+//================================================================================================================================
+
+Shader "EasyAR/CameraImage_YUV_NV21"
+{
+    Properties
+    {
+        _yTexture("Texture", 2D) = "white" {}
+        _uvTexture("Texture", 2D) = "white" {}
+    }
+        SubShader
+    {
+        Tags { "RenderType" = "Opaque" }
+        LOD 100
+
+        Pass
+        {
+            Cull Off
+            ZWrite Off
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+            #include "UnityCG.cginc"
+
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                float2 texcoord : TEXCOORD0;
+            };
+
+            struct v2f
+            {
+                float4 vertex : SV_POSITION;
+                float2 texcoord : TEXCOORD0;
+            };
+
+            sampler2D _yTexture;
+            sampler2D _uvTexture;
+            float4x4 _projection;
+
+            v2f vert(appdata i)
+            {
+                v2f o;
+                o.vertex = mul(_projection, i.vertex);
+                if (_ProjectionParams.x < 0) // check if the render target is a texture rather than the screen, https://docs.unity3d.com/Manual/SL-PlatformDifferences.html
+                {
+                    o.vertex.y = -o.vertex.y;
+                }
+                o.texcoord = float2(i.texcoord.x, 1.0 - i.texcoord.y); // Texture2D.LoadRawTextureData follows OpenGL convention and will invert Y-axis for uncompressed data on all platforms
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target
+            {
+                const float4x4 ycbcrToRGBTransform = float4x4(
+                    float4(1.0, +0.0000, +1.4020, -0.7010),
+                    float4(1.0, -0.3441, -0.7141, +0.5291),
+                    float4(1.0, +1.7720, +0.0000, -0.8860),
+                    float4(0.0, +0.0000, +0.0000, +1.0000)
+                    );
+                float y = tex2D(_yTexture, i.texcoord).a;
+                float4 rgb4444 = tex2D(_uvTexture, i.texcoord);
+                float cr = rgb4444.b * 16 / 17 + rgb4444.a / 17;
+                float cb = rgb4444.r * 16 / 17 + rgb4444.g / 17;
+                float4 ycbcr = float4(y, cb, cr, 1.0);
+                float4 col = mul(ycbcrToRGBTransform, ycbcr);
+#ifndef UNITY_COLORSPACE_GAMMA
+                col.xyz = GammaToLinearSpace(col.xyz);
+#endif
+                return col;
+            }
+            ENDCG
+        }
+    }
+}

MathTec/Assets/EasyAR/Shaders/CameraImage_YUV_NV21.shader.meta

+fileFormatVersion: 2
+guid: a336f422ffebbec4c89b4dac26022d5f
+timeCreated: 1533009698
+licenseType: Free
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

MathTec/Assets/EasyAR/Shaders/DenseSpatialMapDepth.shader

+//================================================================================================================================
+//
+//  Copyright (c) 2015-2021 VisionStar Information Technology (Shanghai) Co., Ltd. All Rights Reserved.
+//  EasyAR is the registered trademark or trademark of VisionStar Information Technology (Shanghai) Co., Ltd in China
+//  and other countries for the augmented reality technology developed by VisionStar Information Technology (Shanghai) Co., Ltd.
+//
+//================================================================================================================================
+
+Shader "EasyAR/DenseSpatialMapDepth" {
+
+    SubShader
+    {
+        Tags { "Tag" = "DenseSpatialMap" }
+
+        Pass {
+
+            CGPROGRAM
+
+            #pragma vertex vert
+            #pragma fragment frag
+            #include "UnityCG.cginc"
+
+            struct v2f
+            {
+                float4 pos : SV_POSITION;
+                float4 depthPos : TEXCOORD0;
+            };
+
+           v2f vert(appdata_base v)
+            {
+                v2f o;
+                o.depthPos.xyz = UnityObjectToViewPos(v.vertex);
+                o.depthPos.w = 1.0;
+                o.pos = mul(UNITY_MATRIX_P, o.depthPos);
+                return o;
+            }
+
+            float4 frag(v2f i) : SV_Target {
+                float depth = length(i.depthPos.xyz);
+                depth = depth * 0.000001;
+                return EncodeFloatRGBA(depth);
+            }
+            ENDCG
+        }
+    }
+}
\ No newline at end of file

MathTec/Assets/EasyAR/Shaders/DenseSpatialMapDepth.shader.meta

+fileFormatVersion: 2
+guid: 94e9bc9fcadbccf4088e79d5c427848b
+timeCreated: 1577083128
+licenseType: Free
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

MathTec/Assets/EasyAR/Shaders/DenseSpatialMapMesh.shader

+//================================================================================================================================
+//
+//  Copyright (c) 2015-2021 VisionStar Information Technology (Shanghai) Co., Ltd. All Rights Reserved.
+//  EasyAR is the registered trademark or trademark of VisionStar Information Technology (Shanghai) Co., Ltd in China
+//  and other countries for the augmented reality technology developed by VisionStar Information Technology (Shanghai) Co., Ltd.
+//
+//================================================================================================================================
+
+Shader "EasyAR/DenseSpatialMapMesh"
+{
+    Properties
+    {
+        _Color("MeshColor", Color) = (1,1,1,1)
+        _MeshDense("MeshDense", Range(0.01,1)) = 0.1
+        _CriticalValue("CriticalValue", Range(0,1)) = 0.8
+        _Shininess("Shininess", Range(1,10)) = 1
+        _SpeColor("SpeColor", color) = (1,1,1,1)
+        _DepthTexture("DepthTexture", 2D) = "withe"{}
+        _MainTexture("MainTexture", 2D) = "withe"{}
+    }
+
+    SubShader
+    {
+        Tags {  "Tag" = "DenseSpatialMap" "LightMode" = "ForwardBase" }
+
+        Pass
+        {
+            Blend SrcAlpha OneMinusSrcAlpha
+            ZWrite On
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+            #include "UnityCG.cginc"
+            #include "Lighting.cginc"
+            #pragma multi_compile_fwdbase nolightmap nodirlightmap nodynlightmap novertexlight
+            #include "AutoLight.cginc"
+
+            fixed _MeshDense;
+            fixed _CriticalValue;
+            fixed _Shininess;
+
+            fixed4 _Color;
+            fixed4 _SpeColor;
+            fixed4 _MainTex_TexelSize;
+
+            sampler2D_float _DepthTexture;
+            sampler2D _MainTexture;
+
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                half3 normal : NORMAL;
+            };
+
+            struct v2f
+            {
+                float4 pos : SV_POSITION;
+                float4 uv : TEXCOORD0;
+                SHADOW_COORDS(1)
+                float3 normal : NORMAL;
+                float4 worldPos : COLOR0;
+                float4 viewPos : COLOR1;
+                float3 diff : COLOR2;
+                fixed3 ambient : COLOR3;
+            };
+
+            v2f vert(appdata v)
+            {
+                v2f o;
+                UNITY_INITIALIZE_OUTPUT(v2f, o);
+                o.worldPos = mul(UNITY_MATRIX_M, v.vertex);
+                o.viewPos = mul(UNITY_MATRIX_V, o.worldPos);
+                o.pos = mul(UNITY_MATRIX_P, o.viewPos);
+                o.uv = ComputeGrabScreenPos(o.pos);
+                o.normal = UnityObjectToWorldNormal(v.normal);
+                half nl = max(0.0, dot(o.normal, _WorldSpaceLightPos0.xyz));
+                nl = pow(nl, _Shininess);
+                o.diff = nl;
+                o.ambient = ShadeSH9(half4(o.normal, 1));
+                TRANSFER_SHADOW(o)
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target
+            {
+
+                float2 uv = i.uv.xy / i.uv.w;
+#if UNITY_UV_STARTS_AT_TOP
+                uv.y = 1.0 - uv.y;
+#endif
+                float4 depth_rgba = tex2D(_DepthTexture, uv);
+                float depth = DecodeFloatRGBA(depth_rgba);
+
+                if (length(i.viewPos.xyz) * 0.000001 - depth >= 0.005 * 0.000001)
+                {
+                    discard;
+                }
+                float3 posUV = float3(abs(i.worldPos.x % _MeshDense), abs(i.worldPos.y % _MeshDense), abs(i.worldPos.z % _MeshDense)) / _MeshDense;
+
+                fixed4 color = _Color;
+                fixed4 texColor = fixed4(0.0, 0.0, 0.0, 0.0);
+                if (abs(dot(normalize(i.normal), float3(1.0, 0.0, 0.0))) >= _CriticalValue)
+                {
+                    texColor = tex2D(_MainTexture, posUV.zy);
+                }
+                else if (abs(dot(i.normal, float3(0.0, 1.0, 0.0))) >= _CriticalValue)
+                {
+                    texColor = tex2D(_MainTexture, posUV.xz);
+                }
+                else if (abs(dot(i.normal, float3(0.0, 0.0, 1.0))) >= _CriticalValue)
+                {
+                    texColor = tex2D(_MainTexture, posUV.xy);
+                }
+
+                color.rgb += texColor.rgb * texColor.a;
+                fixed shadow = SHADOW_ATTENUATION(i);
+
+                color.rgb *= _SpeColor.rgb * i.diff * shadow + i.ambient;
+
+                return color;
+            }
+            ENDCG
+        }
+
+        UsePass "Legacy Shaders/VertexLit/SHADOWCASTER"
+    }
+}

MathTec/Assets/EasyAR/Shaders/DenseSpatialMapMesh.shader.meta

+fileFormatVersion: 2
+guid: 70b25aeade289e249a5ea72c9e5f14e8
+timeCreated: 1577174975
+licenseType: Free
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

MathTec/Assets/EasyAR/Shaders/ImageTargetGizmo.shader

+//================================================================================================================================
+//
+//  Copyright (c) 2015-2021 VisionStar Information Technology (Shanghai) Co., Ltd. All Rights Reserved.
+//  EasyAR is the registered trademark or trademark of VisionStar Information Technology (Shanghai) Co., Ltd in China
+//  and other countries for the augmented reality technology developed by VisionStar Information Technology (Shanghai) Co., Ltd.
+//
+//================================================================================================================================
+
+Shader "EasyAR/ImageTargetGizmo"
+{
+    Properties
+    {
+        _MainTex ("Texture", 2D) = "white" {}
+    }
+    SubShader
+    {
+        Tags { "RenderType"="Opaque" }
+        LOD 100
+        cull off
+        Pass
+        {
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+
+            #include "UnityCG.cginc"
+
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                float2 uv : TEXCOORD0;
+            };
+
+            struct v2f
+            {
+                float2 uv : TEXCOORD0;
+                float4 vertex : SV_POSITION;
+            };
+
+            sampler2D _MainTex;
+            float4 _MainTex_ST;
+            float4x4 _Transform;
+            float _Ratio;
+            int _isRenderGrayTexture;
+
+            v2f vert (appdata v)
+            {
+                v2f o;
+
+                o.uv = TRANSFORM_TEX(v.uv, _MainTex);
+                v.vertex.xy = lerp(lerp(float2(0, 1), float2(1, 1), o.uv.x), lerp(float2(0, 0), float2(1, 0), o.uv.x), o.uv.y);
+                v.vertex.x = (v.vertex.x - 0.5);
+                v.vertex.y = (v.vertex.y - 0.5) * _Ratio;
+                v.vertex.z = 0.001;
+                v.vertex = mul(_Transform, v.vertex);
+                o.vertex = UnityObjectToClipPos(v.vertex);
+                return o;
+            }
+
+            fixed4 frag (v2f i) : SV_Target
+            {
+                float2 uv = i.uv;
+                fixed4 col;
+                if (_isRenderGrayTexture == 1)
+                {
+                    uv.y = uv.y;
+                    col = tex2D(_MainTex, uv).x;
+                }
+                else
+                {
+                    uv.y = -uv.y;
+                    col = tex2D(_MainTex, uv);
+
+                }
+                return col;
+            }
+            ENDCG
+        }
+    }
+}

MathTec/Assets/EasyAR/Shaders/ImageTargetGizmo.shader.meta

+fileFormatVersion: 2
+guid: ef31481548a148f4596b3cfaf4df14be
+timeCreated: 1573713915
+licenseType: Free
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

MathTec/Assets/EasyAR/doc.meta

+fileFormatVersion: 2
+guid: d92d9b9898ac8f9459be5d470c19fda9
+folderAsset: yes
+timeCreated: 1611716646
+licenseType: Pro
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

MathTec/Assets/EasyAR/doc/LICENSE

+Software Licenses
+
+"EasyAR" is the registered trademark or trademark of VisionStar Information Technology (Shanghai) Co., Ltd in China and other countries for the augmented reality technology developed by VisionStar Information Technology (Shanghai) Co., Ltd.
+
+The copyright notices in the Software and this entire statement, including the above license grant, this restriction and the following disclaimer, must be included in all copies of the Software, in whole or in part, and all derivative works of the Software.
+
+
+
+The following Open Source Software is included in this application:
+
+===================================================================
+OpenCV
+
+By downloading, copying, installing or using the software you agree to this license.
+If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Copyright (C) 2000-2019, Intel Corporation, all rights reserved.
+Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
+Copyright (C) 2009-2016, NVIDIA Corporation, all rights reserved.
+Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved.
+Copyright (C) 2015-2016, OpenCV Foundation, all rights reserved.
+Copyright (C) 2015-2016, Itseez Inc., all rights reserved.
+Third party copyrights are property of their respective owners.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are disclaimed.
+In no event shall copyright holders or 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.
+
+===================================================================
+JSON for Modern C++
+
+MIT License 
+
+Copyright (c) 2013-2019 Niels Lohmann
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+===================================================================
+asio
+
+Copyright (c) 2003-2018 Christopher M. Kohlhoff (chris at kohlhoff dot com)
+
+Distributed under the Boost Software License, Version 1.0. (See accompanying
+file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+
+===================================================================
+cpp-base64
+
+Copyright © 2004-2017 by René Nyffenegger
+
+This source code is provided 'as-is', without any express or implied
+warranty. In no event will the author be held liable for any damages
+arising from the use of this software.
+                                                                              
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+                                                                              
+1. The origin of this source code must not be misrepresented; you must not
+   claim that you wrote the original source code. If you use this source code
+   in a product, an acknowledgment in the product documentation would be
+   appreciated but is not required.
+                                                                              
+2. Altered source versions must be plainly marked as such, and must not be
+   misrepresented as being the original source code.
+                                                                              
+3. This notice may not be removed or altered from any source distribution.
+
+===================================================================
+eigen
+
+Eigen is primarily MPL2 licensed. See COPYING.MPL2 and these links:
+  http://www.mozilla.org/MPL/2.0/
+  http://www.mozilla.org/MPL/2.0/FAQ.html
+
+===================================================================
+g2o
+
+g2o - General Graph Optimization
+Copyright (C) 2011 Rainer Kuemmerle, Giorgio Grisetti, Hauke Strasdat,
+Kurt Konolige, and Wolfram Burgard
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+* Redistributions of source code must retain the above copyright notice,
+  this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright
+  notice, this list of conditions and the following disclaimer in the
+  documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR 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.
+
+===================================================================
+cpufeatures
+
+Copyright (C) 2016 The Android Open Source Project
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+     http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+===================================================================
+fmt
+
+Copyright (c) 2012 - 2016, Victor Zverovich
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 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.
+
+===================================================================
+gl3w
+
+This is free and unencumbered software released into the public domain.
+
+Anyone is free to copy, modify, publish, use, compile, sell, or
+distribute this software, either in source code form or as a compiled
+binary, for any purpose, commercial or non-commercial, and by any
+means.
+
+In jurisdictions that recognize copyright laws, the author or authors
+of this software dedicate any and all copyright interest in the
+software to the public domain. We make this dedication for the benefit
+of the public at large and to the detriment of our heirs and
+successors. We intend this dedication to be an overt act of
+relinquishment in perpetuity of all present and future rights to this
+software under copyright law.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+
+===================================================================
+gl3stub
+
+Copyright (C) 2015 The Android Open Source Project
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+     http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+===================================================================
+JNI
+
+Copyright (C) 2006 The Android Open Source Project
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+     http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+===================================================================
+libc++
+
+==============================================================================
+libc++ License
+==============================================================================
+
+The libc++ library is dual licensed under both the University of Illinois
+"BSD-Like" license and the MIT license.  As a user of this code you may choose
+to use it under either license.  As a contributor, you agree to allow your code
+to be used under both.
+
+Full text of the relevant licenses is included below.
+
+==============================================================================
+
+University of Illinois/NCSA
+Open Source License
+
+Copyright (c) 2009-2019 by the contributors listed in CREDITS.TXT
+
+All rights reserved.
+
+Developed by:
+
+    LLVM Team
+
+    University of Illinois at Urbana-Champaign
+
+    http://llvm.org
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal with
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimers.
+
+    * Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimers in the
+      documentation and/or other materials provided with the distribution.
+
+    * Neither the names of the LLVM Team, University of Illinois at
+      Urbana-Champaign, nor the names of its contributors may be used to
+      endorse or promote products derived from this Software without specific
+      prior written permission.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
+CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS WITH THE
+SOFTWARE.
+
+==============================================================================
+
+Copyright (c) 2009-2014 by the contributors listed in CREDITS.TXT
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+===================================================================
+libjpeg
+
+The authors make NO WARRANTY or representation, either express or implied,
+with respect to this software, its quality, accuracy, merchantability, or
+fitness for a particular purpose.  This software is provided "AS IS", and you,
+its user, assume the entire risk as to its quality and accuracy.
+
+This software is copyright (C) 1991-2016, Thomas G. Lane, Guido Vollbeding.
+All Rights Reserved except as specified below.
+
+Permission is hereby granted to use, copy, modify, and distribute this
+software (or portions thereof) for any purpose, without fee, subject to these
+conditions:
+(1) If any part of the source code for this software is distributed, then this
+README file must be included, with this copyright and no-warranty notice
+unaltered; and any additions, deletions, or changes to the original files
+must be clearly indicated in accompanying documentation.
+(2) If only executable code is distributed, then the accompanying
+documentation must state that "this software is based in part on the work of
+the Independent JPEG Group".
+(3) Permission for use of this software is granted only if the user accepts
+full responsibility for any undesirable consequences; the authors accept
+NO LIABILITY for damages of any kind.
+
+These conditions apply to any software derived from or based on the IJG code,
+not just to the unmodified library.  If you use our work, you ought to
+acknowledge us.
+
+Permission is NOT granted for the use of any IJG author's name or company name
+in advertising or publicity relating to this software or products derived from
+it.  This software may be referred to only as "the Independent JPEG Group's
+software".
+
+We specifically permit and encourage the use of this software as the basis of
+commercial products, provided that all warranty or liability claims are
+assumed by the product vendor.
+
+
+The Unix configuration script "configure" was produced with GNU Autoconf.
+It is copyright by the Free Software Foundation but is freely distributable.
+The same holds for its supporting scripts (config.guess, config.sub,
+ltmain.sh).  Another support script, install-sh, is copyright by X Consortium
+but is also freely distributable.
+
+The IJG distribution formerly included code to read and write GIF files.
+To avoid entanglement with the Unisys LZW patent (now expired), GIF reading
+support has been removed altogether, and the GIF writer has been simplified
+to produce "uncompressed GIFs".  This technique does not use the LZW
+algorithm; the resulting GIF files are larger than usual, but are readable
+by all standard GIF decoders.
+
+===================================================================
+libpng
+
+COPYRIGHT NOTICE, DISCLAIMER, and LICENSE
+=========================================
+
+PNG Reference Library License version 2
+---------------------------------------
+
+ * Copyright (c) 1995-2018 The PNG Reference Library Authors.
+ * Copyright (c) 2018 Cosmin Truta.
+ * Copyright (c) 2000-2002, 2004, 2006-2018 Glenn Randers-Pehrson.
+ * Copyright (c) 1996-1997 Andreas Dilger.
+ * Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
+
+The software is supplied "as is", without warranty of any kind,
+express or implied, including, without limitation, the warranties
+of merchantability, fitness for a particular purpose, title, and
+non-infringement.  In no even shall the Copyright owners, or
+anyone distributing the software, be liable for any damages or
+other liability, whether in contract, tort or otherwise, arising
+from, out of, or in connection with the software, or the use or
+other dealings in the software, even if advised of the possibility
+of such damage.
+
+Permission is hereby granted to use, copy, modify, and distribute
+this software, or portions hereof, for any purpose, without fee,
+subject to the following restrictions:
+
+ 1. The origin of this software must not be misrepresented; you
+    must not claim that you wrote the original software.  If you
+    use this software in a product, an acknowledgment in the product
+    documentation would be appreciated, but is not required.
+
+ 2. Altered source versions must be plainly marked as such, and must
+    not be misrepresented as being the original software.
+
+ 3. This Copyright notice may not be removed or altered from any
+    source or altered source distribution.
+
+
+PNG Reference Library License version 1 (for libpng 0.5 through 1.6.35)
+-----------------------------------------------------------------------
+
+libpng versions 1.0.7, July 1, 2000 through 1.6.35, July 15, 2018 are
+Copyright (c) 2000-2002, 2004, 2006-2018 Glenn Randers-Pehrson, are
+derived from libpng-1.0.6, and are distributed according to the same
+disclaimer and license as libpng-1.0.6 with the following individuals
+added to the list of Contributing Authors:
+
+    Simon-Pierre Cadieux
+    Eric S. Raymond
+    Mans Rullgard
+    Cosmin Truta
+    Gilles Vollant
+    James Yu
+    Mandar Sahastrabuddhe
+    Google Inc.
+    Vadim Barkov
+
+and with the following additions to the disclaimer:
+
+    There is no warranty against interference with your enjoyment of
+    the library or against infringement.  There is no warranty that our
+    efforts or the library will fulfill any of your particular purposes
+    or needs.  This library is provided with all faults, and the entire
+    risk of satisfactory quality, performance, accuracy, and effort is
+    with the user.
+
+Some files in the "contrib" directory and some configure-generated
+files that are distributed with libpng have other copyright owners, and
+are released under other open source licenses.
+
+libpng versions 0.97, January 1998, through 1.0.6, March 20, 2000, are
+Copyright (c) 1998-2000 Glenn Randers-Pehrson, are derived from
+libpng-0.96, and are distributed according to the same disclaimer and
+license as libpng-0.96, with the following individuals added to the
+list of Contributing Authors:
+
+    Tom Lane
+    Glenn Randers-Pehrson
+    Willem van Schaik
+
+libpng versions 0.89, June 1996, through 0.96, May 1997, are
+Copyright (c) 1996-1997 Andreas Dilger, are derived from libpng-0.88,
+and are distributed according to the same disclaimer and license as
+libpng-0.88, with the following individuals added to the list of
+Contributing Authors:
+
+    John Bowler
+    Kevin Bracey
+    Sam Bushell
+    Magnus Holmgren
+    Greg Roelofs
+    Tom Tanner
+
+Some files in the "scripts" directory have other copyright owners,
+but are released under this license.
+
+libpng versions 0.5, May 1995, through 0.88, January 1996, are
+Copyright (c) 1995-1996 Guy Eric Schalnat, Group 42, Inc.
+
+For the purposes of this copyright and license, "Contributing Authors"
+is defined as the following set of individuals:
+
+    Andreas Dilger
+    Dave Martindale
+    Guy Eric Schalnat
+    Paul Schmidt
+    Tim Wegner
+
+The PNG Reference Library is supplied "AS IS".  The Contributing
+Authors and Group 42, Inc. disclaim all warranties, expressed or
+implied, including, without limitation, the warranties of
+merchantability and of fitness for any purpose.  The Contributing
+Authors and Group 42, Inc. assume no liability for direct, indirect,
+incidental, special, exemplary, or consequential damages, which may
+result from the use of the PNG Reference Library, even if advised of
+the possibility of such damage.
+
+Permission is hereby granted to use, copy, modify, and distribute this
+source code, or portions hereof, for any purpose, without fee, subject
+to the following restrictions:
+
+ 1. The origin of this source code must not be misrepresented.
+
+ 2. Altered versions must be plainly marked as such and must not
+    be misrepresented as being the original source.
+
+ 3. This Copyright notice may not be removed or altered from any
+    source or altered source distribution.
+
+The Contributing Authors and Group 42, Inc. specifically permit,
+without fee, and encourage the use of this source code as a component
+to supporting the PNG file format in commercial products.  If you use
+this source code in a product, acknowledgment is not required but would
+be appreciated.
+
+===================================================================
+PicoSHA2
+
+MIT License
+
+Copyright (c) 2017 okdshin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+===================================================================
+utf8 cpp library
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+
+===================================================================
+ZLIB DATA COMPRESSION LIBRARY
+
+ (C) 1995-2017 Jean-loup Gailly and Mark Adler
+
+  This software is provided 'as-is', without any express or implied
+  warranty.  In no event will the authors be held liable for any damages
+  arising from the use of this software.
+
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+
+  1. The origin of this software must not be misrepresented; you must not
+     claim that you wrote the original software. If you use this software
+     in a product, an acknowledgment in the product documentation would be
+     appreciated but is not required.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+
+  Jean-loup Gailly        Mark Adler
+  jloup@gzip.org          madler@alumni.caltech.edu

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